marlin/Marlin/src/feature/babystep.cpp

/**
 * 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