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MarlinFirmware/Marlin/src/feature/babystep.cpp
2020-04-22 16:35:03 -05:00

115 lines
3.7 KiB
C++

/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(BABYSTEPPING)
#include "babystep.h"
#include "../MarlinCore.h"
#include "../module/planner.h"
#include "../module/stepper.h"
#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
#include "../gcode/gcode.h"
#endif
Babystep babystep;
volatile int16_t Babystep::steps[BS_AXIS_IND(Z_AXIS) + 1];
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
int16_t Babystep::axis_total[BS_TOTAL_IND(Z_AXIS) + 1];
#endif
int16_t Babystep::accum;
void Babystep::step_axis(const AxisEnum axis) {
const int16_t curTodo = steps[BS_AXIS_IND(axis)]; // get rid of volatile for performance
if (curTodo) {
stepper.do_babystep((AxisEnum)axis, curTodo > 0);
if (curTodo > 0) steps[BS_AXIS_IND(axis)]--; else steps[BS_AXIS_IND(axis)]++;
}
}
void Babystep::add_mm(const AxisEnum axis, const float &mm) {
add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]);
}
void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
if (DISABLED(BABYSTEP_WITHOUT_HOMING) && !TEST(axis_known_position, axis)) return;
accum += distance; // Count up babysteps for the UI
TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] += distance);
#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
#define BSA_ENABLE(AXIS) do{ switch (AXIS) { case X_AXIS: ENABLE_AXIS_X(); break; case Y_AXIS: ENABLE_AXIS_Y(); break; case Z_AXIS: ENABLE_AXIS_Z(); break; default: break; } }while(0)
#else
#define BSA_ENABLE(AXIS) NOOP
#endif
#if IS_CORE
#if ENABLED(BABYSTEP_XY)
switch (axis) {
case CORE_AXIS_1: // X on CoreXY and CoreXZ, Y on CoreYZ
BSA_ENABLE(CORE_AXIS_1);
BSA_ENABLE(CORE_AXIS_2);
steps[CORE_AXIS_1] += distance * 2;
steps[CORE_AXIS_2] += distance * 2;
break;
case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ and CoreYZ
BSA_ENABLE(CORE_AXIS_1);
BSA_ENABLE(CORE_AXIS_2);
steps[CORE_AXIS_1] += CORESIGN(distance * 2);
steps[CORE_AXIS_2] -= CORESIGN(distance * 2);
break;
case NORMAL_AXIS: // Z on CoreXY, Y on CoreXZ, X on CoreYZ
default:
BSA_ENABLE(NORMAL_AXIS);
steps[NORMAL_AXIS] += distance;
break;
}
#elif CORE_IS_XZ || CORE_IS_YZ
// Only Z stepping needs to be handled here
BSA_ENABLE(CORE_AXIS_1);
BSA_ENABLE(CORE_AXIS_2);
steps[CORE_AXIS_1] += CORESIGN(distance * 2);
steps[CORE_AXIS_2] -= CORESIGN(distance * 2);
#else
BSA_ENABLE(Z_AXIS);
steps[Z_AXIS] += distance;
#endif
#else
#if ENABLED(BABYSTEP_XY)
BSA_ENABLE(axis);
#else
BSA_ENABLE(Z_AXIS);
#endif
steps[BS_AXIS_IND(axis)] += distance;
#endif
TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout());
TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
}
#endif // BABYSTEPPING