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@ -81,6 +81,8 @@
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Stepper stepper; // Singleton
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Stepper stepper; // Singleton
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#define BABYSTEPPING_EXTRA_DIR_WAIT
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#if HAS_MOTOR_CURRENT_PWM
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#if HAS_MOTOR_CURRENT_PWM
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bool Stepper::initialized; // = false
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bool Stepper::initialized; // = false
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#endif
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#endif
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@ -1367,8 +1369,8 @@ void Stepper::isr() {
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#endif
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#endif
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#if ENABLED(INTEGRATED_BABYSTEPPING)
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#if ENABLED(INTEGRATED_BABYSTEPPING)
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const bool do_babystep = (nextBabystepISR == 0); // 0 = Do Babystepping (XY)Z pulses
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const bool is_babystep = (nextBabystepISR == 0); // 0 = Do Babystepping (XY)Z pulses
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if (do_babystep) nextBabystepISR = babystepping_isr();
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if (is_babystep) nextBabystepISR = babystepping_isr();
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#endif
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#endif
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// ^== Time critical. NOTHING besides pulse generation should be above here!!!
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// ^== Time critical. NOTHING besides pulse generation should be above here!!!
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@ -1376,7 +1378,7 @@ void Stepper::isr() {
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if (!nextMainISR) nextMainISR = block_phase_isr(); // Manage acc/deceleration, get next block
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if (!nextMainISR) nextMainISR = block_phase_isr(); // Manage acc/deceleration, get next block
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#if ENABLED(INTEGRATED_BABYSTEPPING)
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#if ENABLED(INTEGRATED_BABYSTEPPING)
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if (do_babystep) // Avoid ANY stepping too soon after baby-stepping
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if (is_babystep) // Avoid ANY stepping too soon after baby-stepping
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NOLESS(nextMainISR, (BABYSTEP_TICKS) / 8); // FULL STOP for 125µs after a baby-step
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NOLESS(nextMainISR, (BABYSTEP_TICKS) / 8); // FULL STOP for 125µs after a baby-step
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if (nextBabystepISR != BABYSTEP_NEVER) // Avoid baby-stepping too close to axis Stepping
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if (nextBabystepISR != BABYSTEP_NEVER) // Avoid baby-stepping too close to axis Stepping
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@ -2507,6 +2509,14 @@ void Stepper::report_positions() {
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#endif
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#endif
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#endif
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#endif
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#if ENABLED(BABYSTEPPING_EXTRA_DIR_WAIT)
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#define EXTRA_DIR_WAIT_BEFORE DIR_WAIT_BEFORE
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#define EXTRA_DIR_WAIT_AFTER DIR_WAIT_AFTER
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#else
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#define EXTRA_DIR_WAIT_BEFORE()
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#define EXTRA_DIR_WAIT_AFTER()
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#endif
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#if DISABLED(DELTA)
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#if DISABLED(DELTA)
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#define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \
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#define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \
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@ -2519,9 +2529,9 @@ void Stepper::report_positions() {
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_APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \
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_APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \
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_PULSE_WAIT(); \
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_PULSE_WAIT(); \
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_APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \
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_APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \
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DIR_WAIT_BEFORE(); \
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EXTRA_DIR_WAIT_BEFORE(); \
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_APPLY_DIR(AXIS, old_dir); \
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_APPLY_DIR(AXIS, old_dir); \
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DIR_WAIT_AFTER(); \
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EXTRA_DIR_WAIT_AFTER(); \
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}while(0)
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}while(0)
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#elif IS_CORE
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#elif IS_CORE
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@ -2539,9 +2549,9 @@ void Stepper::report_positions() {
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_PULSE_WAIT(); \
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_PULSE_WAIT(); \
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_APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \
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_APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \
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_APPLY_STEP(B, _INVERT_STEP_PIN(B), true); \
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_APPLY_STEP(B, _INVERT_STEP_PIN(B), true); \
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DIR_WAIT_BEFORE(); \
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EXTRA_DIR_WAIT_BEFORE(); \
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_APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \
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_APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \
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DIR_WAIT_AFTER(); \
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EXTRA_DIR_WAIT_AFTER(); \
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}while(0)
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}while(0)
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#endif
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#endif
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@ -2620,13 +2630,13 @@ void Stepper::report_positions() {
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Z_STEP_WRITE(INVERT_Z_STEP_PIN);
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Z_STEP_WRITE(INVERT_Z_STEP_PIN);
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// Restore direction bits
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// Restore direction bits
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DIR_WAIT_BEFORE();
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EXTRA_DIR_WAIT_BEFORE();
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X_DIR_WRITE(old_dir.x);
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X_DIR_WRITE(old_dir.x);
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Y_DIR_WRITE(old_dir.y);
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Y_DIR_WRITE(old_dir.y);
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Z_DIR_WRITE(old_dir.z);
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Z_DIR_WRITE(old_dir.z);
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DIR_WAIT_AFTER();
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EXTRA_DIR_WAIT_AFTER();
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#endif
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#endif
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Scott Lahteine
5 years ago