Merge pull request #3006 from wavexx/babystep_fixes

Babystep insertion fixes

Firmware/Marlin.h

@@ -377,7 +377,7 @@ extern uint16_t gcode_in_progress;
 extern LongTimer safetyTimer;
 
 #define PRINT_PERCENT_DONE_INIT   0xff
-#define PRINTER_ACTIVE (IS_SD_PRINTING || is_usb_printing || isPrintPaused || (custom_message_type == CustomMsg::TempCal) || saved_printing || (lcd_commands_type == LcdCommands::Layer1Cal) || mmu_print_saved)
+#define PRINTER_ACTIVE (IS_SD_PRINTING || is_usb_printing || isPrintPaused || (custom_message_type == CustomMsg::TempCal) || saved_printing || (lcd_commands_type == LcdCommands::Layer1Cal) || mmu_print_saved || homing_flag || mesh_bed_leveling_flag)
 
 //! Beware - mcode_in_progress is set as soon as the command gets really processed,
 //! which is not the same as posting the M600 command into the command queue

Firmware/Marlin_main.cpp

@@ -2722,8 +2722,7 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon
       current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
 #endif
 
-      // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
-      // consumed during the first movements following this statement.
+      // Reset baby stepping to zero, if the babystepping has already been loaded before.
       if (home_z)
         babystep_undo();
 
@@ -4754,6 +4753,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
     */
     case 30: 
         {
+            homing_flag = true;
             st_synchronize();
             // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
             int l_feedmultiply = setup_for_endstop_move();
@@ -4765,6 +4765,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			printf_P(_N("%S X: %.5f Y: %.5f Z: %.5f\n"), _T(MSG_BED), _x, _y, _z);
 
             clean_up_after_endstop_move(l_feedmultiply);
+            homing_flag = false;
         }
         break;
 	
@@ -4855,6 +4856,8 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
                 break;
             }
         }
+
+        homing_flag = true; // keep homing on to avoid babystepping while the LCD is enabled
         lcd_update_enable(true);
         KEEPALIVE_STATE(NOT_BUSY); //no need to print busy messages as we print current temperatures periodicaly
         SERIAL_ECHOLNPGM("PINDA probe calibration start");
@@ -4899,6 +4902,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
         bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
         if (find_z_result == false) {
             lcd_temp_cal_show_result(find_z_result);
+            homing_flag = false;
             break;
         }
         zero_z = current_position[Z_AXIS];
@@ -4949,9 +4953,9 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
             printf_P(_N("\nPINDA temperature: %.1f Z shift (mm): %.3f"), current_temperature_pinda, current_position[Z_AXIS] - zero_z);
 
             EEPROM_save_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &z_shift);
-
         }
         lcd_temp_cal_show_result(true);
+        homing_flag = false;
 
 #else //PINDA_THERMISTOR
 
@@ -5161,8 +5165,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 
 		mbl.reset(); //reset mesh bed leveling
 
-					 // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
-					 // consumed during the first movements following this statement.
+		// Reset baby stepping to zero, if the babystepping has already been loaded before.
 		babystep_undo();
 
 		// Cycle through all points and probe them

Firmware/mesh_bed_calibration.cpp

@@ -3030,8 +3030,6 @@ static void shift_z(float delta)
     plan_set_z_position(current_position[Z_AXIS]);
 }
 
-#define BABYSTEP_LOADZ_BY_PLANNER
-
 // Number of baby steps applied
 static int babystepLoadZ = 0;
 
@@ -3062,20 +3060,12 @@ void babystep_load()
 void babystep_apply()
 {
     babystep_load();
-#ifdef BABYSTEP_LOADZ_BY_PLANNER
     shift_z(- float(babystepLoadZ) / float(cs.axis_steps_per_unit[Z_AXIS]));
-#else
-    babystepsTodoZadd(babystepLoadZ);
-#endif /* BABYSTEP_LOADZ_BY_PLANNER */
 }
 
 void babystep_undo()
 {
-#ifdef BABYSTEP_LOADZ_BY_PLANNER
       shift_z(float(babystepLoadZ) / float(cs.axis_steps_per_unit[Z_AXIS]));
-#else
-      babystepsTodoZsubtract(babystepLoadZ);
-#endif /* BABYSTEP_LOADZ_BY_PLANNER */
       babystepLoadZ = 0;
 }
 

Firmware/temperature.cpp

@@ -2047,18 +2047,18 @@ FORCE_INLINE static void temperature_isr()
    
     if(curTodo>0)
     {
-		asm("cli");
+      CRITICAL_SECTION_START;
       babystep(axis,/*fwd*/true);
       babystepsTodo[axis]--; //less to do next time
-		asm("sei");
+      CRITICAL_SECTION_END;
     }
     else
     if(curTodo<0)
     {
-		asm("cli");
+      CRITICAL_SECTION_START;
       babystep(axis,/*fwd*/false);
       babystepsTodo[axis]++; //less to do next time
-		asm("sei");
+      CRITICAL_SECTION_END;
     }
   }
 #endif //BABYSTEPPING

Firmware/temperature.h

@@ -99,13 +99,10 @@ extern bool bedPWMDisabled;
   float unscalePID_d(float d);
 
 #endif
-  
-  
-#ifdef BABYSTEPPING
-  extern volatile int babystepsTodo[3];
-#endif
 
-void resetPID(uint8_t extruder);
+
+#ifdef BABYSTEPPING
+extern volatile int babystepsTodo[3];
 
 inline void babystepsTodoZadd(int n)
 {
@@ -115,15 +112,9 @@ inline void babystepsTodoZadd(int n)
         CRITICAL_SECTION_END
     }
 }
+#endif
 
-inline void babystepsTodoZsubtract(int n)
-{
-    if (n != 0) {
-        CRITICAL_SECTION_START
-        babystepsTodo[Z_AXIS] -= n;
-        CRITICAL_SECTION_END
-    }
-}
+void resetPID(uint8_t extruder);
 
 //high level conversion routines, for use outside of temperature.cpp
 //inline so that there is no performance decrease.

Firmware/ultralcd.cpp

@@ -2850,6 +2850,13 @@ void lcd_menu_statistics()
 
 static void _lcd_move(const char *name, int axis, int min, int max)
 {
+    if (homing_flag || mesh_bed_leveling_flag)
+    {
+        // printer entered a new state where axis move is forbidden
+        menu_back();
+        return;
+    }
+
 	typedef struct
 	{	// 2bytes total
 		bool initialized;              // 1byte
@@ -3071,6 +3078,13 @@ static void lcd_move_z() {
  */
 static void lcd_babystep_z()
 {
+    if (homing_flag || mesh_bed_leveling_flag)
+    {
+        // printer changed to a new state where live Z is forbidden
+        menu_back();
+        return;
+    }
+
 	typedef struct
 	{
 		int8_t status;
@@ -3106,19 +3120,13 @@ static void lcd_babystep_z()
 		lcd_timeoutToStatus.start();
 	}
 
-	if (lcd_encoder != 0) 
+	if (lcd_encoder != 0)
 	{
-		if (homing_flag) lcd_encoder = 0;
 		_md->babystepMemZ += (int)lcd_encoder;
 
         if (_md->babystepMemZ < Z_BABYSTEP_MIN) _md->babystepMemZ = Z_BABYSTEP_MIN; //-3999 -> -9.99 mm
         else if (_md->babystepMemZ > Z_BABYSTEP_MAX) _md->babystepMemZ = Z_BABYSTEP_MAX; //0
-        else
-        {
-            CRITICAL_SECTION_START
-            babystepsTodo[Z_AXIS] += (int)lcd_encoder;
-            CRITICAL_SECTION_END
-        }
+        else babystepsTodoZadd(lcd_encoder);
 
 		_md->babystepMemMMZ = _md->babystepMemZ/cs.axis_steps_per_unit[Z_AXIS];
 		_delay(50);
@@ -5752,10 +5760,12 @@ static void lcd_settings_menu()
 	MENU_ITEM_BACK_P(_T(MSG_MAIN));
 
 	MENU_ITEM_SUBMENU_P(_i("Temperature"), lcd_control_temperature_menu);////MSG_TEMPERATURE
-	if (!homing_flag)
+
+	if (!PRINTER_ACTIVE || isPrintPaused)
+    {
 	    MENU_ITEM_SUBMENU_P(_i("Move axis"), lcd_move_menu_1mm);////MSG_MOVE_AXIS
-	if (!isPrintPaused)
 	    MENU_ITEM_GCODE_P(_i("Disable steppers"), PSTR("M84"));////MSG_DISABLE_STEPPERS
+    }
 
 	SETTINGS_FILAMENT_SENSOR;
 
@@ -5789,7 +5799,7 @@ static void lcd_settings_menu()
     MENU_ITEM_TOGGLE_P(_T(MSG_RPI_PORT), (selectedSerialPort == 0) ? _T(MSG_OFF) : _T(MSG_ON), lcd_second_serial_set);
 #endif //HAS_SECOND_SERIAL
 
-	if (!isPrintPaused && !homing_flag)
+	if (!isPrintPaused && !homing_flag && !mesh_bed_leveling_flag)
 		MENU_ITEM_SUBMENU_P(_T(MSG_BABYSTEP_Z), lcd_babystep_z);
 
 #if (LANG_MODE != 0)