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Use prior babystep delay method #16833

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Feb 11, 2020
Merged

Use prior babystep delay method #16833

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85 changes: 57 additions & 28 deletions Marlin/src/module/stepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2432,47 +2432,78 @@ void Stepper::report_positions() {
#define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)

#if MINIMUM_STEPPER_PULSE
#define STEP_PULSE_CYCLES ((MINIMUM_STEPPER_PULSE) * CYCLES_PER_MICROSECOND)
#else
#define STEP_PULSE_CYCLES 0
#endif

#if ENABLED(DELTA)
#define CYCLES_EATEN_BABYSTEP (2 * 15)
#else
#define CYCLES_EATEN_BABYSTEP 0
#endif
#define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP))

#if EXTRA_CYCLES_BABYSTEP > 20
#define _SAVE_START() const hal_timer_t pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM)
#define _PULSE_WAIT() while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
#else
#define _SAVE_START() NOOP
#if EXTRA_CYCLES_BABYSTEP > 0
#define _PULSE_WAIT() DELAY_NS(EXTRA_CYCLES_BABYSTEP * NANOSECONDS_PER_CYCLE)
#elif ENABLED(DELTA)
#define _PULSE_WAIT() DELAY_US(2);
#elif STEP_PULSE_CYCLES > 0
#define _PULSE_WAIT() NOOP
#else
#define _PULSE_WAIT() DELAY_US(4);
#endif
#endif

#if DISABLED(DELTA)

#define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \
const uint8_t old_dir = _READ_DIR(AXIS); \
_ENABLE_AXIS(AXIS); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INV); \
DIR_WAIT_AFTER(); \
USING_TIMED_PULSE(); \
START_HIGH_PULSE(); \
_SAVE_START(); \
_APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \
AWAIT_HIGH_PULSE(); \
_APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \
_PULSE_WAIT(); \
_APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, old_dir); \
DIR_WAIT_AFTER(); \
}while(0)
#endif

#if IS_CORE
#define BABYSTEP_CORE(A, B, INV, DIR) do{ \
#elif IS_CORE

#define BABYSTEP_CORE(A, B, INV, DIR) do{ \
const xy_byte_t old_dir = { _READ_DIR(A), _READ_DIR(B) }; \
_ENABLE_AXIS(A); _ENABLE_AXIS(B); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(A, _INVERT_DIR(A)^DIR^INV); \
_APPLY_DIR(B, _INVERT_DIR(B)^DIR^INV^(CORESIGN(1)<0)); \
DIR_WAIT_AFTER(); \
USING_TIMED_PULSE(); \
START_HIGH_PULSE(); \
_APPLY_STEP(A, !_INVERT_STEP_PIN(A), true); \
_APPLY_STEP(B, !_INVERT_STEP_PIN(B), true); \
AWAIT_HIGH_PULSE(); \
_APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \
_APPLY_STEP(B, _INVERT_STEP_PIN(B), true); \
_APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \
_ENABLE_AXIS(A); _ENABLE_AXIS(B); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(A, _INVERT_DIR(A)^DIR^INV); \
_APPLY_DIR(B, _INVERT_DIR(B)^DIR^INV^(CORESIGN(1)<0)); \
DIR_WAIT_AFTER(); \
_SAVE_START(); \
_APPLY_STEP(A, !_INVERT_STEP_PIN(A), true); \
_APPLY_STEP(B, !_INVERT_STEP_PIN(B), true); \
_PULSE_WAIT(); \
_APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \
_APPLY_STEP(B, _INVERT_STEP_PIN(B), true); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \
DIR_WAIT_AFTER(); \
}while(0)

#endif

// MUST ONLY BE CALLED BY AN ISR,
// No other ISR should ever interrupt this!
void Stepper::babystep(const AxisEnum axis, const bool direction) {
DISABLE_ISRS();

USING_TIMED_PULSE();
cli();

switch (axis) {

Expand Down Expand Up @@ -2527,13 +2558,13 @@ void Stepper::report_positions() {

DIR_WAIT_AFTER();

START_HIGH_PULSE();
_SAVE_START();

X_STEP_WRITE(!INVERT_X_STEP_PIN);
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
Z_STEP_WRITE(!INVERT_Z_STEP_PIN);

AWAIT_HIGH_PULSE();
_PULSE_WAIT();

X_STEP_WRITE(INVERT_X_STEP_PIN);
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
Expand All @@ -2550,9 +2581,7 @@ void Stepper::report_positions() {

default: break;
}

START_LOW_PULSE(); AWAIT_LOW_PULSE(); // Prevent Stepper::ISR pulsing too soon
ENABLE_ISRS(); // Now it's ok for the ISR to run
sei();
}

#endif // BABYSTEPPING
Expand Down