diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index cb2bdc08b4..ca4f86a834 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -1447,6 +1447,7 @@
*/
//#define BABYSTEPPING
#if ENABLED(BABYSTEPPING)
+ //#define INTEGRATED_BABYSTEPPING // EXPERIMENTAL integration of babystepping into the Stepper ISR
//#define BABYSTEP_WITHOUT_HOMING
//#define BABYSTEP_XY // Also enable X/Y Babystepping. Not supported on DELTA!
#define BABYSTEP_INVERT_Z false // Change if Z babysteps should go the other way
diff --git a/Marlin/src/feature/babystep.cpp b/Marlin/src/feature/babystep.cpp
index eedd8f6196..be2d1b0d2e 100644
--- a/Marlin/src/feature/babystep.cpp
+++ b/Marlin/src/feature/babystep.cpp
@@ -117,6 +117,10 @@ void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
gcode.reset_stepper_timeout();
#endif
+
+ #if ENABLED(INTEGRATED_BABYSTEPPING)
+ if (has_steps()) stepper.initiateBabystepping();
+ #endif
}
#endif // BABYSTEPPING
diff --git a/Marlin/src/feature/babystep.h b/Marlin/src/feature/babystep.h
index 63ea0e3e24..7f017afb55 100644
--- a/Marlin/src/feature/babystep.h
+++ b/Marlin/src/feature/babystep.h
@@ -23,6 +23,14 @@
#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
+
#if IS_CORE || EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS)
#define BS_TODO_AXIS(A) A
#else
@@ -56,8 +64,12 @@ public:
static void add_steps(const AxisEnum axis, const int16_t distance);
static void add_mm(const AxisEnum axis, const float &mm);
+ static inline bool has_steps() {
+ return steps[BS_TODO_AXIS(X_AXIS)] || steps[BS_TODO_AXIS(Y_AXIS)] || steps[BS_TODO_AXIS(Z_AXIS)];
+ }
+
//
- // Called by the Temperature ISR to
+ // Called by the Temperature or Stepper ISR to
// apply accumulated babysteps to the axes.
//
static inline void task() {
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 6e0a318fcb..e898d974ed 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -217,6 +217,10 @@ uint32_t Stepper::advance_divisor = 0,
#endif // LIN_ADVANCE
+#if ENABLED(INTEGRATED_BABYSTEPPING)
+ uint32_t Stepper::nextBabystepISR = BABYSTEP_NEVER;
+#endif
+
int32_t Stepper::ticks_nominal = -1;
#if DISABLED(S_CURVE_ACCELERATION)
uint32_t Stepper::acc_step_rate; // needed for deceleration start point
@@ -1358,16 +1362,32 @@ void Stepper::isr() {
if (!nextAdvanceISR) nextAdvanceISR = advance_isr(); // 0 = Do Linear Advance E Stepper pulses
#endif
+ #if ENABLED(INTEGRATED_BABYSTEPPING)
+ const bool do_babystep = (nextBabystepISR == 0); // 0 = Do Babystepping (XY)Z pulses
+ if (do_babystep) nextBabystepISR = babystepping_isr();
+ #endif
+
// ^== Time critical. NOTHING besides pulse generation should be above here!!!
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
+ 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
+ NOLESS(nextBabystepISR, nextMainISR / 2) // TODO: Only look at axes enabled for baby-stepping
+ #endif
+
// Get the interval to the next ISR call
const uint32_t interval = _MIN(
- nextMainISR // Time until the next Stepper ISR
+ nextMainISR // Time until the next Pulse / Block phase
#if ENABLED(LIN_ADVANCE)
, nextAdvanceISR // Come back early for Linear Advance?
#endif
+ #if ENABLED(INTEGRATED_BABYSTEPPING)
+ , nextBabystepISR // Come back early for Babystepping?
+ #endif
, uint32_t(HAL_TIMER_TYPE_MAX) // Come back in a very long time
);
@@ -1384,6 +1404,10 @@ void Stepper::isr() {
if (nextAdvanceISR != LA_ADV_NEVER) nextAdvanceISR -= interval;
#endif
+ #if ENABLED(INTEGRATED_BABYSTEPPING)
+ if (nextBabystepISR != BABYSTEP_NEVER) nextBabystepISR -= interval;
+ #endif
+
/**
* This needs to avoid a race-condition caused by interleaving
* of interrupts required by both the LA and Stepper algorithms.
@@ -2043,6 +2067,16 @@ uint32_t Stepper::block_phase_isr() {
#endif // LIN_ADVANCE
+#if ENABLED(INTEGRATED_BABYSTEPPING)
+
+ // Timer interrupt for baby-stepping
+ uint32_t Stepper::babystepping_isr() {
+ babystep.task();
+ return babystep.has_steps() ? BABYSTEP_TICKS : BABYSTEP_NEVER;
+ }
+
+#endif
+
// Check if the given block is busy or not - Must not be called from ISR contexts
// The current_block could change in the middle of the read by an Stepper ISR, so
// we must explicitly prevent that!
@@ -2511,7 +2545,10 @@ void Stepper::report_positions() {
// MUST ONLY BE CALLED BY AN ISR,
// No other ISR should ever interrupt this!
void Stepper::babystep(const AxisEnum axis, const bool direction) {
- cli();
+
+ #if DISABLED(INTEGRATED_BABYSTEPPING)
+ cli();
+ #endif
switch (axis) {
@@ -2594,7 +2631,9 @@ void Stepper::report_positions() {
default: break;
}
- sei();
+ #if DISABLED(INTEGRATED_BABYSTEPPING)
+ sei();
+ #endif
}
#endif // BABYSTEPPING
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index ed07bfd5df..9f1b9321bb 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -329,6 +329,11 @@ class Stepper {
static bool LA_use_advance_lead;
#endif
+ #if ENABLED(INTEGRATED_BABYSTEPPING)
+ static constexpr uint32_t BABYSTEP_NEVER = 0xFFFFFFFF;
+ static uint32_t nextBabystepISR;
+ #endif
+
static int32_t ticks_nominal;
#if DISABLED(S_CURVE_ACCELERATION)
static uint32_t acc_step_rate; // needed for deceleration start point
@@ -383,6 +388,17 @@ class Stepper {
FORCE_INLINE static void initiateLA() { nextAdvanceISR = 0; }
#endif
+ #if ENABLED(INTEGRATED_BABYSTEPPING)
+ // The Babystepping ISR phase
+ static uint32_t babystepping_isr();
+ FORCE_INLINE static void initiateBabystepping() {
+ if (nextBabystepISR == BABYSTEP_NEVER) {
+ nextBabystepISR = 0;
+ wake_up();
+ }
+ }
+ #endif
+
// Check if the given block is busy or not - Must not be called from ISR contexts
static bool is_block_busy(const block_t* const block);
diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp
index a422912742..5bed31b1a1 100644
--- a/Marlin/src/module/temperature.cpp
+++ b/Marlin/src/module/temperature.cpp
@@ -69,7 +69,7 @@
#include "stepper.h"
#endif
-#if ENABLED(BABYSTEPPING)
+#if ENABLED(BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING)
#include "../feature/babystep.h"
#endif
@@ -3010,7 +3010,7 @@ void Temperature::tick() {
// Additional ~1KHz Tasks
//
- #if ENABLED(BABYSTEPPING)
+ #if ENABLED(BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING)
babystep.task();
#endif