1 files changed, 82 insertions, 0 deletions
diff --git a/Marlin/src/feature/babystep.h b/Marlin/src/feature/babystep.h
new file mode 100644
index 0000000..f85e590
--- /dev/null
+++ b/Marlin/src/feature/babystep.h
@@ -0,0 +1,82 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#include "../inc/MarlinConfigPre.h"
+
+#if ENABLED(INTEGRATED_BABYSTEPPING)
+  #define BABYSTEPS_PER_SEC 1000UL
+  #define BABYSTEP_TICKS ((STEPPER_TIMER_RATE) / (BABYSTEPS_PER_SEC))
+#else
+  #define BABYSTEPS_PER_SEC 976UL
+  #define BABYSTEP_TICKS ((TEMP_TIMER_RATE) / (BABYSTEPS_PER_SEC))
+#endif
+
+#if IS_CORE || EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS)
+  #define BS_AXIS_IND(A) A
+  #define BS_AXIS(I) AxisEnum(I)
+#else
+  #define BS_AXIS_IND(A) 0
+  #define BS_AXIS(I) Z_AXIS
+#endif
+
+#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
+  #if ENABLED(BABYSTEP_XY)
+    #define BS_TOTAL_IND(A) A
+  #else
+    #define BS_TOTAL_IND(A) 0
+  #endif
+#endif
+
+class Babystep {
+public:
+  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)
+    static int16_t axis_total[BS_TOTAL_IND(Z_AXIS) + 1];   // Total babysteps since G28
+    static inline void reset_total(const AxisEnum axis) {
+      if (TERN1(BABYSTEP_XY, axis == Z_AXIS))
+        axis_total[BS_TOTAL_IND(axis)] = 0;
+    }
+  #endif
+
+  static void add_steps(const AxisEnum axis, const int16_t distance);
+  static void add_mm(const AxisEnum axis, const float &mm);
+
+  static inline bool has_steps() {
+    return steps[BS_AXIS_IND(X_AXIS)] || steps[BS_AXIS_IND(Y_AXIS)] || steps[BS_AXIS_IND(Z_AXIS)];
+  }
+
+  //
+  // Called by the Temperature or Stepper ISR to
+  // apply accumulated babysteps to the axes.
+  //
+  static inline void task() {
+    LOOP_LE_N(i, BS_AXIS_IND(Z_AXIS)) step_axis(BS_AXIS(i));
+  }
+
+private:
+  static void step_axis(const AxisEnum axis);
+};
+
+extern Babystep babystep;