Firmware2/Marlin/src/feature/babystep.h
2020-07-22 22:20:14 -05:00

83 lines
2.5 KiB
C++

/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfigPre.h"
#if ENABLED(INTEGRATED_BABYSTEPPING)
#define BABYSTEPS_PER_SEC 1000UL
#define BABYSTEP_TICKS ((STEPPER_TIMER_RATE) / (BABYSTEPS_PER_SEC))
#else
#define BABYSTEPS_PER_SEC 976UL
#define BABYSTEP_TICKS ((TEMP_TIMER_RATE) / (BABYSTEPS_PER_SEC))
#endif
#if IS_CORE || EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS)
#define BS_AXIS_IND(A) A
#define BS_AXIS(I) AxisEnum(I)
#else
#define BS_AXIS_IND(A) 0
#define BS_AXIS(I) Z_AXIS
#endif
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
#if ENABLED(BABYSTEP_XY)
#define BS_TOTAL_IND(A) A
#else
#define BS_TOTAL_IND(A) 0
#endif
#endif
class Babystep {
public:
static volatile int16_t steps[BS_AXIS_IND(Z_AXIS) + 1];
static int16_t accum; // Total babysteps in current edit
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
static int16_t axis_total[BS_TOTAL_IND(Z_AXIS) + 1]; // Total babysteps since G28
static inline void reset_total(const AxisEnum axis) {
if (TERN1(BABYSTEP_XY, axis == Z_AXIS))
axis_total[BS_TOTAL_IND(axis)] = 0;
}
#endif
static void add_steps(const AxisEnum axis, const int16_t distance);
static void add_mm(const AxisEnum axis, const float &mm);
static inline bool has_steps() {
return steps[BS_AXIS_IND(X_AXIS)] || steps[BS_AXIS_IND(Y_AXIS)] || steps[BS_AXIS_IND(Z_AXIS)];
}
//
// Called by the Temperature or Stepper ISR to
// apply accumulated babysteps to the axes.
//
static inline void task() {
LOOP_LE_N(i, BS_AXIS_IND(Z_AXIS)) step_axis(BS_AXIS(i));
}
private:
static void step_axis(const AxisEnum axis);
};
extern Babystep babystep;