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@@ -101,6 +101,10 @@ Stepper stepper; // Singleton
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101
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101
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#include "../MarlinCore.h"
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102
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102
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#include "../HAL/shared/Delay.h"
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103
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103
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104
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+#if ENABLED(INTEGRATED_BABYSTEPPING)
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105
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+ #include "../feature/babystep.h"
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106
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+#endif
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107
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+
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104
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108
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#if MB(ALLIGATOR)
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105
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109
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#include "../feature/dac/dac_dac084s085.h"
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106
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110
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#endif
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@@ -1373,10 +1377,10 @@ void Stepper::isr() {
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1373
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1377
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1374
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1378
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#if ENABLED(INTEGRATED_BABYSTEPPING)
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1375
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1379
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if (do_babystep) // Avoid ANY stepping too soon after baby-stepping
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1376
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- NOLESS(nextMainISR, (BABYSTEP_TICKS) / 8) // FULL STOP for 125µs after a baby-step
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1380
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+ NOLESS(nextMainISR, (BABYSTEP_TICKS) / 8); // FULL STOP for 125µs after a baby-step
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1377
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1381
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1378
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1382
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if (nextBabystepISR != BABYSTEP_NEVER) // Avoid baby-stepping too close to axis Stepping
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1379
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- NOLESS(nextBabystepISR, nextMainISR / 2) // TODO: Only look at axes enabled for baby-stepping
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1383
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+ NOLESS(nextBabystepISR, nextMainISR / 2); // TODO: Only look at axes enabled for baby-stepping
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1380
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1384
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#endif
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1381
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1385
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1382
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1386
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// Get the interval to the next ISR call
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@@ -2544,7 +2548,7 @@ void Stepper::report_positions() {
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2544
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2548
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2545
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2549
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// MUST ONLY BE CALLED BY AN ISR,
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2546
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2550
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// No other ISR should ever interrupt this!
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2547
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- void Stepper::babystep(const AxisEnum axis, const bool direction) {
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2551
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+ void Stepper::do_babystep(const AxisEnum axis, const bool direction) {
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2548
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2552
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2549
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2553
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#if DISABLED(INTEGRATED_BABYSTEPPING)
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2550
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2554
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cli();
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