diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 0773fa40216..85c968b2c68 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -3153,6 +3153,14 @@ void Planner::set_machine_position_mm(const abce_pos_t &abce) {
}
}
+/**
+ * Set the machine positions in millimeters (soon) given the native position.
+ * Synchonized with the planner queue.
+ *
+ * - Modifiers are applied for skew, leveling, retract, etc.
+ * - Kinematics are applied to remap cartesian positions to stepper positions.
+ * - The resulting stepper positions are synchronized at the end of the planner queue.
+ */
void Planner::set_position_mm(const xyze_pos_t &xyze) {
xyze_pos_t machine = xyze;
TERN_(HAS_POSITION_MODIFIERS, apply_modifiers(machine, true));
@@ -3169,12 +3177,13 @@ void Planner::set_position_mm(const xyze_pos_t &xyze) {
#if HAS_EXTRUDERS
/**
- * Setters for planner position (also setting stepper position).
+ * Special setter for planner E position (also setting E stepper position).
*/
void Planner::set_e_position_mm(const_float_t e) {
const uint8_t axis_index = E_AXIS_N(active_extruder);
TERN_(DISTINCT_E_FACTORS, last_extruder = active_extruder);
+ // Unapply the current retraction before (immediately) setting the planner position
const float e_new = DIFF_TERN(FWRETRACT, e, fwretract.current_retract[active_extruder]);
position.e = LROUND(settings.axis_steps_per_mm[axis_index] * e_new);
TERN_(HAS_POSITION_FLOAT, position_float.e = e_new);
@@ -3186,9 +3195,11 @@ void Planner::set_position_mm(const xyze_pos_t &xyze) {
stepper.set_axis_position(E_AXIS, position.e);
}
-#endif
+#endif // HAS_EXTRUDERS
-// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
+/**
+ * Recalculate steps/s^2 acceleration rates based on mm/s^2 acceleration rates
+ */
void Planner::refresh_acceleration_rates() {
uint32_t highest_rate = 1;
LOOP_DISTINCT_AXES(i) {
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 22dc136839d..1684a4b60cd 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -3361,40 +3361,40 @@ void Stepper::_set_position(const abce_long_t &spos) {
#endif
}
+// AVR requires guards to ensure any atomic memory operation greater than 8 bits
+#define ATOMIC_SECTION_START() const bool was_enabled = suspend()
+#define ATOMIC_SECTION_END() if (was_enabled) wake_up()
+#define AVR_ATOMIC_SECTION_START() TERN_(__AVR__, ATOMIC_SECTION_START())
+#define AVR_ATOMIC_SECTION_END() TERN_(__AVR__, ATOMIC_SECTION_END())
+
/**
* Get a stepper's position in steps.
*/
int32_t Stepper::position(const AxisEnum axis) {
- #ifdef __AVR__
- // Protect the access to the position. Only required for AVR, as
- // any 32bit CPU offers atomic access to 32bit variables
- const bool was_enabled = suspend();
- #endif
-
+ AVR_ATOMIC_SECTION_START();
const int32_t v = count_position[axis];
-
- #ifdef __AVR__
- // Reenable Stepper ISR
- if (was_enabled) wake_up();
- #endif
+ AVR_ATOMIC_SECTION_END();
return v;
}
-// Set the current position in steps
+/**
+ * Set all axis stepper positions in steps
+ */
void Stepper::set_position(const xyze_long_t &spos) {
planner.synchronize();
- const bool was_enabled = suspend();
+ ATOMIC_SECTION_START();
_set_position(spos);
- if (was_enabled) wake_up();
+ ATOMIC_SECTION_END();
}
+/**
+ * Set a single axis stepper position in steps
+ */
void Stepper::set_axis_position(const AxisEnum a, const int32_t &v) {
planner.synchronize();
- #ifdef __AVR__
- // Protect the access to the position. Only required for AVR, as
- // any 32bit CPU offers atomic access to 32bit variables
- const bool was_enabled = suspend();
+ #if ANY(__AVR__, INPUT_SHAPING_X, INPUT_SHAPING_Y, INPUT_SHAPING_Z)
+ ATOMIC_SECTION_START();
#endif
count_position[a] = v;
@@ -3402,9 +3402,8 @@ void Stepper::set_axis_position(const AxisEnum a, const int32_t &v) {
TERN_(INPUT_SHAPING_Y, if (a == Y_AXIS) shaping_y.last_block_end_pos = v);
TERN_(INPUT_SHAPING_Z, if (a == Z_AXIS) shaping_z.last_block_end_pos = v);
- #ifdef __AVR__
- // Reenable Stepper ISR
- if (was_enabled) wake_up();
+ #if ANY(__AVR__, INPUT_SHAPING_X, INPUT_SHAPING_Y, INPUT_SHAPING_Z)
+ ATOMIC_SECTION_END();
#endif
}
@@ -3413,32 +3412,25 @@ void Stepper::set_axis_position(const AxisEnum a, const int32_t &v) {
void Stepper::ftMotion_syncPosition() {
//planner.synchronize(); planner already synchronized in M493
- #ifdef __AVR__
- // Protect the access to the position. Only required for AVR, as
- // any 32bit CPU offers atomic access to 32bit variables
- const bool was_enabled = suspend();
- #endif
-
// Update stepper positions from the planner
+ AVR_ATOMIC_SECTION_START();
count_position = planner.position;
-
- #ifdef __AVR__
- // Reenable Stepper ISR
- if (was_enabled) wake_up();
- #endif
+ AVR_ATOMIC_SECTION_END();
}
#endif // FT_MOTION
-// Signal endstops were triggered - This function can be called from
-// an ISR context (Temperature, Stepper or limits ISR), so we must
-// be very careful here. If the interrupt being preempted was the
-// Stepper ISR (this CAN happen with the endstop limits ISR) then
-// when the stepper ISR resumes, we must be very sure that the movement
-// is properly canceled
+/**
+ * Record stepper positions and discard the rest of the current block
+ *
+ * WARNING! This function may be called from ISR context!
+ * If the Stepper ISR is preempted (e.g., by the endstop ISR) we
+ * must ensure the move is properly canceled before the ISR resumes.
+ */
void Stepper::endstop_triggered(const AxisEnum axis) {
- const bool was_enabled = suspend();
+ ATOMIC_SECTION_START(); // Suspend the Stepper ISR on all platforms
+
endstops_trigsteps[axis] = (
#if IS_CORE
(axis == CORE_AXIS_2
@@ -3461,23 +3453,14 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
// Discard the rest of the move if there is a current block
quick_stop();
- if (was_enabled) wake_up();
+ ATOMIC_SECTION_END(); // Suspend the Stepper ISR on all platforms
}
+// Return the "triggered" position for an axis (that hit an endstop)
int32_t Stepper::triggered_position(const AxisEnum axis) {
- #ifdef __AVR__
- // Protect the access to the position. Only required for AVR, as
- // any 32bit CPU offers atomic access to 32bit variables
- const bool was_enabled = suspend();
- #endif
-
+ AVR_ATOMIC_SECTION_START();
const int32_t v = endstops_trigsteps[axis];
-
- #ifdef __AVR__
- // Reenable Stepper ISR
- if (was_enabled) wake_up();
- #endif
-
+ AVR_ATOMIC_SECTION_END();
return v;
}
@@ -3506,18 +3489,9 @@ void Stepper::report_a_position(const xyz_long_t &pos) {
}
void Stepper::report_positions() {
-
- #ifdef __AVR__
- // Protect the access to the position.
- const bool was_enabled = suspend();
- #endif
-
+ AVR_ATOMIC_SECTION_START();
const xyz_long_t pos = count_position;
-
- #ifdef __AVR__
- if (was_enabled) wake_up();
- #endif
-
+ AVR_ATOMIC_SECTION_END();
report_a_position(pos);
}