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82 lines
2.5 KiB
82 lines
2.5 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../inc/MarlinConfigPre.h"
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#if ENABLED(INTEGRATED_BABYSTEPPING)
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#define BABYSTEPS_PER_SEC 1000UL
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#define BABYSTEP_TICKS ((STEPPER_TIMER_RATE) / (BABYSTEPS_PER_SEC))
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#else
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#define BABYSTEPS_PER_SEC 976UL
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#define BABYSTEP_TICKS ((TEMP_TIMER_RATE) / (BABYSTEPS_PER_SEC))
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#endif
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#if IS_CORE || EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS)
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#define BS_AXIS_IND(A) A
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#define BS_AXIS(I) AxisEnum(I)
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#else
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#define BS_AXIS_IND(A) 0
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#define BS_AXIS(I) Z_AXIS
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#endif
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#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
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#if ENABLED(BABYSTEP_XY)
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#define BS_TOTAL_IND(A) A
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#else
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#define BS_TOTAL_IND(A) 0
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#endif
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#endif
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class Babystep {
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public:
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static volatile int16_t steps[BS_AXIS_IND(Z_AXIS) + 1];
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static int16_t accum; // Total babysteps in current edit
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#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
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static int16_t axis_total[BS_TOTAL_IND(Z_AXIS) + 1]; // Total babysteps since G28
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static void reset_total(const AxisEnum axis) {
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if (TERN1(BABYSTEP_XY, axis == Z_AXIS))
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axis_total[BS_TOTAL_IND(axis)] = 0;
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}
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#endif
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static void add_steps(const AxisEnum axis, const int16_t distance);
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static void add_mm(const AxisEnum axis, const_float_t mm);
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static bool has_steps() {
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return steps[BS_AXIS_IND(X_AXIS)] || steps[BS_AXIS_IND(Y_AXIS)] || steps[BS_AXIS_IND(Z_AXIS)];
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}
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//
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// Called by the Temperature or Stepper ISR to
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// apply accumulated babysteps to the axes.
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//
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static void task() {
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LOOP_LE_N(i, BS_AXIS_IND(Z_AXIS)) step_axis(BS_AXIS(i));
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}
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private:
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static void step_axis(const AxisEnum axis);
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};
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extern Babystep babystep;
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