🔥 Always use ISR for BABYSTEPPING (MarlinFirmware#26035)

Marlin/Configuration_adv.h

@@ -2206,7 +2206,6 @@
  */
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
-  //#define INTEGRATED_BABYSTEPPING         // Integration of babystepping into the Stepper ISR
   //#define EP_BABYSTEPPING                 // M293/M294 babystepping with EMERGENCY_PARSER support
   //#define BABYSTEP_WITHOUT_HOMING
   //#define BABYSTEP_ALWAYS_AVAILABLE       // Allow babystepping at all times (not just during movement)

Marlin/src/HAL/ESP32/inc/SanityCheck.h

@@ -52,10 +52,6 @@
   #error "FAST_PWM_FAN is not available on TinyBee."
 #endif
 
-#if ALL(I2S_STEPPER_STREAM, BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING)
-  #error "BABYSTEPPING on I2S stream requires INTEGRATED_BABYSTEPPING."
-#endif
-
 #if USING_PULLDOWNS
   #error "PULLDOWN pin mode is not available on ESP32 boards."
 #endif

Marlin/src/feature/babystep.cpp

@@ -66,7 +66,7 @@ void Babystep::add_mm(const AxisEnum axis, const_float_t mm) {
     steps[BS_AXIS_IND(axis)] = distance;
     TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] = distance);
     TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout());
-    TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
+    TERN_(BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
   }
 #endif
 
@@ -77,7 +77,7 @@ void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
   steps[BS_AXIS_IND(axis)] += distance;
   TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] += distance);
   TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout());
-  TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
+  TERN_(BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
 }
 
 #if ENABLED(EP_BABYSTEPPING)

Marlin/src/feature/babystep.h

@@ -23,13 +23,8 @@
 
 #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
+#define BABYSTEPS_PER_SEC 1000UL
+#define BABYSTEP_TICKS ((STEPPER_TIMER_RATE) / (BABYSTEPS_PER_SEC))
 
 #if ANY(IS_CORE, BABYSTEP_XY, I2C_POSITION_ENCODERS)
   #define BS_AXIS_IND(A) A

Marlin/src/inc/Changes.h

@@ -659,6 +659,8 @@
   #error "Z3_USE_ENDSTOP is obsolete. Instead set Z2_STOP_PIN directly. (e.g., 'Z3_USE_ENDSTOP _ZMAX_' becomes 'Z3_STOP_PIN Z_MAX_PIN')"
 #elif defined(Z4_USE_ENDSTOP)
   #error "Z4_USE_ENDSTOP is obsolete. Instead set Z4_STOP_PIN directly. (e.g., 'Z4_USE_ENDSTOP _ZMAX_' becomes 'Z4_STOP_PIN Z_MAX_PIN')"
+#elif defined(INTEGRATED_BABYSTEPPING)
+  #error "INTEGRATED_BABYSTEPPING is no longer needed and should be removed."
 #endif
 
 // L64xx stepper drivers have been removed

Marlin/src/module/stepper.cpp

@@ -106,7 +106,7 @@ Stepper stepper; // Singleton
   #include "../feature/bedlevel/bdl/bdl.h"
 #endif
 
-#if ENABLED(INTEGRATED_BABYSTEPPING)
+#if ENABLED(BABYSTEPPING)
   #include "../feature/babystep.h"
 #endif
 
@@ -273,7 +273,7 @@ uint32_t Stepper::advance_divisor = 0,
   #endif
 #endif
 
-#if ENABLED(INTEGRATED_BABYSTEPPING)
+#if ENABLED(BABYSTEPPING)
   hal_timer_t Stepper::nextBabystepISR = BABYSTEP_NEVER;
 #endif
 
@@ -1543,7 +1543,7 @@ void Stepper::isr() {
         // Define 2.5 msec task for auxilliary functions.
         if (!fxdTiCtrl_nextAuxISR) {
           endstops.update();
-          TERN_(INTEGRATED_BABYSTEPPING, if (babystep.has_steps()) babystepping_isr());
+          TERN_(BABYSTEPPING, if (babystep.has_steps()) babystepping_isr());
           fxdTiCtrl_refreshAxisDidMove();
           fxdTiCtrl_nextAuxISR = 0.0025f * (STEPPER_TIMER_RATE);
         }
@@ -1574,7 +1574,7 @@ void Stepper::isr() {
           nextAdvanceISR = la_interval;
       #endif
 
-      #if ENABLED(INTEGRATED_BABYSTEPPING)
+      #if ENABLED(BABYSTEPPING)
         const bool is_babystep = (nextBabystepISR == 0);  // 0 = Do Babystepping (XY)Z pulses
         if (is_babystep) nextBabystepISR = babystepping_isr();
       #endif
@@ -1583,7 +1583,7 @@ void Stepper::isr() {
 
       if (!nextMainISR) nextMainISR = block_phase_isr();  // Manage acc/deceleration, get next block
 
-      #if ENABLED(INTEGRATED_BABYSTEPPING)
+      #if ENABLED(BABYSTEPPING)
         if (is_babystep)                                  // Avoid ANY stepping too soon after baby-stepping
           NOLESS(nextMainISR, (BABYSTEP_TICKS) / 8);      // FULL STOP for 125µs after a baby-step
 
@@ -1596,7 +1596,7 @@ void Stepper::isr() {
       TERN_(INPUT_SHAPING_X, NOMORE(interval, ShapingQueue::peek_x()));   // Time until next input shaping echo for X
       TERN_(INPUT_SHAPING_Y, NOMORE(interval, ShapingQueue::peek_y()));   // Time until next input shaping echo for Y
       TERN_(LIN_ADVANCE, NOMORE(interval, nextAdvanceISR));               // Come back early for Linear Advance?
-      TERN_(INTEGRATED_BABYSTEPPING, NOMORE(interval, nextBabystepISR));  // Come back early for Babystepping?
+      TERN_(BABYSTEPPING, NOMORE(interval, nextBabystepISR));             // Come back early for Babystepping?
 
       //
       // Compute remaining time for each ISR phase
@@ -1608,7 +1608,7 @@ void Stepper::isr() {
       nextMainISR -= interval;
       TERN_(HAS_ZV_SHAPING, ShapingQueue::decrement_delays(interval));
       TERN_(LIN_ADVANCE, if (nextAdvanceISR != LA_ADV_NEVER) nextAdvanceISR -= interval);
-      TERN_(INTEGRATED_BABYSTEPPING, if (nextBabystepISR != BABYSTEP_NEVER) nextBabystepISR -= interval);
+      TERN_(BABYSTEPPING, if (nextBabystepISR != BABYSTEP_NEVER) nextBabystepISR -= interval);
 
     } // standard motion control
 
@@ -2807,7 +2807,7 @@ hal_timer_t Stepper::block_phase_isr() {
 
 #endif // LIN_ADVANCE
 
-#if ENABLED(INTEGRATED_BABYSTEPPING)
+#if ENABLED(BABYSTEPPING)
 
   // Timer interrupt for baby-stepping
   hal_timer_t Stepper::babystepping_isr() {
@@ -3669,7 +3669,7 @@ void Stepper::report_positions() {
   // No other ISR should ever interrupt this!
   void Stepper::do_babystep(const AxisEnum axis, const bool direction) {
 
-    IF_DISABLED(INTEGRATED_BABYSTEPPING, cli());
+    IF_DISABLED(BABYSTEPPING, cli());
 
     switch (axis) {
 
@@ -3750,7 +3750,7 @@ void Stepper::report_positions() {
       default: break;
     }
 
-    IF_DISABLED(INTEGRATED_BABYSTEPPING, sei());
+    IF_DISABLED(BABYSTEPPING, sei());
   }
 
 #endif // BABYSTEPPING

Marlin/src/module/stepper.h

@@ -416,7 +416,7 @@ class Stepper {
       static bool        la_active;        // Whether linear advance is used on the present segment.
     #endif
 
-    #if ENABLED(INTEGRATED_BABYSTEPPING)
+    #if ENABLED(BABYSTEPPING)
       static constexpr hal_timer_t BABYSTEP_NEVER = HAL_TIMER_TYPE_MAX;
       static hal_timer_t nextBabystepISR;
     #endif
@@ -475,7 +475,7 @@ class Stepper {
       static void advance_isr();
     #endif
 
-    #if ENABLED(INTEGRATED_BABYSTEPPING)
+    #if ENABLED(BABYSTEPPING)
       // The Babystepping ISR phase
       static hal_timer_t babystepping_isr();
       FORCE_INLINE static void initiateBabystepping() {

Marlin/src/module/temperature.cpp

@@ -160,10 +160,6 @@
   #include "stepper.h"
 #endif
 
-#if ENABLED(BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING)
-  #include "../feature/babystep.h"
-#endif
-
 #if ENABLED(FILAMENT_WIDTH_SENSOR)
   #include "../feature/filwidth.h"
 #endif
@@ -4122,10 +4118,6 @@ void Temperature::isr() {
   // Additional ~1kHz Tasks
   //
 
-  #if ENABLED(BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING)
-    babystep.task();
-  #endif
-
   // Check fan tachometers
   TERN_(HAS_FANCHECK, fan_check.update_tachometers());