|
|
|
@ -43,6 +43,13 @@ |
|
|
|
#include "stepper.h" |
|
|
|
#endif |
|
|
|
|
|
|
|
#if ENABLED(BABYSTEPPING) |
|
|
|
#include "../module/motion.h" |
|
|
|
#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE) |
|
|
|
#include "../gcode/gcode.h" |
|
|
|
#endif |
|
|
|
#endif |
|
|
|
|
|
|
|
#include "printcounter.h" |
|
|
|
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR) |
|
|
|
@ -260,12 +267,10 @@ int16_t Temperature::current_temperature_raw[HOTENDS], // = { 0 } |
|
|
|
|
|
|
|
volatile bool Temperature::temp_meas_ready = false; |
|
|
|
|
|
|
|
#if ENABLED(PIDTEMP) |
|
|
|
#if ENABLED(PID_EXTRUSION_SCALING) |
|
|
|
long Temperature::last_e_position; |
|
|
|
long Temperature::lpq[LPQ_MAX_LEN]; |
|
|
|
int Temperature::lpq_ptr = 0; |
|
|
|
#endif |
|
|
|
#if ENABLED(PID_EXTRUSION_SCALING) |
|
|
|
long Temperature::last_e_position; |
|
|
|
long Temperature::lpq[LPQ_MAX_LEN]; |
|
|
|
int Temperature::lpq_ptr = 0; |
|
|
|
#endif |
|
|
|
|
|
|
|
uint16_t Temperature::raw_temp_value[MAX_EXTRUDERS] = { 0 }; |
|
|
|
@ -312,6 +317,8 @@ uint8_t Temperature::soft_pwm_amount[HOTENDS]; |
|
|
|
bool Temperature::heater_idle_timeout_exceeded[HOTENDS] = { false }; |
|
|
|
#endif |
|
|
|
|
|
|
|
// public:
|
|
|
|
|
|
|
|
#if HAS_ADC_BUTTONS |
|
|
|
uint32_t Temperature::current_ADCKey_raw = 0; |
|
|
|
uint8_t Temperature::ADCKey_count = 0; |
|
|
|
@ -2475,15 +2482,22 @@ void Temperature::isr() { |
|
|
|
//
|
|
|
|
|
|
|
|
#if ENABLED(BABYSTEPPING) |
|
|
|
LOOP_XYZ(axis) { |
|
|
|
const int16_t curTodo = babystepsTodo[axis]; // get rid of volatile for performance
|
|
|
|
#if ENABLED(BABYSTEP_XY) || ENABLED(I2C_POSITION_ENCODERS) |
|
|
|
LOOP_XYZ(axis) { |
|
|
|
const int16_t curTodo = babystepsTodo[axis]; // get rid of volatile for performance
|
|
|
|
if (curTodo) { |
|
|
|
stepper.babystep((AxisEnum)axis, curTodo > 0); |
|
|
|
if (curTodo > 0) babystepsTodo[axis]--; else babystepsTodo[axis]++; |
|
|
|
} |
|
|
|
} |
|
|
|
#else |
|
|
|
const int16_t curTodo = babystepsTodo[Z_AXIS]; |
|
|
|
if (curTodo) { |
|
|
|
stepper.babystep((AxisEnum)axis, curTodo > 0); |
|
|
|
if (curTodo > 0) babystepsTodo[axis]--; |
|
|
|
else babystepsTodo[axis]++; |
|
|
|
stepper.babystep(Z_AXIS, curTodo > 0); |
|
|
|
if (curTodo > 0) babystepsTodo[Z_AXIS]--; else babystepsTodo[Z_AXIS]++; |
|
|
|
} |
|
|
|
} |
|
|
|
#endif // BABYSTEPPING
|
|
|
|
#endif |
|
|
|
#endif |
|
|
|
|
|
|
|
// Poll endstops state, if required
|
|
|
|
endstops.poll(); |
|
|
|
@ -2492,6 +2506,70 @@ void Temperature::isr() { |
|
|
|
planner.tick(); |
|
|
|
} |
|
|
|
|
|
|
|
#if ENABLED(BABYSTEPPING) |
|
|
|
|
|
|
|
#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE) |
|
|
|
#define BSA_ENABLE(AXIS) do{ switch (AXIS) { case X_AXIS: enable_X(); break; case Y_AXIS: enable_Y(); break; case Z_AXIS: enable_Z(); } }while(0) |
|
|
|
#else |
|
|
|
#define BSA_ENABLE(AXIS) NOOP |
|
|
|
#endif |
|
|
|
|
|
|
|
#if ENABLED(BABYSTEP_WITHOUT_HOMING) |
|
|
|
#define CAN_BABYSTEP(AXIS) true |
|
|
|
#else |
|
|
|
#define CAN_BABYSTEP(AXIS) TEST(axis_known_position, AXIS) |
|
|
|
#endif |
|
|
|
|
|
|
|
extern uint8_t axis_known_position; |
|
|
|
|
|
|
|
void Temperature::babystep_axis(const AxisEnum axis, const int16_t distance) { |
|
|
|
if (!CAN_BABYSTEP(axis)) return; |
|
|
|
#if IS_CORE |
|
|
|
#if ENABLED(BABYSTEP_XY) |
|
|
|
switch (axis) { |
|
|
|
case CORE_AXIS_1: // X on CoreXY and CoreXZ, Y on CoreYZ
|
|
|
|
BSA_ENABLE(CORE_AXIS_1); |
|
|
|
BSA_ENABLE(CORE_AXIS_2); |
|
|
|
babystepsTodo[CORE_AXIS_1] += distance * 2; |
|
|
|
babystepsTodo[CORE_AXIS_2] += distance * 2; |
|
|
|
break; |
|
|
|
case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ and CoreYZ
|
|
|
|
BSA_ENABLE(CORE_AXIS_1); |
|
|
|
BSA_ENABLE(CORE_AXIS_2); |
|
|
|
babystepsTodo[CORE_AXIS_1] += CORESIGN(distance * 2); |
|
|
|
babystepsTodo[CORE_AXIS_2] -= CORESIGN(distance * 2); |
|
|
|
break; |
|
|
|
case NORMAL_AXIS: // Z on CoreXY, Y on CoreXZ, X on CoreYZ
|
|
|
|
default: |
|
|
|
BSA_ENABLE(NORMAL_AXIS); |
|
|
|
babystepsTodo[NORMAL_AXIS] += distance; |
|
|
|
break; |
|
|
|
} |
|
|
|
#elif CORE_IS_XZ || CORE_IS_YZ |
|
|
|
// Only Z stepping needs to be handled here
|
|
|
|
BSA_ENABLE(CORE_AXIS_1); |
|
|
|
BSA_ENABLE(CORE_AXIS_2); |
|
|
|
babystepsTodo[CORE_AXIS_1] += CORESIGN(distance * 2); |
|
|
|
babystepsTodo[CORE_AXIS_2] -= CORESIGN(distance * 2); |
|
|
|
#else |
|
|
|
BSA_ENABLE(Z_AXIS); |
|
|
|
babystepsTodo[Z_AXIS] += distance; |
|
|
|
#endif |
|
|
|
#else |
|
|
|
#if ENABLED(BABYSTEP_XY) |
|
|
|
BSA_ENABLE(axis); |
|
|
|
#else |
|
|
|
BSA_ENABLE(Z_AXIS); |
|
|
|
#endif |
|
|
|
babystepsTodo[axis] += distance; |
|
|
|
#endif |
|
|
|
#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE) |
|
|
|
gcode.reset_stepper_timeout(); |
|
|
|
#endif |
|
|
|
} |
|
|
|
|
|
|
|
#endif // BABYSTEPPING
|
|
|
|
|
|
|
|
#if HAS_TEMP_SENSOR |
|
|
|
|
|
|
|
#include "../gcode/gcode.h" |
|
|
|
|
InsanityAutomation
6 years ago
Scott Lahteine