diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 92ad80700e59d26a391c1400ca4f9128fda70c7e..46707b5737f84812c89c13494b305e2076819b52 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -91,10 +91,10 @@ int16_t Stepper::cleaning_buffer_counter = 0;
bool Stepper::locked_z_motor = false, Stepper::locked_z2_motor = false;
#endif
-long Stepper::counter_X = 0,
- Stepper::counter_Y = 0,
- Stepper::counter_Z = 0,
- Stepper::counter_E = 0;
+int32_t Stepper::counter_X = 0,
+ Stepper::counter_Y = 0,
+ Stepper::counter_Z = 0,
+ Stepper::counter_E = 0;
volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
@@ -123,13 +123,13 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
#endif // LIN_ADVANCE
-long Stepper::acceleration_time, Stepper::deceleration_time;
+int32_t Stepper::acceleration_time, Stepper::deceleration_time;
-volatile long Stepper::count_position[NUM_AXIS] = { 0 };
+volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#if ENABLED(MIXING_EXTRUDER)
- long Stepper::counter_m[MIXING_STEPPERS];
+ int32_t Stepper::counter_m[MIXING_STEPPERS];
#endif
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
@@ -137,7 +137,7 @@ uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
uint16_t Stepper::OCR1A_nominal,
Stepper::acc_step_rate; // needed for deceleration start point
-volatile long Stepper::endstops_trigsteps[XYZ];
+volatile int32_t Stepper::endstops_trigsteps[XYZ];
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#define LOCKED_X_MOTOR locked_x_motor
@@ -1120,7 +1120,7 @@ void Stepper::synchronize() { while (planner.has_blocks_queued() || cleaning_buf
* This allows get_axis_position_mm to correctly
* derive the current XYZ position later on.
*/
-void Stepper::set_position(const long &a, const long &b, const long &c, const long &e) {
+void Stepper::set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
synchronize(); // Bad to set stepper counts in the middle of a move
@@ -1153,13 +1153,13 @@ void Stepper::set_position(const long &a, const long &b, const long &c, const lo
CRITICAL_SECTION_END;
}
-void Stepper::set_position(const AxisEnum &axis, const long &v) {
+void Stepper::set_position(const AxisEnum &axis, const int32_t &v) {
CRITICAL_SECTION_START;
count_position[axis] = v;
CRITICAL_SECTION_END;
}
-void Stepper::set_e_position(const long &e) {
+void Stepper::set_e_position(const int32_t &e) {
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
@@ -1168,9 +1168,9 @@ void Stepper::set_e_position(const long &e) {
/**
* Get a stepper's position in steps.
*/
-long Stepper::position(const AxisEnum axis) {
+int32_t Stepper::position(const AxisEnum axis) {
CRITICAL_SECTION_START;
- const long count_pos = count_position[axis];
+ const int32_t count_pos = count_position[axis];
CRITICAL_SECTION_END;
return count_pos;
}
@@ -1239,9 +1239,9 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
void Stepper::report_positions() {
CRITICAL_SECTION_START;
- const long xpos = count_position[X_AXIS],
- ypos = count_position[Y_AXIS],
- zpos = count_position[Z_AXIS];
+ const int32_t xpos = count_position[X_AXIS],
+ ypos = count_position[Y_AXIS],
+ zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END;
#if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index f0b95ac06cbed25a2a3d975aeb721572d77c6b97..cdd8a3b161497bb5b90ad19069feefd2b08c4579 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -119,7 +119,7 @@ class Stepper {
#endif
// Counter variables for the Bresenham line tracer
- static long counter_X, counter_Y, counter_Z, counter_E;
+ static int32_t counter_X, counter_Y, counter_Z, counter_E;
static volatile uint32_t step_events_completed; // The number of step events executed in the current block
#if ENABLED(LIN_ADVANCE)
@@ -142,19 +142,19 @@ class Stepper {
#endif // !LIN_ADVANCE
- static long acceleration_time, deceleration_time;
+ static int32_t acceleration_time, deceleration_time;
static uint8_t step_loops, step_loops_nominal;
static uint16_t OCR1A_nominal,
acc_step_rate; // needed for deceleration start point
- static volatile long endstops_trigsteps[XYZ];
- static volatile long endstops_stepsTotal, endstops_stepsDone;
+ static volatile int32_t endstops_trigsteps[XYZ];
+ static volatile int32_t endstops_stepsTotal, endstops_stepsDone;
//
// Positions of stepper motors, in step units
//
- static volatile long count_position[NUM_AXIS];
+ static volatile int32_t count_position[NUM_AXIS];
//
// Current direction of stepper motors (+1 or -1)
@@ -165,7 +165,7 @@ class Stepper {
// Mixing extruder mix counters
//
#if ENABLED(MIXING_EXTRUDER)
- static long counter_m[MIXING_STEPPERS];
+ static int32_t counter_m[MIXING_STEPPERS];
#define MIXING_STEPPERS_LOOP(VAR) \
for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++) \
if (current_block->mix_event_count[VAR])
@@ -202,9 +202,9 @@ class Stepper {
//
// Set the current position in steps
//
- static void set_position(const long &a, const long &b, const long &c, const long &e);
- static void set_position(const AxisEnum &a, const long &v);
- static void set_e_position(const long &e);
+ static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
+ static void set_position(const AxisEnum &a, const int32_t &v);
+ static void set_e_position(const int32_t &e);
//
// Set direction bits for all steppers
@@ -214,7 +214,7 @@ class Stepper {
//
// Get the position of a stepper, in steps
//
- static long position(const AxisEnum axis);
+ static int32_t position(const AxisEnum axis);
//
// Report the positions of the steppers, in steps