68 lines
2.3 KiB
C++
68 lines
2.3 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../inc/MarlinConfig.h"
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#if ENABLED(BABYSTEPPING)
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#include "babystep.h"
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#include "../MarlinCore.h"
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#include "../module/motion.h" // for axes_should_home()
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#include "../module/planner.h" // for axis_steps_per_mm[]
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#include "../module/stepper.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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Babystep babystep;
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volatile int16_t Babystep::steps[BS_AXIS_IND(Z_AXIS) + 1];
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#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
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int16_t Babystep::axis_total[BS_TOTAL_IND(Z_AXIS) + 1];
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#endif
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int16_t Babystep::accum;
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void Babystep::step_axis(const AxisEnum axis) {
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const int16_t curTodo = steps[BS_AXIS_IND(axis)]; // get rid of volatile for performance
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if (curTodo) {
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stepper.do_babystep((AxisEnum)axis, curTodo > 0);
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if (curTodo > 0) steps[BS_AXIS_IND(axis)]--; else steps[BS_AXIS_IND(axis)]++;
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}
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}
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void Babystep::add_mm(const AxisEnum axis, const_float_t mm) {
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add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]);
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}
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void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
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if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return;
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accum += distance; // Count up babysteps for the UI
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steps[BS_AXIS_IND(axis)] += distance;
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TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] += distance);
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TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout());
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TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
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}
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#endif // BABYSTEPPING
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