1 files changed, 67 insertions, 0 deletions
diff --git a/Marlin/src/feature/babystep.cpp b/Marlin/src/feature/babystep.cpp
new file mode 100644
index 0000000..b076881
--- /dev/null
+++ b/Marlin/src/feature/babystep.cpp
@@ -0,0 +1,67 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../inc/MarlinConfig.h"
+
+#if ENABLED(BABYSTEPPING)
+
+#include "babystep.h"
+#include "../MarlinCore.h"
+#include "../module/motion.h"   // for axes_should_home()
+#include "../module/planner.h"  // for axis_steps_per_mm[]
+#include "../module/stepper.h"
+
+#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
+  #include "../gcode/gcode.h"
+#endif
+
+Babystep babystep;
+
+volatile int16_t Babystep::steps[BS_AXIS_IND(Z_AXIS) + 1];
+#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
+  int16_t Babystep::axis_total[BS_TOTAL_IND(Z_AXIS) + 1];
+#endif
+int16_t Babystep::accum;
+
+void Babystep::step_axis(const AxisEnum axis) {
+  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_AXIS_IND(axis)]--; else steps[BS_AXIS_IND(axis)]++;
+  }
+}
+
+void Babystep::add_mm(const AxisEnum axis, const float &mm) {
+  add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]);
+}
+
+void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
+  if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return;
+
+  accum += distance; // Count up babysteps for the UI
+  steps[BS_AXIS_IND(axis)] += distance;
+  TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] += distance);
+  TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout());
+  TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
+}
+
+#endif // BABYSTEPPING