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🐛 Fix babystep corrupting DIR

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Followup to 2538a7c4
This commit is contained in:
Scott Lahteine
2023-05-08 06:50:21 -05:00
parent f80e706fad
commit c6ea99f4be
4 changed files with 71 additions and 122 deletions
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121
Marlin/src/module/stepper.cpp
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@@ -3609,31 +3609,31 @@ void Stepper::report_positions() {
#if DISABLED(DELTA)
#define BABYSTEP_AXIS(AXIS, DIR, INV) do{ \
const uint8_t old_dir = _READ_DIR(AXIS); \
_ENABLE_AXIS(AXIS); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, (DIR)^(INV)); \
DIR_WAIT_AFTER(); \
_SAVE_START(); \
_APPLY_STEP(AXIS, _STEP_STATE(AXIS), true); \
_PULSE_WAIT(); \
_APPLY_STEP(AXIS, !_STEP_STATE(AXIS), true); \
EXTRA_DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, old_dir); \
EXTRA_DIR_WAIT_AFTER(); \
#define BABYSTEP_AXIS(AXIS, FWD, INV) do{ \
const bool old_fwd = _READ_DIR(AXIS); \
_ENABLE_AXIS(AXIS); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, (FWD)^(INV)); \
DIR_WAIT_AFTER(); \
_SAVE_START(); \
_APPLY_STEP(AXIS, _STEP_STATE(AXIS), true); \
_PULSE_WAIT(); \
_APPLY_STEP(AXIS, !_STEP_STATE(AXIS), true); \
EXTRA_DIR_WAIT_BEFORE(); \
_APPLY_DIR(AXIS, old_fwd); \
EXTRA_DIR_WAIT_AFTER(); \
}while(0)
#endif
#if IS_CORE
#define BABYSTEP_CORE(A, B, DIR, INV, ALT) do{ \
const xy_byte_t old_dir = { _READ_DIR(A), _READ_DIR(B) }; \
#define BABYSTEP_CORE(A, B, FWD, INV, ALT) do{ \
const xy_byte_t old_fwd = { _READ_DIR(A), _READ_DIR(B) }; \
_ENABLE_AXIS(A); _ENABLE_AXIS(B); \
DIR_WAIT_BEFORE(); \
_APPLY_DIR(A, (DIR)^(INV)); \
_APPLY_DIR(B, (DIR)^(INV)^(ALT)); \
_APPLY_DIR(A, (FWD)^(INV)); \
_APPLY_DIR(B, (FWD)^(INV)^(ALT)); \
DIR_WAIT_AFTER(); \
_SAVE_START(); \
_APPLY_STEP(A, _STEP_STATE(A), true); \
@@ -3642,7 +3642,7 @@ void Stepper::report_positions() {
_APPLY_STEP(A, !_STEP_STATE(A), true); \
_APPLY_STEP(B, !_STEP_STATE(B), true); \
EXTRA_DIR_WAIT_BEFORE(); \
_APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \
_APPLY_DIR(A, old_fwd.a); _APPLY_DIR(B, old_fwd.b); \
EXTRA_DIR_WAIT_AFTER(); \
}while(0)
@@ -3683,78 +3683,46 @@ void Stepper::report_positions() {
case Z_AXIS: {
#if CORE_IS_XZ
BABYSTEP_CORE(X, Z, direction, BABYSTEP_INVERT_Z, (CORESIGN(1)>0));
BABYSTEP_CORE(X, Z, direction, ENABLED(BABYSTEP_INVERT_Z), (CORESIGN(1)>0));
#elif CORE_IS_YZ
BABYSTEP_CORE(Y, Z, direction, BABYSTEP_INVERT_Z, (CORESIGN(1)<0));
BABYSTEP_CORE(Y, Z, direction, ENABLED(BABYSTEP_INVERT_Z), (CORESIGN(1)<0));
#elif DISABLED(DELTA)
BABYSTEP_AXIS(Z, direction, BABYSTEP_INVERT_Z);
BABYSTEP_AXIS(Z, direction, ENABLED(BABYSTEP_INVERT_Z));
#else // DELTA
const bool z_direction = TERN_(BABYSTEP_INVERT_Z, !) direction;
NUM_AXIS_CODE(
enable_axis(X_AXIS), enable_axis(Y_AXIS), enable_axis(Z_AXIS),
enable_axis(I_AXIS), enable_axis(J_AXIS), enable_axis(K_AXIS),
enable_axis(U_AXIS), enable_axis(V_AXIS), enable_axis(W_AXIS)
);
enable_axis(A_AXIS); enable_axis(B_AXIS); enable_axis(C_AXIS);
DIR_WAIT_BEFORE();
const xyz_byte_t old_dir = NUM_AXIS_ARRAY(
X_DIR_READ(), Y_DIR_READ(), Z_DIR_READ(),
I_DIR_READ(), J_DIR_READ(), K_DIR_READ(),
U_DIR_READ(), V_DIR_READ(), W_DIR_READ()
);
const bool old_fwd[3] = { X_DIR_READ(), Y_DIR_READ(), Z_DIR_READ() };
#ifdef X_DIR_WRITE
X_DIR_WRITE(z_direction);
#endif
#ifdef Y_DIR_WRITE
Y_DIR_WRITE(z_direction);
#endif
#ifdef Z_DIR_WRITE
Z_DIR_WRITE(z_direction);
#endif
X_DIR_WRITE(z_direction);
Y_DIR_WRITE(z_direction);
Z_DIR_WRITE(z_direction);
DIR_WAIT_AFTER();
_SAVE_START();
#ifdef X_STEP_WRITE
X_STEP_WRITE(STEP_STATE_X);
#endif
#ifdef Y_STEP_WRITE
Y_STEP_WRITE(STEP_STATE_Y);
#endif
#ifdef Z_STEP_WRITE
Z_STEP_WRITE(STEP_STATE_Z);
#endif
X_STEP_WRITE(STEP_STATE_X);
Y_STEP_WRITE(STEP_STATE_Y);
Z_STEP_WRITE(STEP_STATE_Z);
_PULSE_WAIT();
#ifdef X_STEP_WRITE
X_STEP_WRITE(!STEP_STATE_X);
#endif
#ifdef Y_STEP_WRITE
Y_STEP_WRITE(!STEP_STATE_Y);
#endif
#ifdef Z_STEP_WRITE
Z_STEP_WRITE(!STEP_STATE_Z);
#endif
X_STEP_WRITE(!STEP_STATE_X);
Y_STEP_WRITE(!STEP_STATE_Y);
Z_STEP_WRITE(!STEP_STATE_Z);
// Restore direction bits
EXTRA_DIR_WAIT_BEFORE();
#ifdef X_DIR_WRITE
X_DIR_WRITE(old_dir.x);
#endif
#ifdef Y_DIR_WRITE
Y_DIR_WRITE(old_dir.y);
#endif
#ifdef Z_DIR_WRITE
Z_DIR_WRITE(old_dir.z);
#endif
X_DIR_WRITE(old_fwd[A_AXIS]);
Y_DIR_WRITE(old_fwd[B_AXIS]);
Z_DIR_WRITE(old_fwd[C_AXIS]);
EXTRA_DIR_WAIT_AFTER();
@@ -3762,25 +3730,6 @@ void Stepper::report_positions() {
} break;
#if HAS_I_AXIS
case I_AXIS: BABYSTEP_AXIS(I, direction, 0); break;
#endif
#if HAS_J_AXIS
case J_AXIS: BABYSTEP_AXIS(J, direction, 0); break;
#endif
#if HAS_K_AXIS
case K_AXIS: BABYSTEP_AXIS(K, direction, 0); break;
#endif
#if HAS_U_AXIS
case U_AXIS: BABYSTEP_AXIS(U, direction, 0); break;
#endif
#if HAS_V_AXIS
case V_AXIS: BABYSTEP_AXIS(V, direction, 0); break;
#endif
#if HAS_W_AXIS
case W_AXIS: BABYSTEP_AXIS(W, direction, 0); break;
#endif
default: break;
}