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@ -43,6 +43,13 @@
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#include "stepper.h"
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#endif
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#if ENABLED(BABYSTEPPING)
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#include "../module/motion.h"
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#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
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#include "../gcode/gcode.h"
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#endif
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#endif
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#include "printcounter.h"
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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@ -260,12 +267,10 @@ int16_t Temperature::current_temperature_raw[HOTENDS], // = { 0 }
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volatile bool Temperature::temp_meas_ready = false;
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#if ENABLED(PIDTEMP)
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#if ENABLED(PID_EXTRUSION_SCALING)
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long Temperature::last_e_position;
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long Temperature::lpq[LPQ_MAX_LEN];
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int Temperature::lpq_ptr = 0;
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#endif
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#if ENABLED(PID_EXTRUSION_SCALING)
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long Temperature::last_e_position;
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long Temperature::lpq[LPQ_MAX_LEN];
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int Temperature::lpq_ptr = 0;
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#endif
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uint16_t Temperature::raw_temp_value[MAX_EXTRUDERS] = { 0 };
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@ -312,6 +317,8 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS];
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bool Temperature::heater_idle_timeout_exceeded[HOTENDS] = { false };
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#endif
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// public:
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#if HAS_ADC_BUTTONS
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uint32_t Temperature::current_ADCKey_raw = 0;
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uint8_t Temperature::ADCKey_count = 0;
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@ -2475,15 +2482,22 @@ void Temperature::isr() {
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//
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#if ENABLED(BABYSTEPPING)
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LOOP_XYZ(axis) {
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const int16_t curTodo = babystepsTodo[axis]; // get rid of volatile for performance
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#if ENABLED(BABYSTEP_XY) || ENABLED(I2C_POSITION_ENCODERS)
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LOOP_XYZ(axis) {
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const int16_t curTodo = babystepsTodo[axis]; // get rid of volatile for performance
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if (curTodo) {
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stepper.babystep((AxisEnum)axis, curTodo > 0);
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if (curTodo > 0) babystepsTodo[axis]--; else babystepsTodo[axis]++;
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}
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}
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#else
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const int16_t curTodo = babystepsTodo[Z_AXIS];
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if (curTodo) {
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stepper.babystep((AxisEnum)axis, curTodo > 0);
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if (curTodo > 0) babystepsTodo[axis]--;
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else babystepsTodo[axis]++;
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stepper.babystep(Z_AXIS, curTodo > 0);
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if (curTodo > 0) babystepsTodo[Z_AXIS]--; else babystepsTodo[Z_AXIS]++;
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}
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}
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#endif // BABYSTEPPING
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#endif
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#endif
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// Poll endstops state, if required
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endstops.poll();
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@ -2492,6 +2506,70 @@ void Temperature::isr() {
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planner.tick();
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}
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#if ENABLED(BABYSTEPPING)
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#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
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#define BSA_ENABLE(AXIS) do{ switch (AXIS) { case X_AXIS: enable_X(); break; case Y_AXIS: enable_Y(); break; case Z_AXIS: enable_Z(); } }while(0)
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#else
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#define BSA_ENABLE(AXIS) NOOP
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#endif
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#if ENABLED(BABYSTEP_WITHOUT_HOMING)
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#define CAN_BABYSTEP(AXIS) true
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#else
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#define CAN_BABYSTEP(AXIS) TEST(axis_known_position, AXIS)
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#endif
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extern uint8_t axis_known_position;
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void Temperature::babystep_axis(const AxisEnum axis, const int16_t distance) {
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if (!CAN_BABYSTEP(axis)) return;
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#if IS_CORE
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#if ENABLED(BABYSTEP_XY)
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switch (axis) {
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case CORE_AXIS_1: // X on CoreXY and CoreXZ, Y on CoreYZ
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BSA_ENABLE(CORE_AXIS_1);
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BSA_ENABLE(CORE_AXIS_2);
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babystepsTodo[CORE_AXIS_1] += distance * 2;
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babystepsTodo[CORE_AXIS_2] += distance * 2;
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break;
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case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ and CoreYZ
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BSA_ENABLE(CORE_AXIS_1);
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BSA_ENABLE(CORE_AXIS_2);
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babystepsTodo[CORE_AXIS_1] += CORESIGN(distance * 2);
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babystepsTodo[CORE_AXIS_2] -= CORESIGN(distance * 2);
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break;
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case NORMAL_AXIS: // Z on CoreXY, Y on CoreXZ, X on CoreYZ
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default:
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BSA_ENABLE(NORMAL_AXIS);
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babystepsTodo[NORMAL_AXIS] += distance;
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break;
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}
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#elif CORE_IS_XZ || CORE_IS_YZ
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// Only Z stepping needs to be handled here
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BSA_ENABLE(CORE_AXIS_1);
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BSA_ENABLE(CORE_AXIS_2);
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babystepsTodo[CORE_AXIS_1] += CORESIGN(distance * 2);
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babystepsTodo[CORE_AXIS_2] -= CORESIGN(distance * 2);
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#else
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BSA_ENABLE(Z_AXIS);
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babystepsTodo[Z_AXIS] += distance;
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#endif
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#else
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#if ENABLED(BABYSTEP_XY)
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BSA_ENABLE(axis);
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#else
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BSA_ENABLE(Z_AXIS);
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#endif
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babystepsTodo[axis] += distance;
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#endif
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#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
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gcode.reset_stepper_timeout();
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#endif
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}
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#endif // BABYSTEPPING
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#if HAS_TEMP_SENSOR
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#include "../gcode/gcode.h"
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InsanityAutomation
6 years ago
committed by