84 lines
2.5 KiB
C++
84 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 <http://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_TODO_AXIS(A) A
|
|
#else
|
|
#define BS_TODO_AXIS(A) 0
|
|
#endif
|
|
|
|
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
|
|
#if ENABLED(BABYSTEP_XY)
|
|
#define BS_TOTAL_AXIS(A) A
|
|
#else
|
|
#define BS_TOTAL_AXIS(A) 0
|
|
#endif
|
|
#endif
|
|
|
|
class Babystep {
|
|
public:
|
|
static volatile int16_t steps[BS_TODO_AXIS(Z_AXIS) + 1];
|
|
static int16_t accum; // Total babysteps in current edit
|
|
|
|
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
|
|
static int16_t axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1]; // Total babysteps since G28
|
|
static inline void reset_total(const AxisEnum axis) {
|
|
if (true
|
|
#if ENABLED(BABYSTEP_XY)
|
|
&& axis == Z_AXIS
|
|
#endif
|
|
) axis_total[BS_TOTAL_AXIS(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_TODO_AXIS(X_AXIS)] || steps[BS_TODO_AXIS(Y_AXIS)] || steps[BS_TODO_AXIS(Z_AXIS)];
|
|
}
|
|
|
|
//
|
|
// Called by the Temperature or Stepper ISR to
|
|
// apply accumulated babysteps to the axes.
|
|
//
|
|
static inline void task() {
|
|
LOOP_LE_N(axis, BS_TODO_AXIS(Z_AXIS)) step_axis((AxisEnum)axis);
|
|
}
|
|
|
|
private:
|
|
static void step_axis(const AxisEnum axis);
|
|
};
|
|
|
|
extern Babystep babystep;
|