Merge pull request #5155 from thinkyhead/rc_core_babystepping

BABYSTEPPING-oriented cleanup

Marlin/stepper.cpp

@@ -982,8 +982,8 @@ void Stepper::set_position(const long &a, const long &b, const long &c, const lo
   #elif ENABLED(COREYZ)
     // coreyz planning
     count_position[X_AXIS] = a;
-    count_position[B_AXIS] = y + c;
+    count_position[B_AXIS] = b + c;
-    count_position[C_AXIS] = y - c;
+    count_position[C_AXIS] = b - c;
   #else
     // default non-h-bot planning
     count_position[X_AXIS] = a;
@@ -1108,24 +1108,24 @@ void Stepper::report_positions() {
 
 #if ENABLED(BABYSTEPPING)
 
+  #define _ENABLE(axis) enable_## axis()
+  #define _READ_DIR(AXIS) AXIS ##_DIR_READ
+  #define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
+  #define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
+
+  #define BABYSTEP_AXIS(axis, AXIS, INVERT) { \
+      _ENABLE(axis); \
+      uint8_t old_pin = _READ_DIR(AXIS); \
+      _APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
+      _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
+      delayMicroseconds(2); \
+      _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
+      _APPLY_DIR(AXIS, old_pin); \
+    }
+
   // MUST ONLY BE CALLED BY AN ISR,
   // No other ISR should ever interrupt this!
-  void Stepper::babystep(const uint8_t axis, const bool direction) {
+  void Stepper::babystep(const AxisEnum axis, const bool direction) {
-
-    #define _ENABLE(axis) enable_## axis()
-    #define _READ_DIR(AXIS) AXIS ##_DIR_READ
-    #define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR
-    #define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
-
-    #define BABYSTEP_AXIS(axis, AXIS, INVERT) { \
-        _ENABLE(axis); \
-        uint8_t old_pin = _READ_DIR(AXIS); \
-        _APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^direction^INVERT); \
-        _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
-        delayMicroseconds(2); \
-        _APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
-        _APPLY_DIR(AXIS, old_pin); \
-      }
 
     switch (axis) {
 

Marlin/stepper.h

@@ -257,7 +257,7 @@ class Stepper {
     #endif
 
     #if ENABLED(BABYSTEPPING)
-      static void babystep(const uint8_t axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
+      static void babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
     #endif
 
     static inline void kill_current_block() {

Marlin/temperature.cpp

@@ -1916,15 +1916,15 @@ void Temperature::isr() {
   } // temp_count >= OVERSAMPLENR
 
   #if ENABLED(BABYSTEPPING)
-    for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) {
+    LOOP_XYZ(axis) {
       int curTodo = babystepsTodo[axis]; //get rid of volatile for performance
 
       if (curTodo > 0) {
-        stepper.babystep(axis,/*fwd*/true);
+        stepper.babystep((AxisEnum)axis,/*fwd*/true);
         babystepsTodo[axis]--; //fewer to do next time
       }
       else if (curTodo < 0) {
-        stepper.babystep(axis,/*fwd*/false);
+        stepper.babystep((AxisEnum)axis,/*fwd*/false);
         babystepsTodo[axis]++; //fewer to do next time
       }
     }

Marlin/temperature.h

@@ -384,7 +384,7 @@ class Temperature {
 
     #if ENABLED(BABYSTEPPING)
 
-      static void babystep_axis(AxisEnum axis, int distance) {
+      static void babystep_axis(const AxisEnum axis, const int distance) {
         #if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
           #if ENABLED(BABYSTEP_XY)
             switch (axis) {

Marlin/ultralcd.cpp

@@ -651,7 +651,7 @@ void kill_screen(const char* lcd_msg) {
       if (lcd_clicked) { defer_return_to_status = false; return lcd_goto_previous_menu(); }
       ENCODER_DIRECTION_NORMAL();
       if (encoderPosition) {
-        int babystep_increment = (int32_t)encoderPosition * BABYSTEP_MULTIPLICATOR;
+        int babystep_increment = (int32_t)encoderPosition * (BABYSTEP_MULTIPLICATOR);
         encoderPosition = 0;
         lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
         thermalManager.babystep_axis(axis, babystep_increment);
@@ -2982,13 +2982,9 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }
     lastEncoderBits = enc;
   }
 
-  bool lcd_detected(void) {
+  #if (ENABLED(LCD_I2C_TYPE_MCP23017) || ENABLED(LCD_I2C_TYPE_MCP23008)) && ENABLED(DETECT_DEVICE)
-    #if (ENABLED(LCD_I2C_TYPE_MCP23017) || ENABLED(LCD_I2C_TYPE_MCP23008)) && ENABLED(DETECT_DEVICE)
+    bool lcd_detected() { return lcd.LcdDetected() == 1; }
-      return lcd.LcdDetected() == 1;
+  #endif
-    #else
-      return true;
-    #endif
-  }
 
 #endif // ULTIPANEL
 

Marlin/ultralcd.h

@@ -41,10 +41,15 @@
   void lcd_setstatuspgm(const char* message, const uint8_t level=0);
   void lcd_setalertstatuspgm(const char* message);
   void lcd_reset_alert_level();
-  bool lcd_detected(void);
   void lcd_kill_screen();
   void kill_screen(const char* lcd_msg);
 
+  #if (ENABLED(LCD_I2C_TYPE_MCP23017) || ENABLED(LCD_I2C_TYPE_MCP23008)) && ENABLED(DETECT_DEVICE)
+    bool lcd_detected();
+  #else
+    inline bool lcd_detected() { return true; }
+  #endif
+
   #if HAS_BUZZER
     void lcd_buzz(long duration, uint16_t freq);
   #endif
@@ -155,7 +160,7 @@
   inline void lcd_setstatuspgm(const char* message, const uint8_t level=0) { UNUSED(message); UNUSED(level); }
   inline void lcd_buttons_update() {}
   inline void lcd_reset_alert_level() {}
-  inline bool lcd_detected(void) { return true; }
+  inline bool lcd_detected() { return true; }
 
   #define LCD_MESSAGEPGM(x) NOOP
   #define LCD_ALERTMESSAGEPGM(x) NOOP