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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 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_TODO_AXIS(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
- if (curTodo) {
- stepper.babystep((AxisEnum)axis, curTodo > 0);
- if (curTodo > 0) steps[BS_TODO_AXIS(axis)]--; else steps[BS_TODO_AXIS(axis)]++;
- }
- }
-
- void Babystep::task() {
- #if EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS)
- LOOP_XYZ(axis) step_axis((AxisEnum)axis);
- #else
- step_axis(Z_AXIS);
- #endif
- }
-
- 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 ENABLED(BABYSTEP_WITHOUT_HOMING)
- #define CAN_BABYSTEP(AXIS) true
- #else
- extern uint8_t axis_known_position;
- #define CAN_BABYSTEP(AXIS) TEST(axis_known_position, AXIS)
- #endif
-
- if (!CAN_BABYSTEP(axis)) return;
-
- accum += distance; // Count up babysteps for the UI
- #if ENABLED(BABYSTEP_DISPLAY_TOTAL)
- axis_total[BS_TOTAL_AXIS(axis)] += distance;
- #endif
-
- #if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
- #define BSA_ENABLE(AXIS) do{ switch (AXIS) { case X_AXIS: enable_X(); break; case Y_AXIS: enable_Y(); break; case Z_AXIS: enable_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_TODO_AXIS(axis)] += distance;
- #endif
- #if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
- gcode.reset_stepper_timeout();
- #endif
- }
-
- #endif // BABYSTEPPING
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