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Fix Babystepping loop (again)

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This commit is contained in:
Scott Lahteine 2020-02-24 05:29:13 -06:00
parent 8ba5ef8cae
commit 5e197df89a
8 changed files with 48 additions and 36 deletions
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8
Marlin/src/feature/babystep.cpp
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@ -35,17 +35,17 @@
Babystep babystep; 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) #if ENABLED(BABYSTEP_DISPLAY_TOTAL)
int16_t Babystep::axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1]; int16_t Babystep::axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1];
#endif #endif
int16_t Babystep::accum; int16_t Babystep::accum;
void Babystep::step_axis(const AxisEnum axis) { 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) { if (curTodo) {
stepper.do_babystep((AxisEnum)axis, curTodo > 0); 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)]++;
} }
} }
@ -112,7 +112,7 @@ void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
#else #else
BSA_ENABLE(Z_AXIS); BSA_ENABLE(Z_AXIS);
#endif #endif
steps[BS_TODO_AXIS(axis)] += distance; steps[BS_AXIS_IND(axis)] += distance;
#endif #endif
#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE) #if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
gcode.reset_stepper_timeout(); gcode.reset_stepper_timeout();

12
Marlin/src/feature/babystep.h
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@ -32,9 +32,11 @@
#endif #endif
#if IS_CORE || EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS) #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 #else
#define BS_TODO_AXIS(A) 0 #define BS_AXIS_IND(A) 0
#define BS_AXIS(I) Z_AXIS
#endif #endif
#if ENABLED(BABYSTEP_DISPLAY_TOTAL) #if ENABLED(BABYSTEP_DISPLAY_TOTAL)
@ -47,7 +49,7 @@
class Babystep { class Babystep {
public: 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 static int16_t accum; // Total babysteps in current edit
#if ENABLED(BABYSTEP_DISPLAY_TOTAL) #if ENABLED(BABYSTEP_DISPLAY_TOTAL)
@ -65,7 +67,7 @@ public:
static void add_mm(const AxisEnum axis, const float &mm); static void add_mm(const AxisEnum axis, const float &mm);
static inline bool has_steps() { 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)];
} }
// //
@ -73,7 +75,7 @@ public:
// apply accumulated babysteps to the axes. // apply accumulated babysteps to the axes.
// //
static inline void task() { 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: private:

2
Marlin/src/feature/tmc_util.cpp
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@ -1097,7 +1097,7 @@
bool tmc_enable_stallguard(TMC2209Stepper &st) { bool tmc_enable_stallguard(TMC2209Stepper &st) {
const bool stealthchop_was_enabled = !st.en_spreadCycle(); const bool stealthchop_was_enabled = !st.en_spreadCycle();
st.TCOOLTHRS(0xFFFFF); st.TCOOLTHRS(0xFFFFF);
st.en_spreadCycle(false); st.en_spreadCycle(false);
return stealthchop_was_enabled; return stealthchop_was_enabled;

2
Marlin/src/gcode/motion/M290.cpp
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@ -131,7 +131,7 @@ void GcodeSuite::M290() {
#else #else
PSTR("Babystep Z") PSTR("Babystep Z")
#endif #endif
, babystep.axis_total[BS_TODO_AXIS(Z_AXIS)] , babystep.axis_total[BS_AXIS_IND(Z_AXIS)]
); );
} }
#endif #endif

16
Marlin/src/lcd/extensible_ui/ui_api.cpp
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@ -785,7 +785,7 @@ namespace ExtUI {
#if HAS_BED_PROBE #if HAS_BED_PROBE
return probe.offset.z; return probe.offset.z;
#elif ENABLED(BABYSTEP_DISPLAY_TOTAL) #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 #else
return 0.0; return 0.0;
#endif #endif
@ -898,11 +898,11 @@ namespace ExtUI {
float getPIDValues_Kp(const extruder_t tool) { float getPIDValues_Kp(const extruder_t tool) {
return PID_PARAM(Kp, tool); return PID_PARAM(Kp, tool);
} }
float getPIDValues_Ki(const extruder_t tool) { float getPIDValues_Ki(const extruder_t tool) {
return unscalePID_i(PID_PARAM(Ki, tool)); return unscalePID_i(PID_PARAM(Ki, tool));
} }
float getPIDValues_Kd(const extruder_t tool) { float getPIDValues_Kd(const extruder_t tool) {
return unscalePID_d(PID_PARAM(Kd, tool)); return unscalePID_d(PID_PARAM(Kd, tool));
} }
@ -918,27 +918,27 @@ namespace ExtUI {
thermalManager.PID_autotune(temp, (heater_ind_t)tool, 8, true); thermalManager.PID_autotune(temp, (heater_ind_t)tool, 8, true);
} }
#endif #endif
#if ENABLED(PIDTEMPBED) #if ENABLED(PIDTEMPBED)
float getBedPIDValues_Kp() { float getBedPIDValues_Kp() {
return thermalManager.temp_bed.pid.Kp; return thermalManager.temp_bed.pid.Kp;
} }
float getBedPIDValues_Ki() { float getBedPIDValues_Ki() {
return unscalePID_i(thermalManager.temp_bed.pid.Ki); return unscalePID_i(thermalManager.temp_bed.pid.Ki);
} }
float getBedPIDValues_Kd() { float getBedPIDValues_Kd() {
return unscalePID_d(thermalManager.temp_bed.pid.Kd); return unscalePID_d(thermalManager.temp_bed.pid.Kd);
} }
void setBedPIDValues(const float p, const float i, const float d) { void setBedPIDValues(const float p, const float i, const float d) {
thermalManager.temp_bed.pid.Kp = p; thermalManager.temp_bed.pid.Kp = p;
thermalManager.temp_bed.pid.Ki = scalePID_i(i); thermalManager.temp_bed.pid.Ki = scalePID_i(i);
thermalManager.temp_bed.pid.Kd = scalePID_d(d); thermalManager.temp_bed.pid.Kd = scalePID_d(d);
thermalManager.updatePID(); thermalManager.updatePID();
} }
void startBedPIDTune(const float temp) { void startBedPIDTune(const float temp) {
thermalManager.PID_autotune(temp, H_BED, 4, true); thermalManager.PID_autotune(temp, H_BED, 4, true);
} }

2
Marlin/src/lcd/extensible_ui/ui_api.h
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@ -256,7 +256,7 @@ namespace ExtUI {
void setPIDValues(const float, const float, const float, extruder_t); void setPIDValues(const float, const float, const float, extruder_t);
void startPIDTune(const float, extruder_t); void startPIDTune(const float, extruder_t);
#endif #endif
#if ENABLED(PIDTEMPBED) #if ENABLED(PIDTEMPBED)
float getBedPIDValues_Kp(); float getBedPIDValues_Kp();
float getBedPIDValues_Ki(); float getBedPIDValues_Ki();

28
Marlin/src/module/stepper.cpp
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@ -81,6 +81,8 @@
Stepper stepper; // Singleton Stepper stepper; // Singleton
#define BABYSTEPPING_EXTRA_DIR_WAIT
#if HAS_MOTOR_CURRENT_PWM #if HAS_MOTOR_CURRENT_PWM
bool Stepper::initialized; // = false bool Stepper::initialized; // = false
#endif #endif
@ -1367,8 +1369,8 @@ void Stepper::isr() {
#endif #endif
#if ENABLED(INTEGRATED_BABYSTEPPING) #if ENABLED(INTEGRATED_BABYSTEPPING)
const bool do_babystep = (nextBabystepISR == 0); // 0 = Do Babystepping (XY)Z pulses const bool is_babystep = (nextBabystepISR == 0); // 0 = Do Babystepping (XY)Z pulses
if (do_babystep) nextBabystepISR = babystepping_isr(); if (is_babystep) nextBabystepISR = babystepping_isr();
#endif #endif
// ^== Time critical. NOTHING besides pulse generation should be above here!!! // ^== Time critical. NOTHING besides pulse generation should be above here!!!
@ -1376,7 +1378,7 @@ void Stepper::isr() {
if (!nextMainISR) nextMainISR = block_phase_isr(); // Manage acc/deceleration, get next block if (!nextMainISR) nextMainISR = block_phase_isr(); // Manage acc/deceleration, get next block
#if ENABLED(INTEGRATED_BABYSTEPPING) #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 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 if (nextBabystepISR != BABYSTEP_NEVER) // Avoid baby-stepping too close to axis Stepping
@ -2507,6 +2509,14 @@ void Stepper::report_positions() {
#endif #endif
#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) #if DISABLED(DELTA)
#define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \ #define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \
@ -2519,9 +2529,9 @@ void Stepper::report_positions() {
_APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \ _APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \
_PULSE_WAIT(); \ _PULSE_WAIT(); \
_APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \ _APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \
DIR_WAIT_BEFORE(); \ EXTRA_DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, old_dir); \ _APPLY_DIR(AXIS, old_dir); \
DIR_WAIT_AFTER(); \ EXTRA_DIR_WAIT_AFTER(); \
}while(0) }while(0)
#elif IS_CORE #elif IS_CORE
@ -2539,9 +2549,9 @@ void Stepper::report_positions() {
_PULSE_WAIT(); \ _PULSE_WAIT(); \
_APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \ _APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \
_APPLY_STEP(B, _INVERT_STEP_PIN(B), 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); \ _APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \
DIR_WAIT_AFTER(); \ EXTRA_DIR_WAIT_AFTER(); \
}while(0) }while(0)
#endif #endif
@ -2620,13 +2630,13 @@ void Stepper::report_positions() {
Z_STEP_WRITE(INVERT_Z_STEP_PIN); Z_STEP_WRITE(INVERT_Z_STEP_PIN);
// Restore direction bits // Restore direction bits
DIR_WAIT_BEFORE(); EXTRA_DIR_WAIT_BEFORE();
X_DIR_WRITE(old_dir.x); X_DIR_WRITE(old_dir.x);
Y_DIR_WRITE(old_dir.y); Y_DIR_WRITE(old_dir.y);
Z_DIR_WRITE(old_dir.z); Z_DIR_WRITE(old_dir.z);
DIR_WAIT_AFTER(); EXTRA_DIR_WAIT_AFTER();
#endif #endif

14
Marlin/src/pins/mega/pins_PICA.h
View File

@ -36,8 +36,8 @@
/* /*
// Note that these are the "pins" that correspond to the analog inputs on the arduino mega. // 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 // These are not the same as the physical pin numbers
AD0 = 54; AD1 = 55; AD2 = 56; AD3 = 57; AD0 = 54; AD1 = 55; AD2 = 56; AD3 = 57;
AD4 = 58; AD5 = 59; AD6 = 60; AD7 = 61; AD4 = 58; AD5 = 59; AD6 = 60; AD7 = 61;
AD8 = 62; AD9 = 63; AD10 = 64; AD11 = 65; AD8 = 62; AD9 = 63; AD10 = 64; AD11 = 65;
AD12 = 66; AD13 = 67; AD14 = 68; AD15 = 69; AD12 = 66; AD13 = 67; AD14 = 68; AD15 = 69;
*/ */
@ -61,7 +61,7 @@
// //
#define X_STEP_PIN 55 #define X_STEP_PIN 55
#define X_DIR_PIN 54 #define X_DIR_PIN 54
#define X_ENABLE_PIN 60 #define X_ENABLE_PIN 60
#define Y_STEP_PIN 57 #define Y_STEP_PIN 57
#define Y_DIR_PIN 56 #define Y_DIR_PIN 56
@ -71,7 +71,7 @@
#define Z_DIR_PIN 58 #define Z_DIR_PIN 58
#define Z_ENABLE_PIN 62 #define Z_ENABLE_PIN 62
#define E0_STEP_PIN 67 #define E0_STEP_PIN 67
#define E0_DIR_PIN 24 #define E0_DIR_PIN 24
#define E0_ENABLE_PIN 26 #define E0_ENABLE_PIN 26
@ -103,10 +103,10 @@
#endif #endif
#define SDPOWER_PIN -1 #define SDPOWER_PIN -1
#define LED_PIN -1 #define LED_PIN -1
#define PS_ON_PIN -1 #define PS_ON_PIN -1
#define KILL_PIN -1 #define KILL_PIN -1
#define SSR_PIN 6 #define SSR_PIN 6
// SPI for Max6675 or Max31855 Thermocouple // SPI for Max6675 or Max31855 Thermocouple
@ -119,7 +119,7 @@
// //
// SD Support // SD Support
// //
#define SD_DETECT_PIN 49 #define SD_DETECT_PIN 49
#define SDSS 53 #define SDSS 53
// //