From eaefc1e41069ab9dc51a52e87e7418c6669dce42 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Mon, 19 Mar 2018 02:51:40 -0500
Subject: [PATCH] Add CorePQ support for BABYSTEPPING (#10155)
---
Marlin/src/module/stepper.cpp | 51 +++++++++++++++++++++++++----------
1 file changed, 37 insertions(+), 14 deletions(-)
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index c4c604b0158..60305919b8e 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -1304,16 +1304,16 @@ void Stepper::report_positions() {
#endif
#endif
- #define BABYSTEP_AXIS(AXIS, INVERT) { \
- const uint8_t old_dir = _READ_DIR(AXIS); \
- _ENABLE(AXIS); \
- _SAVE_START; \
- _APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
- _PULSE_WAIT; \
- _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
- _PULSE_WAIT; \
- _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
- _APPLY_DIR(AXIS, old_dir); \
+ #define BABYSTEP_AXIS(AXIS, INVERT, DIR) { \
+ const uint8_t old_dir = _READ_DIR(AXIS); \
+ _ENABLE(AXIS); \
+ _SAVE_START; \
+ _APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INVERT); \
+ _PULSE_WAIT; \
+ _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
+ _PULSE_WAIT; \
+ _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
+ _APPLY_DIR(AXIS, old_dir); \
}
// MUST ONLY BE CALLED BY AN ISR,
@@ -1326,20 +1326,43 @@ void Stepper::report_positions() {
#if ENABLED(BABYSTEP_XY)
case X_AXIS:
- BABYSTEP_AXIS(X, false);
+ #if CORE_IS_XY
+ BABYSTEP_AXIS(X, false, direction);
+ BABYSTEP_AXIS(Y, false, direction);
+ #elif CORE_IS_XZ
+ BABYSTEP_AXIS(X, false, direction);
+ BABYSTEP_AXIS(Z, false, direction);
+ #else
+ BABYSTEP_AXIS(X, false, direction);
+ #endif
break;
case Y_AXIS:
- BABYSTEP_AXIS(Y, false);
+ #if CORE_IS_XY
+ BABYSTEP_AXIS(X, false, direction);
+ BABYSTEP_AXIS(Y, false, direction^(CORESIGN(1)<0));
+ #elif CORE_IS_YZ
+ BABYSTEP_AXIS(Y, false, direction);
+ BABYSTEP_AXIS(Z, false, direction^(CORESIGN(1)<0));
+ #else
+ BABYSTEP_AXIS(Y, false, direction);
+ #endif
break;
#endif
case Z_AXIS: {
- #if DISABLED(DELTA)
+ #if CORE_IS_XZ
+ BABYSTEP_AXIS(X, BABYSTEP_INVERT_Z, direction);
+ BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction^(CORESIGN(1)<0));
- BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z);
+ #elif CORE_IS_YZ
+ BABYSTEP_AXIS(Y, BABYSTEP_INVERT_Z, direction);
+ BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction^(CORESIGN(1)<0));
+
+ #elif DISABLED(DELTA)
+ BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction);
#else // DELTA