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Fix Babystepping loop (again)
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@thinkyhead
thinkyhead committed Feb 24, 2020
1 parent 8ba5ef8 commit 5e197df
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Showing 8 changed files with 48 additions and 36 deletions.
8 changes: 4 additions & 4 deletions Marlin/src/feature/babystep.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,17 +35,17 @@

Babystep babystep;

volatile int16_t Babystep::steps[BS_TODO_AXIS(Z_AXIS) + 1];
volatile int16_t Babystep::steps[BS_AXIS_IND(Z_AXIS) + 1];
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
int16_t Babystep::axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1];
#endif
int16_t Babystep::accum;

void Babystep::step_axis(const AxisEnum axis) {
const int16_t curTodo = steps[BS_TODO_AXIS(axis)]; // get rid of volatile for performance
const int16_t curTodo = steps[BS_AXIS_IND(axis)]; // get rid of volatile for performance
if (curTodo) {
stepper.do_babystep((AxisEnum)axis, curTodo > 0);
if (curTodo > 0) steps[BS_TODO_AXIS(axis)]--; else steps[BS_TODO_AXIS(axis)]++;
if (curTodo > 0) steps[BS_AXIS_IND(axis)]--; else steps[BS_AXIS_IND(axis)]++;
}
}

Expand Down Expand Up @@ -112,7 +112,7 @@ void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
#else
BSA_ENABLE(Z_AXIS);
#endif
steps[BS_TODO_AXIS(axis)] += distance;
steps[BS_AXIS_IND(axis)] += distance;
#endif
#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
gcode.reset_stepper_timeout();
Expand Down
12 changes: 7 additions & 5 deletions Marlin/src/feature/babystep.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,9 +32,11 @@
#endif

#if IS_CORE || EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS)
#define BS_TODO_AXIS(A) A
#define BS_AXIS_IND(A) A
#define BS_AXIS(I) AxisEnum(I)
#else
#define BS_TODO_AXIS(A) 0
#define BS_AXIS_IND(A) 0
#define BS_AXIS(I) Z_AXIS
#endif

#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
Expand All @@ -47,7 +49,7 @@

class Babystep {
public:
static volatile int16_t steps[BS_TODO_AXIS(Z_AXIS) + 1];
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)
Expand All @@ -65,15 +67,15 @@ class Babystep {
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)];
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(axis, BS_TODO_AXIS(Z_AXIS)) step_axis((AxisEnum)axis);
LOOP_LE_N(i, BS_AXIS_IND(Z_AXIS)) step_axis(BS_AXIS(i));
}

private:
Expand Down
2 changes: 1 addition & 1 deletion Marlin/src/feature/tmc_util.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1097,7 +1097,7 @@

bool tmc_enable_stallguard(TMC2209Stepper &st) {
const bool stealthchop_was_enabled = !st.en_spreadCycle();

st.TCOOLTHRS(0xFFFFF);
st.en_spreadCycle(false);
return stealthchop_was_enabled;
Expand Down
2 changes: 1 addition & 1 deletion Marlin/src/gcode/motion/M290.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,7 +131,7 @@ void GcodeSuite::M290() {
#else
PSTR("Babystep Z")
#endif
, babystep.axis_total[BS_TODO_AXIS(Z_AXIS)]
, babystep.axis_total[BS_AXIS_IND(Z_AXIS)]
);
}
#endif
Expand Down
16 changes: 8 additions & 8 deletions Marlin/src/lcd/extensible_ui/ui_api.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -785,7 +785,7 @@ namespace ExtUI {
#if HAS_BED_PROBE
return probe.offset.z;
#elif ENABLED(BABYSTEP_DISPLAY_TOTAL)
return (planner.steps_to_mm[Z_AXIS] * babystep.axis_total[BS_TODO_AXIS(Z_AXIS)]);
return (planner.steps_to_mm[Z_AXIS] * babystep.axis_total[BS_AXIS_IND(Z_AXIS)]);
#else
return 0.0;
#endif
Expand Down Expand Up @@ -898,11 +898,11 @@ namespace ExtUI {
float getPIDValues_Kp(const extruder_t tool) {
return PID_PARAM(Kp, tool);
}

float getPIDValues_Ki(const extruder_t tool) {
return unscalePID_i(PID_PARAM(Ki, tool));
}

float getPIDValues_Kd(const extruder_t tool) {
return unscalePID_d(PID_PARAM(Kd, tool));
}
Expand All @@ -918,27 +918,27 @@ namespace ExtUI {
thermalManager.PID_autotune(temp, (heater_ind_t)tool, 8, true);
}
#endif

#if ENABLED(PIDTEMPBED)
float getBedPIDValues_Kp() {
return thermalManager.temp_bed.pid.Kp;
}

float getBedPIDValues_Ki() {
return unscalePID_i(thermalManager.temp_bed.pid.Ki);
}

float getBedPIDValues_Kd() {
return unscalePID_d(thermalManager.temp_bed.pid.Kd);
}

void setBedPIDValues(const float p, const float i, const float d) {
thermalManager.temp_bed.pid.Kp = p;
thermalManager.temp_bed.pid.Ki = scalePID_i(i);
thermalManager.temp_bed.pid.Kd = scalePID_d(d);
thermalManager.updatePID();
}

void startBedPIDTune(const float temp) {
thermalManager.PID_autotune(temp, H_BED, 4, true);
}
Expand Down
2 changes: 1 addition & 1 deletion Marlin/src/lcd/extensible_ui/ui_api.h
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Original file line number Diff line number Diff line change
Expand Up @@ -256,7 +256,7 @@ namespace ExtUI {
void setPIDValues(const float, const float, const float, extruder_t);
void startPIDTune(const float, extruder_t);
#endif

#if ENABLED(PIDTEMPBED)
float getBedPIDValues_Kp();
float getBedPIDValues_Ki();
Expand Down
28 changes: 19 additions & 9 deletions Marlin/src/module/stepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,8 @@

Stepper stepper; // Singleton

#define BABYSTEPPING_EXTRA_DIR_WAIT

#if HAS_MOTOR_CURRENT_PWM
bool Stepper::initialized; // = false
#endif
Expand Down Expand Up @@ -1367,16 +1369,16 @@ void Stepper::isr() {
#endif

#if ENABLED(INTEGRATED_BABYSTEPPING)
const bool do_babystep = (nextBabystepISR == 0); // 0 = Do Babystepping (XY)Z pulses
if (do_babystep) nextBabystepISR = babystepping_isr();
const bool is_babystep = (nextBabystepISR == 0); // 0 = Do Babystepping (XY)Z pulses
if (is_babystep) nextBabystepISR = babystepping_isr();
#endif

// ^== Time critical. NOTHING besides pulse generation should be above here!!!

if (!nextMainISR) nextMainISR = block_phase_isr(); // Manage acc/deceleration, get next block

#if ENABLED(INTEGRATED_BABYSTEPPING)
if (do_babystep) // Avoid ANY stepping too soon after baby-stepping
if (is_babystep) // Avoid ANY stepping too soon after baby-stepping
NOLESS(nextMainISR, (BABYSTEP_TICKS) / 8); // FULL STOP for 125µs after a baby-step

if (nextBabystepISR != BABYSTEP_NEVER) // Avoid baby-stepping too close to axis Stepping
Expand Down Expand Up @@ -2507,6 +2509,14 @@ void Stepper::report_positions() {
#endif
#endif

#if ENABLED(BABYSTEPPING_EXTRA_DIR_WAIT)
#define EXTRA_DIR_WAIT_BEFORE DIR_WAIT_BEFORE
#define EXTRA_DIR_WAIT_AFTER DIR_WAIT_AFTER
#else
#define EXTRA_DIR_WAIT_BEFORE()
#define EXTRA_DIR_WAIT_AFTER()
#endif

#if DISABLED(DELTA)

#define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \
Expand All @@ -2519,9 +2529,9 @@ void Stepper::report_positions() {
_APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \
_PULSE_WAIT(); \
_APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \
DIR_WAIT_BEFORE(); \
EXTRA_DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, old_dir); \
DIR_WAIT_AFTER(); \
EXTRA_DIR_WAIT_AFTER(); \
}while(0)

#elif IS_CORE
Expand All @@ -2539,9 +2549,9 @@ void Stepper::report_positions() {
_PULSE_WAIT(); \
_APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \
_APPLY_STEP(B, _INVERT_STEP_PIN(B), true); \
DIR_WAIT_BEFORE(); \
EXTRA_DIR_WAIT_BEFORE(); \
_APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \
DIR_WAIT_AFTER(); \
EXTRA_DIR_WAIT_AFTER(); \
}while(0)

#endif
Expand Down Expand Up @@ -2620,13 +2630,13 @@ void Stepper::report_positions() {
Z_STEP_WRITE(INVERT_Z_STEP_PIN);

// Restore direction bits
DIR_WAIT_BEFORE();
EXTRA_DIR_WAIT_BEFORE();

X_DIR_WRITE(old_dir.x);
Y_DIR_WRITE(old_dir.y);
Z_DIR_WRITE(old_dir.z);

DIR_WAIT_AFTER();
EXTRA_DIR_WAIT_AFTER();

#endif

Expand Down
14 changes: 7 additions & 7 deletions Marlin/src/pins/mega/pins_PICA.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,8 +36,8 @@
/*
// Note that these are the "pins" that correspond to the analog inputs on the arduino mega.
// These are not the same as the physical pin numbers
AD0 = 54; AD1 = 55; AD2 = 56; AD3 = 57;
AD4 = 58; AD5 = 59; AD6 = 60; AD7 = 61;
AD0 = 54; AD1 = 55; AD2 = 56; AD3 = 57;
AD4 = 58; AD5 = 59; AD6 = 60; AD7 = 61;
AD8 = 62; AD9 = 63; AD10 = 64; AD11 = 65;
AD12 = 66; AD13 = 67; AD14 = 68; AD15 = 69;
*/
Expand All @@ -61,7 +61,7 @@
//
#define X_STEP_PIN 55
#define X_DIR_PIN 54
#define X_ENABLE_PIN 60
#define X_ENABLE_PIN 60

#define Y_STEP_PIN 57
#define Y_DIR_PIN 56
Expand All @@ -71,7 +71,7 @@
#define Z_DIR_PIN 58
#define Z_ENABLE_PIN 62

#define E0_STEP_PIN 67
#define E0_STEP_PIN 67
#define E0_DIR_PIN 24
#define E0_ENABLE_PIN 26

Expand Down Expand Up @@ -103,10 +103,10 @@
#endif

#define SDPOWER_PIN -1
#define LED_PIN -1
#define LED_PIN -1
#define PS_ON_PIN -1
#define KILL_PIN -1

#define SSR_PIN 6

// SPI for Max6675 or Max31855 Thermocouple
Expand All @@ -119,7 +119,7 @@
//
// SD Support
//
#define SD_DETECT_PIN 49
#define SD_DETECT_PIN 49
#define SDSS 53

//
Expand Down

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