From af4ba2b1ced98066b89dde7636b052b075f96621 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Fri, 5 May 2023 17:42:56 -0500
Subject: [PATCH] =?UTF-8?q?=F0=9F=90=9B=20Minor=20Fixed-Time=20Motion=20pa?=
 =?UTF-8?q?tches?=
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---
 Marlin/src/MarlinCore.cpp       | 5 +++++
 Marlin/src/inc/SanityCheck.h    | 7 +++++++
 Marlin/src/module/ft_motion.cpp | 3 ---
 Marlin/src/module/stepper.cpp   | 2 +-
 4 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
index 5b4d33609de5..5000f3673ba0 100644
--- a/Marlin/src/MarlinCore.cpp
+++ b/Marlin/src/MarlinCore.cpp
@@ -1624,6 +1624,11 @@ void setup() {
     SETUP_RUN(bdl.init(I2C_BD_SDA_PIN, I2C_BD_SCL_PIN, I2C_BD_DELAY));
   #endif
 
+
+  #if ENABLED(FT_MOTION)
+    SETUP_RUN(fxdTiCtrl.init());
+  #endif
+
   marlin_state = MF_RUNNING;
 
   #ifdef STARTUP_TUNE
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 223baf928dcf..e495d7a11582 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -4030,6 +4030,13 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
   #endif
 #endif
 
+/**
+ * Fixed-Time Motion limitations
+ */
+#if ENABLED(FT_MOTION) && (NUM_AXES > 3 || E_STEPPERS > 1 || NUM_Z_STEPPERS > 1 || ANY(DUAL_X_CARRIAGE, HAS_DUAL_X_STEPPERS, HAS_DUAL_Y_STEPPERS, HAS_MULTI_EXTRUDER, MIXING_EXTRUDER))
+  #error "FT_MOTION is currently limited to machines with 3 linear axes and a single extruder."
+#endif
+
 // Multi-Stepping Limit
 static_assert(WITHIN(MULTISTEPPING_LIMIT, 1, 128) && IS_POWER_OF_2(MULTISTEPPING_LIMIT), "MULTISTEPPING_LIMIT must be 1, 2, 4, 8, 16, 32, 64, or 128.");
 
diff --git a/Marlin/src/module/ft_motion.cpp b/Marlin/src/module/ft_motion.cpp
index 2fe38025296d..bc6ba8d3e364 100644
--- a/Marlin/src/module/ft_motion.cpp
+++ b/Marlin/src/module/ft_motion.cpp
@@ -211,9 +211,6 @@ void FxdTiCtrl::loop() {
 
   if (!cfg_mode) return;
 
-  static bool initd = false;
-  if (!initd) { init(); initd = true; }
-
   // Handle block abort with the following sequence:
   // 1. Zero out commands in stepper ISR.
   // 2. Drain the motion buffer, stop processing until they are emptied.
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 140a539ef36c..c7c053679a70 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -3466,7 +3466,7 @@ void Stepper::report_positions() {
 
     #if HAS_Z_AXIS
       // Update step counts
-      if (z_step) count_position.z += z_dir ? -1 : 1;
+      if (z_step) count_position.z += z_dir ? 1 : -1;
     #endif
 
     AWAIT_HIGH_PULSE();