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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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28
Marlin/src/module/stepper.cpp
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@ -81,6 +81,8 @@
Stepper stepper; // Singleton
#define BABYSTEPPING_EXTRA_DIR_WAIT
#if HAS_MOTOR_CURRENT_PWM
bool Stepper::initialized; // = false
#endif
@ -1367,8 +1369,8 @@ void Stepper::isr() {
#endif
#if ENABLED(INTEGRATED_BABYSTEPPING)
const bool do_babystep = (nextBabystepISR == 0); // 0 = Do Babystepping (XY)Z pulses
if (do_babystep) nextBabystepISR = babystepping_isr();
const bool is_babystep = (nextBabystepISR == 0); // 0 = Do Babystepping (XY)Z pulses
if (is_babystep) nextBabystepISR = babystepping_isr();
#endif
// ^== Time critical. NOTHING besides pulse generation should be above here!!!
@ -1376,7 +1378,7 @@ void Stepper::isr() {
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
if (is_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
@ -2507,6 +2509,14 @@ void Stepper::report_positions() {
#endif
#endif
#if ENABLED(BABYSTEPPING_EXTRA_DIR_WAIT)
#define EXTRA_DIR_WAIT_BEFORE DIR_WAIT_BEFORE
#define EXTRA_DIR_WAIT_AFTER DIR_WAIT_AFTER
#else
#define EXTRA_DIR_WAIT_BEFORE()
#define EXTRA_DIR_WAIT_AFTER()
#endif
#if DISABLED(DELTA)
#define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \
@ -2519,9 +2529,9 @@ void Stepper::report_positions() {
_APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \
_PULSE_WAIT(); \
_APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \
DIR_WAIT_BEFORE(); \
EXTRA_DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, old_dir); \
DIR_WAIT_AFTER(); \
EXTRA_DIR_WAIT_AFTER(); \
}while(0)
#elif IS_CORE
@ -2539,9 +2549,9 @@ void Stepper::report_positions() {
_PULSE_WAIT(); \
_APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \
_APPLY_STEP(B, _INVERT_STEP_PIN(B), true); \
DIR_WAIT_BEFORE(); \
EXTRA_DIR_WAIT_BEFORE(); \
_APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \
DIR_WAIT_AFTER(); \
EXTRA_DIR_WAIT_AFTER(); \
}while(0)
#endif
@ -2620,13 +2630,13 @@ void Stepper::report_positions() {
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
// Restore direction bits
DIR_WAIT_BEFORE();
EXTRA_DIR_WAIT_BEFORE();
X_DIR_WRITE(old_dir.x);
Y_DIR_WRITE(old_dir.y);
Z_DIR_WRITE(old_dir.z);
DIR_WAIT_AFTER();
EXTRA_DIR_WAIT_AFTER();
#endif