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⚡️ Always "optimize" FT Motion DIR states (#27692)

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narno2202 2025-02-19 02:38:28 +01:00 • committed by GitHub
parent 89def456e8
commit 86c1fde309
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GPG key ID: B5690EEEBB952194
1 changed files with 7 additions and 7 deletions
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14
Marlin/src/module/stepper.cpp
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@ -651,7 +651,7 @@ void Stepper::disable_all_steppers() {
TERN_(EXTENSIBLE_UI, ExtUI::onSteppersDisabled());
}
#if ENABLED(FTM_OPTIMIZE_DIR_STATES)
#if ENABLED(FT_MOTION)
// We'll compare the updated DIR bits to the last set state
static AxisBits last_set_direction;
#endif
@ -681,7 +681,7 @@ void Stepper::apply_directions() {
SET_STEP_DIR(U), SET_STEP_DIR(V), SET_STEP_DIR(W)
);
TERN_(FTM_OPTIMIZE_DIR_STATES, last_set_direction = last_direction_bits);
TERN_(FT_MOTION, last_set_direction = last_direction_bits);
DIR_WAIT_AFTER();
}
@ -1836,7 +1836,7 @@ void Stepper::pulse_phase_isr() {
last_direction_bits.toggle(_AXIS(AXIS)); \
DIR_WAIT_BEFORE(); \
SET_STEP_DIR(AXIS); \
TERN_(FTM_OPTIMIZE_DIR_STATES, last_set_direction = last_direction_bits); \
TERN_(FT_MOTION, last_set_direction = last_direction_bits); \
DIR_WAIT_AFTER(); \
} \
} \
@ -2538,7 +2538,7 @@ hal_timer_t Stepper::block_phase_isr() {
E_APPLY_DIR(forward_e, false);
TERN_(FTM_OPTIMIZE_DIR_STATES, last_set_direction = last_direction_bits);
TERN_(FT_MOTION, last_set_direction = last_direction_bits);
DIR_WAIT_AFTER();
}
@ -3548,13 +3548,13 @@ void Stepper::report_positions() {
#define _FTM_SET_DIR(AXIS) if (_FTM_STEP(AXIS)) last_direction_bits.bset(_AXIS(AXIS), _FTM_DIR(AXIS));
LOGICAL_AXIS_MAP(_FTM_SET_DIR);
if (TERN1(FTM_OPTIMIZE_DIR_STATES, last_set_direction != last_direction_bits)) {
if (last_set_direction != last_direction_bits) {
// Apply directions (generally applying to the entire linear move)
#define _FTM_APPLY_DIR(A) if (TERN1(FTM_OPTIMIZE_DIR_STATES, last_direction_bits.A != last_set_direction.A)) \
#define _FTM_APPLY_DIR(A) if (last_direction_bits.A != last_set_direction.A) \
SET_STEP_DIR(A);
LOGICAL_AXIS_MAP(_FTM_APPLY_DIR);
TERN_(FTM_OPTIMIZE_DIR_STATES, last_set_direction = last_direction_bits);
last_set_direction = last_direction_bits;
// Any DIR change requires a wait period
DIR_WAIT_AFTER();