Direct Stepping update (#19135)

Marlin/src/feature/direct_stepping.cpp

@@ -57,9 +57,6 @@ namespace DirectStepping {
   volatile bool SerialPageManager<Cfg>::page_states_dirty;
 
   template<typename Cfg>
-  millis_t SerialPageManager<Cfg>::next_response;
-
-  template<typename Cfg>
   uint8_t SerialPageManager<Cfg>::pages[Cfg::NUM_PAGES][Cfg::PAGE_SIZE];
 
   template<typename Cfg>
@@ -80,7 +77,6 @@ namespace DirectStepping {
       page_states[i] = PageState::FREE;
 
     fatal_error = false;
-    next_response = 0;
     state = State::NEWLINE;
 
     page_states_dirty = false;
@@ -181,15 +177,8 @@ namespace DirectStepping {
       return;
     }
 
-    // Runs on a set interval also, as responses may get lost.
-    if (next_response && next_response < millis()) {
-      page_states_dirty = true;
-    }
-
     if (!page_states_dirty) return;
-
     page_states_dirty = false;
-    next_response = millis() + Cfg::RESPONSE_INTERVAL_MS;
 
     SERIAL_ECHO(Cfg::CONTROL_CHAR);
     constexpr int state_bits = 2;
@@ -238,29 +227,29 @@ const uint8_t segment_table[DirectStepping::Config::NUM_SEGMENTS][DirectStepping
 
   #if STEPPER_PAGE_FORMAT == SP_4x4D_128
 
-    { 1, 1, 1, 1, 1, 1, 1, 0 }, //  0 = -7
-    { 1, 1, 1, 0, 1, 1, 1, 0 }, //  1 = -6
-    { 0, 1, 1, 0, 1, 0, 1, 1 }, //  2 = -5
-    { 0, 1, 0, 1, 0, 1, 0, 1 }, //  3 = -4
-    { 0, 1, 0, 0, 1, 0, 0, 1 }, //  4 = -3
-    { 0, 0, 1, 0, 0, 0, 1, 0 }, //  5 = -2
-    { 0, 0, 0, 0, 1, 0, 0, 0 }, //  6 = -1
-    { 0, 0, 0, 0, 0, 0, 0, 0 }, //  7 =  0
-    { 0, 0, 0, 0, 1, 0, 0, 0 }, //  8 =  1
-    { 0, 0, 1, 0, 0, 0, 1, 0 }, //  9 =  2
-    { 0, 1, 0, 0, 1, 0, 0, 1 }, // 10 =  3
-    { 0, 1, 0, 1, 0, 1, 0, 1 }, // 11 =  4
-    { 0, 1, 1, 0, 1, 0, 1, 1 }, // 12 =  5
-    { 1, 1, 1, 0, 1, 1, 1, 0 }, // 13 =  6
-    { 1, 1, 1, 1, 1, 1, 1, 0 }, // 14 =  7
+    { 1, 1, 1, 1, 1, 1, 1 }, //  0 = -7
+    { 1, 1, 1, 0, 1, 1, 1 }, //  1 = -6
+    { 1, 1, 1, 0, 1, 0, 1 }, //  2 = -5
+    { 1, 1, 0, 1, 0, 1, 0 }, //  3 = -4
+    { 1, 1, 0, 0, 1, 0, 0 }, //  4 = -3
+    { 0, 0, 1, 0, 0, 0, 1 }, //  5 = -2
+    { 0, 0, 0, 1, 0, 0, 0 }, //  6 = -1
+    { 0, 0, 0, 0, 0, 0, 0 }, //  7 =  0
+    { 0, 0, 0, 1, 0, 0, 0 }, //  8 =  1
+    { 0, 0, 1, 0, 0, 0, 1 }, //  9 =  2
+    { 1, 1, 0, 0, 1, 0, 0 }, // 10 =  3
+    { 1, 1, 0, 1, 0, 1, 0 }, // 11 =  4
+    { 1, 1, 1, 0, 1, 0, 1 }, // 12 =  5
+    { 1, 1, 1, 0, 1, 1, 1 }, // 13 =  6
+    { 1, 1, 1, 1, 1, 1, 1 }, // 14 =  7
     { 0 }
 
   #elif STEPPER_PAGE_FORMAT == SP_4x2_256
 
-    { 0, 0, 0, 0 }, // 0
-    { 0, 1, 0, 0 }, // 1
-    { 1, 0, 1, 0 }, // 2
-    { 1, 1, 1, 0 }, // 3
+    { 0, 0, 0 }, // 0
+    { 0, 1, 0 }, // 1
+    { 1, 0, 1 }, // 2
+    { 1, 1, 1 }, // 3
 
   #elif STEPPER_PAGE_FORMAT == SP_4x1_512
 

Marlin/src/feature/direct_stepping.h

@@ -70,7 +70,6 @@ namespace DirectStepping {
 
     static volatile PageState page_states[Cfg::NUM_PAGES];
     static volatile bool page_states_dirty;
-    static millis_t next_response;
 
     static uint8_t pages[Cfg::NUM_PAGES][Cfg::PAGE_SIZE];
     static uint8_t checksum;
@@ -94,14 +93,11 @@ namespace DirectStepping {
     static constexpr int DIRECTIONAL    = dir ? 1 : 0;
     static constexpr int SEGMENTS       = segments;
 
-    static constexpr int RAW            = (BITS_SEGMENT == 1) ? 1 : 0;
     static constexpr int NUM_SEGMENTS   = 1 << BITS_SEGMENT;
-    static constexpr int SEGMENT_STEPS  = 1 << (BITS_SEGMENT - DIRECTIONAL - RAW);
+    static constexpr int SEGMENT_STEPS  = (1 << (BITS_SEGMENT - DIRECTIONAL)) - 1;
     static constexpr int TOTAL_STEPS    = SEGMENT_STEPS * SEGMENTS;
     static constexpr int PAGE_SIZE      = (NUM_AXES * BITS_SEGMENT * SEGMENTS) / 8;
 
-    static constexpr millis_t RESPONSE_INTERVAL_MS = 50;
-
     typedef typename TypeSelector<(PAGE_SIZE>256), uint16_t, uint8_t>::type write_byte_idx_t;
     typedef typename TypeSelector<(NUM_PAGES>256), uint16_t, uint8_t>::type page_idx_t;
   };

Marlin/src/module/stepper.cpp

@@ -1578,12 +1578,11 @@ void Stepper::pulse_phase_isr() {
 
         #if STEPPER_PAGE_FORMAT == SP_4x4D_128
 
-          #define PAGE_SEGMENT_UPDATE(AXIS, VALUE, MID) do{ \
-                 if ((VALUE) == MID) {}                     \
-            else if ((VALUE) <  MID) SBI(dm, _AXIS(AXIS));  \
-            else                     CBI(dm, _AXIS(AXIS));  \
-            page_step_state.sd[_AXIS(AXIS)] = VALUE;        \
-            page_step_state.bd[_AXIS(AXIS)] += VALUE;       \
+          #define PAGE_SEGMENT_UPDATE(AXIS, VALUE) do{   \
+                 if ((VALUE) <  7) SBI(dm, _AXIS(AXIS)); \
+            else if ((VALUE) >  7) CBI(dm, _AXIS(AXIS)); \
+            page_step_state.sd[_AXIS(AXIS)] = VALUE;     \
+            page_step_state.bd[_AXIS(AXIS)] += VALUE;    \
           }while(0)
 
           #define PAGE_PULSE_PREP(AXIS) do{ \
@@ -1592,7 +1591,7 @@ void Stepper::pulse_phase_isr() {
           }while(0)
 
           switch (page_step_state.segment_steps) {
-            case 8:
+            case DirectStepping::Config::SEGMENT_STEPS:
               page_step_state.segment_idx += 2;
               page_step_state.segment_steps = 0;
               // fallthru
@@ -1601,10 +1600,10 @@ void Stepper::pulse_phase_isr() {
                            high = page_step_state.page[page_step_state.segment_idx + 1];
               uint8_t dm = last_direction_bits;
 
-              PAGE_SEGMENT_UPDATE(X, low >> 4, 7);
-              PAGE_SEGMENT_UPDATE(Y, low & 0xF, 7);
-              PAGE_SEGMENT_UPDATE(Z, high >> 4, 7);
-              PAGE_SEGMENT_UPDATE(E, high & 0xF, 7);
+              PAGE_SEGMENT_UPDATE(X, low >> 4);
+              PAGE_SEGMENT_UPDATE(Y, low & 0xF);
+              PAGE_SEGMENT_UPDATE(Z, high >> 4);
+              PAGE_SEGMENT_UPDATE(E, high & 0xF);
 
               if (dm != last_direction_bits) {
                 last_direction_bits = dm;
@@ -1615,9 +1614,9 @@ void Stepper::pulse_phase_isr() {
             default: break;
           }
 
-          PAGE_PULSE_PREP(X),
-          PAGE_PULSE_PREP(Y),
-          PAGE_PULSE_PREP(Z),
+          PAGE_PULSE_PREP(X);
+          PAGE_PULSE_PREP(Y);
+          PAGE_PULSE_PREP(Z);
           PAGE_PULSE_PREP(E);
 
           page_step_state.segment_steps++;
@@ -1634,7 +1633,7 @@ void Stepper::pulse_phase_isr() {
           }while(0)
 
           switch (page_step_state.segment_steps) {
-            case 4:
+            case DirectStepping::Config::SEGMENT_STEPS:
               page_step_state.segment_idx++;
               page_step_state.segment_steps = 0;
               // fallthru
@@ -1664,7 +1663,6 @@ void Stepper::pulse_phase_isr() {
           }while(0)
 
           uint8_t steps = page_step_state.page[page_step_state.segment_idx >> 1];
-
           if (page_step_state.segment_idx & 0x1) steps >>= 4;
 
           PAGE_PULSE_PREP(X, 3);