From 2908f2b6678e8948d89c5f12a67fa7be648ab403 Mon Sep 17 00:00:00 2001
From: David Crocker <dcrocker@eschertech.com>
Date: Wed, 13 Nov 2024 18:35:44 +0000
Subject: [PATCH] Support extrusion heater feedforward even if IOBITS not
 enabled

---
 src/Movement/DDARing.cpp | 13 ++++++++-----
 src/Movement/DDARing.h   |  2 --
 src/Movement/Move.cpp    |  8 +++-----
 3 files changed, 11 insertions(+), 12 deletions(-)

diff --git a/src/Movement/DDARing.cpp b/src/Movement/DDARing.cpp
index 8f8eb5b93..f1daa9d14 100644
--- a/src/Movement/DDARing.cpp
+++ b/src/Movement/DDARing.cpp
@@ -720,13 +720,13 @@ uint32_t DDARing::ManageLaserPower() noexcept
 
 #endif
 
-#if SUPPORT_IOBITS
-
 // Manage the IOBITS (G1 P parameter) and extruder heater feedforward. Called by the Laser task.
 uint32_t DDARing::ManageIOBitsAndFeedForward() noexcept
 {
+#if SUPPORT_IOBITS
 	PortControl& pc = reprap.GetPortControl();
 	bool doneIoBits = !pc.IsConfigured();
+#endif
 	bool doneFeedForward = false;
 	bool setFeedForward = false;
 	uint32_t nextWakeupDelay = StepClockRate;
@@ -741,6 +741,7 @@ uint32_t DDARing::ManageIOBitsAndFeedForward() noexcept
 	{
 		const int32_t timeToMoveStart = (int32_t)(cdda->GetMoveStartTime() - now);				// get the time to the start of the move, negative if the move has started
 		const int32_t timeToMoveEnd = timeToMoveStart + (int32_t)cdda->GetClocksNeeded();		// get the time to the move ended, negative if the move has ended
+#if SUPPORT_IOBITS
 		if (!doneIoBits && timeToMoveStart < (int32_t)pc.GetAdvanceClocks() && timeToMoveEnd > (int32_t)pc.GetAdvanceClocks())
 		{
 			// This move is current from the perspective of IOBits
@@ -756,8 +757,8 @@ uint32_t DDARing::ManageIOBitsAndFeedForward() noexcept
 				break;
 			}
 		}
-
 		if (!doneFeedForward)
+#endif
 		{
 			feedForwardTool = cdda->GetTool();
 			if (feedForwardTool != nullptr && timeToMoveStart < (int32_t)feedForwardTool->GetFeedForwardAdvanceClocks() && timeToMoveEnd > (int32_t)feedForwardTool->GetFeedForwardAdvanceClocks())
@@ -772,7 +773,9 @@ uint32_t DDARing::ManageIOBitsAndFeedForward() noexcept
 				}
 				nextWakeupDelay = min<uint32_t>(nextWakeupDelay, (uint32_t)timeToMoveEnd > feedForwardTool->GetFeedForwardAdvanceClocks());
 				doneFeedForward = true;
+#if SUPPORT_IOBITS
 				if (doneIoBits)
+#endif
 				{
 					break;
 				}
@@ -781,10 +784,12 @@ uint32_t DDARing::ManageIOBitsAndFeedForward() noexcept
 		cdda = cdda->GetNext();
 	}
 
+#if SUPPORT_IOBITS
 	if (!doneIoBits)
 	{
 		pc.UpdatePorts(0);															// no move active so turn off all IOBITS ports
 	}
+#endif
 
 	SetBasePriority(0);
 
@@ -807,8 +812,6 @@ uint32_t DDARing::ManageIOBitsAndFeedForward() noexcept
 	return (nextWakeupDelay + StepClockRate/1000 - 1)/(StepClockRate/1000);			// convert step clocks to milliseconds, rounding up
 }
 
-#endif
-
 #if SUPPORT_REMOTE_COMMANDS
 
 // Add a move from the ATE to the movement queue
diff --git a/src/Movement/DDARing.h b/src/Movement/DDARing.h
index dc4bdb4b4..8f446070e 100644
--- a/src/Movement/DDARing.h
+++ b/src/Movement/DDARing.h
@@ -66,9 +66,7 @@ class DDARing INHERIT_OBJECT_MODEL
 #if SUPPORT_LASER
 	uint32_t ManageLaserPower() noexcept;												// Manage the laser power
 #endif
-#if SUPPORT_IOBITS
 	uint32_t ManageIOBitsAndFeedForward() noexcept;										// Manage the IOBITS (G1 P parameter) and extruder heater feedforward
-#endif
 
 	void RecordLookaheadError() noexcept { ++numLookaheadErrors; }						// Record a lookahead error
 	void Diagnostics(MessageType mtype, unsigned int ringNumber) noexcept;
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp
index d65f66f9d..0623b9267 100644
--- a/src/Movement/Move.cpp
+++ b/src/Movement/Move.cpp
@@ -1549,7 +1549,7 @@ void Move::LaserTaskRun() noexcept
 		else
 #endif
 
-# if SUPPORT_LASER
+#if SUPPORT_LASER
 			if (gcodes.GetMachineType() == MachineType::laser)
 		{
 			// Manage the laser power
@@ -1560,16 +1560,14 @@ void Move::LaserTaskRun() noexcept
 			}
 		}
 		else
-# endif
+#endif
 		{
-# if SUPPORT_IOBITS
-			// Manage the IOBits
+			// Manage the feedforward and IOBits
 			uint32_t ticks;
 			while ((ticks = rings[0].ManageIOBitsAndFeedForward()) != 0)
 			{
 				(void)TaskBase::TakeIndexed(NotifyIndices::Laser, ticks);
 			}
-# endif
 		}
 	}
 }