|
|
@ -81,6 +81,8 @@ |
|
|
|
|
|
|
|
Stepper stepper; // Singleton
|
|
|
|
|
|
|
|
#define BABYSTEPPING_EXTRA_DIR_WAIT |
|
|
|
|
|
|
|
#if HAS_MOTOR_CURRENT_PWM |
|
|
|
bool Stepper::initialized; // = false
|
|
|
|
#endif |
|
|
@ -1367,8 +1369,8 @@ 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!!!
|
|
|
@ -1376,7 +1378,7 @@ void Stepper::isr() { |
|
|
|
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
|
|
|
@ -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{ \ |
|
|
@ -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 |
|
|
@ -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 |
|
|
@ -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 |
|
|
|
|
|
|
|