From 94ce0d24d6ed84f78e5ff2cf07e6e3be7de8a0ef Mon Sep 17 00:00:00 2001
From: Andrew <18502096+classicrocker883@users.noreply.github.com>
Date: Mon, 22 Jul 2024 16:33:37 -0400
Subject: [PATCH] =?UTF-8?q?=F0=9F=91=B7=20Add=20optimal=20`stepper.set=5Fe?=
 =?UTF-8?q?=5Fposition()`=20(#27293)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
---
 Marlin/src/module/planner.cpp |  2 +-
 Marlin/src/module/stepper.cpp | 12 ++++++++++++
 Marlin/src/module/stepper.h   |  5 +++++
 3 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 85c968b2c6..7c746fa5f0 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -3192,7 +3192,7 @@ void Planner::set_position_mm(const xyze_pos_t &xyze) {
     if (has_blocks_queued())
       buffer_sync_block(BLOCK_BIT_SYNC_POSITION);
     else
-      stepper.set_axis_position(E_AXIS, position.e);
+      stepper.set_e_position(position.e);
   }
 
 #endif // HAS_EXTRUDERS
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 1684a4b60c..bc658e50da 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -3407,6 +3407,18 @@ void Stepper::set_axis_position(const AxisEnum a, const int32_t &v) {
   #endif
 }
 
+#if HAS_EXTRUDERS
+
+  void Stepper::set_e_position(const int32_t &v) {
+    planner.synchronize();
+
+    AVR_ATOMIC_SECTION_START();
+    count_position.e = v;
+    AVR_ATOMIC_SECTION_END();
+  }
+
+#endif // HAS_EXTRUDERS
+
 #if ENABLED(FT_MOTION)
 
   void Stepper::ftMotion_syncPosition() {
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index 511a3aa80d..e5a4249dbd 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -540,6 +540,11 @@ class Stepper {
     static void set_position(const xyze_long_t &spos);
     static void set_axis_position(const AxisEnum a, const int32_t &v);
 
+    #if HAS_EXTRUDERS
+      // Save a little when E is the only one used
+      static void set_e_position(const int32_t &v);
+    #endif
+
     // Report the positions of the steppers, in steps
     static void report_a_position(const xyz_long_t &pos);
     static void report_positions();