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Fix Babystepping loop (again)

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This commit is contained in:
Scott Lahteine
2020-02-24 05:29:13 -06:00
parent 8ba5ef8cae
commit 5e197df89a
8 changed files with 48 additions and 36 deletions
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8
Marlin/src/feature/babystep.cpp
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@ -35,17 +35,17 @@
Babystep babystep;
volatile int16_t Babystep::steps[BS_TODO_AXIS(Z_AXIS) + 1];
volatile int16_t Babystep::steps[BS_AXIS_IND(Z_AXIS) + 1];
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
int16_t Babystep::axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1];
#endif
int16_t Babystep::accum;
void Babystep::step_axis(const AxisEnum axis) {
const int16_t curTodo = steps[BS_TODO_AXIS(axis)]; // get rid of volatile for performance
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_TODO_AXIS(axis)]--; else steps[BS_TODO_AXIS(axis)]++;
if (curTodo > 0) steps[BS_AXIS_IND(axis)]--; else steps[BS_AXIS_IND(axis)]++;
}
}
@ -112,7 +112,7 @@ void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
#else
BSA_ENABLE(Z_AXIS);
#endif
steps[BS_TODO_AXIS(axis)] += distance;
steps[BS_AXIS_IND(axis)] += distance;
#endif
#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
gcode.reset_stepper_timeout();

12
Marlin/src/feature/babystep.h
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@ -32,9 +32,11 @@
#endif
#if IS_CORE || EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS)
#define BS_TODO_AXIS(A) A
#define BS_AXIS_IND(A) A
#define BS_AXIS(I) AxisEnum(I)
#else
#define BS_TODO_AXIS(A) 0
#define BS_AXIS_IND(A) 0
#define BS_AXIS(I) Z_AXIS
#endif
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
@ -47,7 +49,7 @@
class Babystep {
public:
static volatile int16_t steps[BS_TODO_AXIS(Z_AXIS) + 1];
static volatile int16_t steps[BS_AXIS_IND(Z_AXIS) + 1];
static int16_t accum; // Total babysteps in current edit
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
@ -65,7 +67,7 @@ public:
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)];
return steps[BS_AXIS_IND(X_AXIS)] || steps[BS_AXIS_IND(Y_AXIS)] || steps[BS_AXIS_IND(Z_AXIS)];
}
//
@ -73,7 +75,7 @@ public:
// apply accumulated babysteps to the axes.
//
static inline void task() {
LOOP_LE_N(axis, BS_TODO_AXIS(Z_AXIS)) step_axis((AxisEnum)axis);
LOOP_LE_N(i, BS_AXIS_IND(Z_AXIS)) step_axis(BS_AXIS(i));
}
private:

2
Marlin/src/feature/tmc_util.cpp
View File

@ -1097,7 +1097,7 @@
bool tmc_enable_stallguard(TMC2209Stepper &st) {
const bool stealthchop_was_enabled = !st.en_spreadCycle();
st.TCOOLTHRS(0xFFFFF);
st.en_spreadCycle(false);
return stealthchop_was_enabled;