From 5e197df89af624d556b75c4881aacd1ab57e861d Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Mon, 24 Feb 2020 05:29:13 -0600 Subject: [PATCH] Fix Babystepping loop (again) --- Marlin/src/feature/babystep.cpp | 8 +++---- Marlin/src/feature/babystep.h | 12 ++++++----- Marlin/src/feature/tmc_util.cpp | 2 +- Marlin/src/gcode/motion/M290.cpp | 2 +- Marlin/src/lcd/extensible_ui/ui_api.cpp | 16 +++++++------- Marlin/src/lcd/extensible_ui/ui_api.h | 2 +- Marlin/src/module/stepper.cpp | 28 +++++++++++++++++-------- Marlin/src/pins/mega/pins_PICA.h | 14 ++++++------- 8 files changed, 48 insertions(+), 36 deletions(-) diff --git a/Marlin/src/feature/babystep.cpp b/Marlin/src/feature/babystep.cpp index fd4491bc6..25552a701 100644 --- a/Marlin/src/feature/babystep.cpp +++ b/Marlin/src/feature/babystep.cpp @@ -35,17 +35,17 @@ Babystep babystep; -volatile int16_t Babystep::steps[BS_TODO_AXIS(Z_AXIS) + 1]; +volatile int16_t Babystep::steps[BS_AXIS_IND(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 + const int16_t curTodo = steps[BS_AXIS_IND(axis)]; // get rid of volatile for performance if (curTodo) { stepper.do_babystep((AxisEnum)axis, curTodo > 0); - if (curTodo > 0) steps[BS_TODO_AXIS(axis)]--; else steps[BS_TODO_AXIS(axis)]++; + if (curTodo > 0) steps[BS_AXIS_IND(axis)]--; else steps[BS_AXIS_IND(axis)]++; } } @@ -112,7 +112,7 @@ void Babystep::add_steps(const AxisEnum axis, const int16_t distance) { #else BSA_ENABLE(Z_AXIS); #endif - steps[BS_TODO_AXIS(axis)] += distance; + steps[BS_AXIS_IND(axis)] += distance; #endif #if ENABLED(BABYSTEP_ALWAYS_AVAILABLE) gcode.reset_stepper_timeout(); diff --git a/Marlin/src/feature/babystep.h b/Marlin/src/feature/babystep.h index 192817bc7..8ce48e397 100644 --- a/Marlin/src/feature/babystep.h +++ b/Marlin/src/feature/babystep.h @@ -32,9 +32,11 @@ #endif #if IS_CORE || EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS) - #define BS_TODO_AXIS(A) A + #define BS_AXIS_IND(A) A + #define BS_AXIS(I) AxisEnum(I) #else - #define BS_TODO_AXIS(A) 0 + #define BS_AXIS_IND(A) 0 + #define BS_AXIS(I) Z_AXIS #endif #if ENABLED(BABYSTEP_DISPLAY_TOTAL) @@ -47,7 +49,7 @@ class Babystep { public: - static volatile int16_t steps[BS_TODO_AXIS(Z_AXIS) + 1]; + static volatile int16_t steps[BS_AXIS_IND(Z_AXIS) + 1]; static int16_t accum; // Total babysteps in current edit #if ENABLED(BABYSTEP_DISPLAY_TOTAL) @@ -65,7 +67,7 @@ public: static void add_mm(const AxisEnum axis, const float &mm); static inline bool has_steps() { - return steps[BS_TODO_AXIS(X_AXIS)] || steps[BS_TODO_AXIS(Y_AXIS)] || steps[BS_TODO_AXIS(Z_AXIS)]; + return steps[BS_AXIS_IND(X_AXIS)] || steps[BS_AXIS_IND(Y_AXIS)] || steps[BS_AXIS_IND(Z_AXIS)]; } // @@ -73,7 +75,7 @@ public: // apply accumulated babysteps to the axes. // static inline void task() { - LOOP_LE_N(axis, BS_TODO_AXIS(Z_AXIS)) step_axis((AxisEnum)axis); + LOOP_LE_N(i, BS_AXIS_IND(Z_AXIS)) step_axis(BS_AXIS(i)); } private: diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp index 9f905021e..a2723fd39 100644 --- a/Marlin/src/feature/tmc_util.cpp +++ b/Marlin/src/feature/tmc_util.cpp @@ -1097,7 +1097,7 @@ bool tmc_enable_stallguard(TMC2209Stepper &st) { const bool stealthchop_was_enabled = !st.en_spreadCycle(); - + st.TCOOLTHRS(0xFFFFF); st.en_spreadCycle(false); return stealthchop_was_enabled; diff --git a/Marlin/src/gcode/motion/M290.cpp b/Marlin/src/gcode/motion/M290.cpp index 9422307cd..d6535af82 100644 --- a/Marlin/src/gcode/motion/M290.cpp +++ b/Marlin/src/gcode/motion/M290.cpp @@ -131,7 +131,7 @@ void GcodeSuite::M290() { #else PSTR("Babystep Z") #endif - , babystep.axis_total[BS_TODO_AXIS(Z_AXIS)] + , babystep.axis_total[BS_AXIS_IND(Z_AXIS)] ); } #endif diff --git a/Marlin/src/lcd/extensible_ui/ui_api.cpp b/Marlin/src/lcd/extensible_ui/ui_api.cpp index 31d195c95..7ef7614b8 100644 --- a/Marlin/src/lcd/extensible_ui/ui_api.cpp +++ b/Marlin/src/lcd/extensible_ui/ui_api.cpp @@ -785,7 +785,7 @@ namespace ExtUI { #if HAS_BED_PROBE return probe.offset.z; #elif ENABLED(BABYSTEP_DISPLAY_TOTAL) - return (planner.steps_to_mm[Z_AXIS] * babystep.axis_total[BS_TODO_AXIS(Z_AXIS)]); + return (planner.steps_to_mm[Z_AXIS] * babystep.axis_total[BS_AXIS_IND(Z_AXIS)]); #else return 0.0; #endif @@ -898,11 +898,11 @@ namespace ExtUI { float getPIDValues_Kp(const extruder_t tool) { return PID_PARAM(Kp, tool); } - + float getPIDValues_Ki(const extruder_t tool) { return unscalePID_i(PID_PARAM(Ki, tool)); } - + float getPIDValues_Kd(const extruder_t tool) { return unscalePID_d(PID_PARAM(Kd, tool)); } @@ -918,27 +918,27 @@ namespace ExtUI { thermalManager.PID_autotune(temp, (heater_ind_t)tool, 8, true); } #endif - + #if ENABLED(PIDTEMPBED) float getBedPIDValues_Kp() { return thermalManager.temp_bed.pid.Kp; } - + float getBedPIDValues_Ki() { return unscalePID_i(thermalManager.temp_bed.pid.Ki); } - + float getBedPIDValues_Kd() { return unscalePID_d(thermalManager.temp_bed.pid.Kd); } - + void setBedPIDValues(const float p, const float i, const float d) { thermalManager.temp_bed.pid.Kp = p; thermalManager.temp_bed.pid.Ki = scalePID_i(i); thermalManager.temp_bed.pid.Kd = scalePID_d(d); thermalManager.updatePID(); } - + void startBedPIDTune(const float temp) { thermalManager.PID_autotune(temp, H_BED, 4, true); } diff --git a/Marlin/src/lcd/extensible_ui/ui_api.h b/Marlin/src/lcd/extensible_ui/ui_api.h index d99cfcedb..10df2bc72 100644 --- a/Marlin/src/lcd/extensible_ui/ui_api.h +++ b/Marlin/src/lcd/extensible_ui/ui_api.h @@ -256,7 +256,7 @@ namespace ExtUI { void setPIDValues(const float, const float, const float, extruder_t); void startPIDTune(const float, extruder_t); #endif - + #if ENABLED(PIDTEMPBED) float getBedPIDValues_Kp(); float getBedPIDValues_Ki(); diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index d21d1fe35..66fc39228 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -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 diff --git a/Marlin/src/pins/mega/pins_PICA.h b/Marlin/src/pins/mega/pins_PICA.h index 7771d5887..4c618bda4 100644 --- a/Marlin/src/pins/mega/pins_PICA.h +++ b/Marlin/src/pins/mega/pins_PICA.h @@ -36,8 +36,8 @@ /* // Note that these are the "pins" that correspond to the analog inputs on the arduino mega. // These are not the same as the physical pin numbers - AD0 = 54; AD1 = 55; AD2 = 56; AD3 = 57; - AD4 = 58; AD5 = 59; AD6 = 60; AD7 = 61; + AD0 = 54; AD1 = 55; AD2 = 56; AD3 = 57; + AD4 = 58; AD5 = 59; AD6 = 60; AD7 = 61; AD8 = 62; AD9 = 63; AD10 = 64; AD11 = 65; AD12 = 66; AD13 = 67; AD14 = 68; AD15 = 69; */ @@ -61,7 +61,7 @@ // #define X_STEP_PIN 55 #define X_DIR_PIN 54 -#define X_ENABLE_PIN 60 +#define X_ENABLE_PIN 60 #define Y_STEP_PIN 57 #define Y_DIR_PIN 56 @@ -71,7 +71,7 @@ #define Z_DIR_PIN 58 #define Z_ENABLE_PIN 62 -#define E0_STEP_PIN 67 +#define E0_STEP_PIN 67 #define E0_DIR_PIN 24 #define E0_ENABLE_PIN 26 @@ -103,10 +103,10 @@ #endif #define SDPOWER_PIN -1 -#define LED_PIN -1 +#define LED_PIN -1 #define PS_ON_PIN -1 #define KILL_PIN -1 - + #define SSR_PIN 6 // SPI for Max6675 or Max31855 Thermocouple @@ -119,7 +119,7 @@ // // SD Support // -#define SD_DETECT_PIN 49 +#define SD_DETECT_PIN 49 #define SDSS 53 //