diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index b1fde0a45d5..f97f9d01736 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -2206,7 +2206,6 @@
*/
//#define BABYSTEPPING
#if ENABLED(BABYSTEPPING)
- //#define INTEGRATED_BABYSTEPPING // Integration of babystepping into the Stepper ISR
//#define EP_BABYSTEPPING // M293/M294 babystepping with EMERGENCY_PARSER support
//#define BABYSTEP_WITHOUT_HOMING
//#define BABYSTEP_ALWAYS_AVAILABLE // Allow babystepping at all times (not just during movement)
diff --git a/Marlin/src/HAL/ESP32/inc/SanityCheck.h b/Marlin/src/HAL/ESP32/inc/SanityCheck.h
index e6c364a6fe4..dd199c390de 100644
--- a/Marlin/src/HAL/ESP32/inc/SanityCheck.h
+++ b/Marlin/src/HAL/ESP32/inc/SanityCheck.h
@@ -52,10 +52,6 @@
#error "FAST_PWM_FAN is not available on TinyBee."
#endif
-#if ALL(I2S_STEPPER_STREAM, BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING)
- #error "BABYSTEPPING on I2S stream requires INTEGRATED_BABYSTEPPING."
-#endif
-
#if USING_PULLDOWNS
#error "PULLDOWN pin mode is not available on ESP32 boards."
#endif
diff --git a/Marlin/src/feature/babystep.cpp b/Marlin/src/feature/babystep.cpp
index e431e40165f..c6717268a64 100644
--- a/Marlin/src/feature/babystep.cpp
+++ b/Marlin/src/feature/babystep.cpp
@@ -66,7 +66,7 @@ void Babystep::add_mm(const AxisEnum axis, const_float_t mm) {
steps[BS_AXIS_IND(axis)] = distance;
TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] = distance);
TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout());
- TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
+ TERN_(BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
}
#endif
@@ -77,7 +77,7 @@ void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
steps[BS_AXIS_IND(axis)] += distance;
TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] += distance);
TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout());
- TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
+ TERN_(BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
}
#if ENABLED(EP_BABYSTEPPING)
diff --git a/Marlin/src/feature/babystep.h b/Marlin/src/feature/babystep.h
index df88da6e147..38a19a3b147 100644
--- a/Marlin/src/feature/babystep.h
+++ b/Marlin/src/feature/babystep.h
@@ -23,13 +23,8 @@
#include "../inc/MarlinConfigPre.h"
-#if ENABLED(INTEGRATED_BABYSTEPPING)
- #define BABYSTEPS_PER_SEC 1000UL
- #define BABYSTEP_TICKS ((STEPPER_TIMER_RATE) / (BABYSTEPS_PER_SEC))
-#else
- #define BABYSTEPS_PER_SEC 976UL
- #define BABYSTEP_TICKS ((TEMP_TIMER_RATE) / (BABYSTEPS_PER_SEC))
-#endif
+#define BABYSTEPS_PER_SEC 1000UL
+#define BABYSTEP_TICKS ((STEPPER_TIMER_RATE) / (BABYSTEPS_PER_SEC))
#if ANY(IS_CORE, BABYSTEP_XY, I2C_POSITION_ENCODERS)
#define BS_AXIS_IND(A) A
diff --git a/Marlin/src/inc/Changes.h b/Marlin/src/inc/Changes.h
index 8a4a9c2b48f..b64b6a7ca76 100644
--- a/Marlin/src/inc/Changes.h
+++ b/Marlin/src/inc/Changes.h
@@ -659,6 +659,8 @@
#error "Z3_USE_ENDSTOP is obsolete. Instead set Z2_STOP_PIN directly. (e.g., 'Z3_USE_ENDSTOP _ZMAX_' becomes 'Z3_STOP_PIN Z_MAX_PIN')"
#elif defined(Z4_USE_ENDSTOP)
#error "Z4_USE_ENDSTOP is obsolete. Instead set Z4_STOP_PIN directly. (e.g., 'Z4_USE_ENDSTOP _ZMAX_' becomes 'Z4_STOP_PIN Z_MAX_PIN')"
+#elif defined(INTEGRATED_BABYSTEPPING)
+ #error "INTEGRATED_BABYSTEPPING is no longer needed and should be removed."
#endif
// L64xx stepper drivers have been removed
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index d1c8eef69c0..9bafe7443db 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -106,7 +106,7 @@ Stepper stepper; // Singleton
#include "../feature/bedlevel/bdl/bdl.h"
#endif
-#if ENABLED(INTEGRATED_BABYSTEPPING)
+#if ENABLED(BABYSTEPPING)
#include "../feature/babystep.h"
#endif
@@ -273,7 +273,7 @@ uint32_t Stepper::advance_divisor = 0,
#endif
#endif
-#if ENABLED(INTEGRATED_BABYSTEPPING)
+#if ENABLED(BABYSTEPPING)
hal_timer_t Stepper::nextBabystepISR = BABYSTEP_NEVER;
#endif
@@ -1543,7 +1543,7 @@ void Stepper::isr() {
// Define 2.5 msec task for auxilliary functions.
if (!fxdTiCtrl_nextAuxISR) {
endstops.update();
- TERN_(INTEGRATED_BABYSTEPPING, if (babystep.has_steps()) babystepping_isr());
+ TERN_(BABYSTEPPING, if (babystep.has_steps()) babystepping_isr());
fxdTiCtrl_refreshAxisDidMove();
fxdTiCtrl_nextAuxISR = 0.0025f * (STEPPER_TIMER_RATE);
}
@@ -1574,7 +1574,7 @@ void Stepper::isr() {
nextAdvanceISR = la_interval;
#endif
- #if ENABLED(INTEGRATED_BABYSTEPPING)
+ #if ENABLED(BABYSTEPPING)
const bool is_babystep = (nextBabystepISR == 0); // 0 = Do Babystepping (XY)Z pulses
if (is_babystep) nextBabystepISR = babystepping_isr();
#endif
@@ -1583,7 +1583,7 @@ void Stepper::isr() {
if (!nextMainISR) nextMainISR = block_phase_isr(); // Manage acc/deceleration, get next block
- #if ENABLED(INTEGRATED_BABYSTEPPING)
+ #if ENABLED(BABYSTEPPING)
if (is_babystep) // Avoid ANY stepping too soon after baby-stepping
NOLESS(nextMainISR, (BABYSTEP_TICKS) / 8); // FULL STOP for 125µs after a baby-step
@@ -1596,7 +1596,7 @@ void Stepper::isr() {
TERN_(INPUT_SHAPING_X, NOMORE(interval, ShapingQueue::peek_x())); // Time until next input shaping echo for X
TERN_(INPUT_SHAPING_Y, NOMORE(interval, ShapingQueue::peek_y())); // Time until next input shaping echo for Y
TERN_(LIN_ADVANCE, NOMORE(interval, nextAdvanceISR)); // Come back early for Linear Advance?
- TERN_(INTEGRATED_BABYSTEPPING, NOMORE(interval, nextBabystepISR)); // Come back early for Babystepping?
+ TERN_(BABYSTEPPING, NOMORE(interval, nextBabystepISR)); // Come back early for Babystepping?
//
// Compute remaining time for each ISR phase
@@ -1608,7 +1608,7 @@ void Stepper::isr() {
nextMainISR -= interval;
TERN_(HAS_ZV_SHAPING, ShapingQueue::decrement_delays(interval));
TERN_(LIN_ADVANCE, if (nextAdvanceISR != LA_ADV_NEVER) nextAdvanceISR -= interval);
- TERN_(INTEGRATED_BABYSTEPPING, if (nextBabystepISR != BABYSTEP_NEVER) nextBabystepISR -= interval);
+ TERN_(BABYSTEPPING, if (nextBabystepISR != BABYSTEP_NEVER) nextBabystepISR -= interval);
} // standard motion control
@@ -2807,7 +2807,7 @@ hal_timer_t Stepper::block_phase_isr() {
#endif // LIN_ADVANCE
-#if ENABLED(INTEGRATED_BABYSTEPPING)
+#if ENABLED(BABYSTEPPING)
// Timer interrupt for baby-stepping
hal_timer_t Stepper::babystepping_isr() {
@@ -3669,7 +3669,7 @@ void Stepper::report_positions() {
// No other ISR should ever interrupt this!
void Stepper::do_babystep(const AxisEnum axis, const bool direction) {
- IF_DISABLED(INTEGRATED_BABYSTEPPING, cli());
+ IF_DISABLED(BABYSTEPPING, cli());
switch (axis) {
@@ -3750,7 +3750,7 @@ void Stepper::report_positions() {
default: break;
}
- IF_DISABLED(INTEGRATED_BABYSTEPPING, sei());
+ IF_DISABLED(BABYSTEPPING, sei());
}
#endif // BABYSTEPPING
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index 8ec4024ea60..7dbb6b8b5a1 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -416,7 +416,7 @@ class Stepper {
static bool la_active; // Whether linear advance is used on the present segment.
#endif
- #if ENABLED(INTEGRATED_BABYSTEPPING)
+ #if ENABLED(BABYSTEPPING)
static constexpr hal_timer_t BABYSTEP_NEVER = HAL_TIMER_TYPE_MAX;
static hal_timer_t nextBabystepISR;
#endif
@@ -475,7 +475,7 @@ class Stepper {
static void advance_isr();
#endif
- #if ENABLED(INTEGRATED_BABYSTEPPING)
+ #if ENABLED(BABYSTEPPING)
// The Babystepping ISR phase
static hal_timer_t babystepping_isr();
FORCE_INLINE static void initiateBabystepping() {
diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp
index d7bf9c8b793..d7c764540b4 100644
--- a/Marlin/src/module/temperature.cpp
+++ b/Marlin/src/module/temperature.cpp
@@ -160,10 +160,6 @@
#include "stepper.h"
#endif
-#if ENABLED(BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING)
- #include "../feature/babystep.h"
-#endif
-
#if ENABLED(FILAMENT_WIDTH_SENSOR)
#include "../feature/filwidth.h"
#endif
@@ -4122,10 +4118,6 @@ void Temperature::isr() {
// Additional ~1kHz Tasks
//
- #if ENABLED(BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING)
- babystep.task();
- #endif
-
// Check fan tachometers
TERN_(HAS_FANCHECK, fan_check.update_tachometers());