diff --git a/Marlin/src/feature/babystep.cpp b/Marlin/src/feature/babystep.cpp
index fd4491bc6f8a3db0b1daccc7302eb42909c35f48..25552a701cb5045a67c8b05f1eaeabeb53064c5e 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 192817bc7b0345b12ee00053e72f3f32b0923871..8ce48e397debc9f3d4996c0411aebcceb27268f0 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 9f905021ea6e2f3cec594b303e5f074ffdd57c5e..a2723fd3935b1856eed0a8dddf72cd0fd1fcbcfe 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 9422307cda1d1f996578cbec80d28eb83da65f0b..d6535af82f7a7eaf6d5837edad3ec4f79ea9684c 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 31d195c95de47f7cd71a0dca023021f0309f3789..7ef7614b8df8ab4597cf78d59db051ec41c9ada3 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 d99cfcedb4f66664451a86a21231364a50c4edb9..10df2bc72d99833e7b2c39cfad3dd1e0b19dddff 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 d21d1fe3591c354a05baf212691ddbf237746c94..66fc39228dd3460b73bb2540f2e5e77a3d2e2059 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 7771d5887f24e208aeb9874ad7a970504610f415..4c618bda4e33d35ede3eae944eada48c77db7a9b 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
//