Move some Stepper methods to Planner (#10719)
This commit is contained in:
Scott Lahteine
GitHub
parent
8c81e6341a
commit
ea353c3df6
12 changed files with 139 additions and 136 deletions
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@ -1713,7 +1713,7 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
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#endif
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stepper.synchronize();
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planner.synchronize();
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feedrate_mm_s = old_feedrate_mm_s;
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@ -2984,7 +2984,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
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#endif
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stepper.synchronize();
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planner.synchronize();
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if (is_home_dir) {
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@ -3355,7 +3355,7 @@ inline void gcode_G0_G1(
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#define _MOVE_SYNC parser.seenval('Z') // Only for Z move
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#endif
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if (_MOVE_SYNC) {
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stepper.synchronize();
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planner.synchronize();
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SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
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}
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#endif
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@ -3470,7 +3470,7 @@ inline void gcode_G4() {
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if (parser.seenval('P')) dwell_ms = parser.value_millis(); // milliseconds to wait
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if (parser.seenval('S')) dwell_ms = parser.value_millis_from_seconds(); // seconds to wait
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stepper.synchronize();
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planner.synchronize();
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#if ENABLED(NANODLP_Z_SYNC)
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SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
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#endif
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@ -3797,9 +3797,9 @@ inline void gcode_G4() {
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#endif
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#if ABL_PLANAR
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const float diff[XYZ] = {
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stepper.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
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stepper.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
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stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
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planner.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
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planner.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
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planner.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
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};
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SERIAL_ECHOPGM("ABL Adjustment X");
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if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
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@ -3892,7 +3892,7 @@ inline void gcode_G4() {
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (delta_height + 10);
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feedrate_mm_s = homing_feedrate(X_AXIS);
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buffer_line_to_current_position();
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stepper.synchronize();
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planner.synchronize();
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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@ -4036,7 +4036,7 @@ inline void gcode_G28(const bool always_home_all) {
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#endif
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// Wait for planner moves to finish!
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stepper.synchronize();
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planner.synchronize();
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// Cancel the active G29 session
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#if ENABLED(PROBE_MANUALLY)
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@ -4350,7 +4350,7 @@ void home_all_axes() { gcode_G28(true); }
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// One last "return to the bed" (as originally coded) at completion
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current_position[Z_AXIS] = MANUAL_PROBE_HEIGHT;
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buffer_line_to_current_position();
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stepper.synchronize();
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planner.synchronize();
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// After recording the last point, activate home and activate
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mbl_probe_index = -1;
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@ -4365,7 +4365,7 @@ void home_all_axes() { gcode_G28(true); }
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current_position[Z_AXIS] = 0;
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set_destination_from_current();
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buffer_line_to_destination(homing_feedrate(Z_AXIS));
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stepper.synchronize();
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planner.synchronize();
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#endif
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#if ENABLED(LCD_BED_LEVELING)
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@ -4775,7 +4775,7 @@ void home_all_axes() { gcode_G28(true); }
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SERIAL_EOL();
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}
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stepper.synchronize();
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planner.synchronize();
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// Disable auto bed leveling during G29.
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// Be formal so G29 can be done successively without G28.
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@ -5333,7 +5333,7 @@ void home_all_axes() { gcode_G28(true); }
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
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#endif
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stepper.synchronize();
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planner.synchronize();
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enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
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#endif
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@ -5464,7 +5464,7 @@ void home_all_axes() { gcode_G28(true); }
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tool_change(0, 0, true);
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#endif
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stepper.synchronize();
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planner.synchronize();
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setup_for_endstop_or_probe_move();
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#if HAS_LEVELING
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@ -6131,12 +6131,12 @@ void home_all_axes() { gcode_G28(true); }
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#endif
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// Move until destination reached or target hit
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stepper.synchronize();
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planner.synchronize();
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endstops.enable(true);
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G38_move = true;
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G38_endstop_hit = false;
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prepare_move_to_destination();
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stepper.synchronize();
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planner.synchronize();
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G38_move = false;
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endstops.hit_on_purpose();
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@ -6159,11 +6159,11 @@ void home_all_axes() { gcode_G28(true); }
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// Bump the target more slowly
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LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
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stepper.synchronize();
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planner.synchronize();
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endstops.enable(true);
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G38_move = true;
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prepare_move_to_destination();
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stepper.synchronize();
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planner.synchronize();
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G38_move = false;
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set_current_from_steppers_for_axis(ALL_AXES);
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@ -6341,7 +6341,7 @@ inline void gcode_G92() {
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const bool has_message = !hasP && !hasS && args && *args;
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stepper.synchronize();
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planner.synchronize();
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#if ENABLED(ULTIPANEL)
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@ -6442,7 +6442,7 @@ inline void gcode_G92() {
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inline void gcode_M3_M4(bool is_M3) {
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stepper.synchronize(); // wait until previous movement commands (G0/G0/G2/G3) have completed before playing with the spindle
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planner.synchronize(); // wait until previous movement commands (G0/G0/G2/G3) have completed before playing with the spindle
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#if SPINDLE_DIR_CHANGE
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const bool rotation_dir = (is_M3 && !SPINDLE_INVERT_DIR || !is_M3 && SPINDLE_INVERT_DIR) ? HIGH : LOW;
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if (SPINDLE_STOP_ON_DIR_CHANGE \
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@ -6492,7 +6492,7 @@ inline void gcode_G92() {
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* M5 turn off spindle
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*/
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inline void gcode_M5() {
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stepper.synchronize();
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planner.synchronize();
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WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT);
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#if ENABLED(SPINDLE_LASER_PWM)
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analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0);
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@ -6517,7 +6517,7 @@ inline void gcode_M17() {
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destination[E_AXIS] += length / planner.e_factor[active_extruder];
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planner.buffer_line_kinematic(destination, fr, active_extruder);
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set_current_from_destination();
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stepper.synchronize();
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planner.synchronize();
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}
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static float resume_position[XYZE];
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@ -6809,7 +6809,7 @@ inline void gcode_M17() {
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COPY(resume_position, current_position);
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// Wait for synchronize steppers
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stepper.synchronize();
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planner.synchronize();
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// Initial retract before move to filament change position
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if (retract && thermalManager.hotEnoughToExtrude(active_extruder))
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@ -7141,7 +7141,7 @@ inline void gcode_M31() {
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*
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*/
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inline void gcode_M32() {
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if (card.sdprinting) stepper.synchronize();
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if (card.sdprinting) planner.synchronize();
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if (card.cardOK) {
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const bool call_procedure = parser.boolval('P');
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@ -8533,7 +8533,7 @@ inline void gcode_M18_M84() {
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stepper.finish_and_disable();
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}
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else {
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stepper.synchronize();
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planner.synchronize();
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if (parser.seen('X')) disable_X();
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if (parser.seen('Y')) disable_Y();
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if (parser.seen('Z')) disable_Z();
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@ -8612,8 +8612,8 @@ void report_current_position() {
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stepper.report_positions();
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#if IS_SCARA
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SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
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SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
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SERIAL_PROTOCOLPAIR("SCARA Theta:", planner.get_axis_position_degrees(A_AXIS));
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SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", planner.get_axis_position_degrees(B_AXIS));
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SERIAL_EOL();
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#endif
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}
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@ -8669,7 +8669,7 @@ void report_current_position() {
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report_xyz(delta);
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#endif
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stepper.synchronize();
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planner.synchronize();
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SERIAL_PROTOCOLPGM("Stepper:");
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LOOP_XYZE(i) {
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@ -8682,8 +8682,8 @@ void report_current_position() {
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#if IS_SCARA
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const float deg[XYZ] = {
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stepper.get_axis_position_degrees(A_AXIS),
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stepper.get_axis_position_degrees(B_AXIS)
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planner.get_axis_position_degrees(A_AXIS),
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planner.get_axis_position_degrees(B_AXIS)
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};
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SERIAL_PROTOCOLPGM("Degrees:");
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report_xyze(deg, 2);
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@ -8691,7 +8691,7 @@ void report_current_position() {
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SERIAL_PROTOCOLPGM("FromStp:");
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get_cartesian_from_steppers(); // writes cartes[XYZ] (with forward kinematics)
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const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], stepper.get_axis_position_mm(E_AXIS) };
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const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], planner.get_axis_position_mm(E_AXIS) };
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report_xyze(from_steppers);
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const float diff[XYZE] = {
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@ -8717,7 +8717,7 @@ inline void gcode_M114() {
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}
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#endif
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stepper.synchronize();
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planner.synchronize();
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report_current_position();
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}
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@ -9429,7 +9429,7 @@ inline void gcode_M226() {
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int target = LOW;
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stepper.synchronize();
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planner.synchronize();
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pinMode(pin, INPUT);
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switch (pin_state) {
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@ -9893,7 +9893,7 @@ inline void gcode_M303() {
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/**
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* M400: Finish all moves
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*/
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inline void gcode_M400() { stepper.synchronize(); }
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inline void gcode_M400() { planner.synchronize(); }
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#if HAS_BED_PROBE
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@ -9977,7 +9977,7 @@ inline void gcode_M400() { stepper.synchronize(); }
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void quickstop_stepper() {
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stepper.quick_stop();
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stepper.synchronize();
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planner.synchronize();
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set_current_from_steppers_for_axis(ALL_AXES);
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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@ -10588,7 +10588,7 @@ inline void gcode_M502() {
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#if ENABLED(MK2_MULTIPLEXER)
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inline void select_multiplexed_stepper(const uint8_t e) {
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stepper.synchronize();
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planner.synchronize();
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disable_e_steppers();
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WRITE(E_MUX0_PIN, TEST(e, 0) ? HIGH : LOW);
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WRITE(E_MUX1_PIN, TEST(e, 1) ? HIGH : LOW);
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@ -10613,7 +10613,7 @@ inline void gcode_M502() {
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* Note: the X axis should be homed after changing dual x-carriage mode.
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*/
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inline void gcode_M605() {
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stepper.synchronize();
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planner.synchronize();
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if (parser.seen('S')) dual_x_carriage_mode = (DualXMode)parser.value_byte();
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switch (dual_x_carriage_mode) {
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case DXC_FULL_CONTROL_MODE:
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@ -10645,7 +10645,7 @@ inline void gcode_M502() {
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#elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
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inline void gcode_M605() {
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stepper.synchronize();
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planner.synchronize();
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extruder_duplication_enabled = parser.intval('S') == (int)DXC_DUPLICATION_MODE;
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SERIAL_ECHO_START();
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SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
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@ -10799,7 +10799,7 @@ inline void gcode_M502() {
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if (parser.seenval('K')) {
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const float newK = parser.floatval('K');
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if (WITHIN(newK, 0, 10)) {
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stepper.synchronize();
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planner.synchronize();
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planner.extruder_advance_K = newK;
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}
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else
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@ -11531,7 +11531,7 @@ inline void gcode_M999() {
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inline void move_extruder_servo(const uint8_t e) {
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constexpr int16_t angles[] = SWITCHING_EXTRUDER_SERVO_ANGLES;
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static_assert(COUNT(angles) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles.");
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stepper.synchronize();
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planner.synchronize();
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#if EXTRUDERS & 1
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if (e < EXTRUDERS - 1)
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#endif
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@ -11545,7 +11545,7 @@ inline void gcode_M999() {
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#if ENABLED(SWITCHING_NOZZLE)
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inline void move_nozzle_servo(const uint8_t e) {
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const int16_t angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
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stepper.synchronize();
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planner.synchronize();
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MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, angles[e]);
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safe_delay(500);
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}
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@ -11664,7 +11664,7 @@ inline void invalid_extruder_error(const uint8_t e) {
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planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
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active_extruder
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);
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stepper.synchronize();
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planner.synchronize();
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}
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// Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
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@ -11762,7 +11762,7 @@ inline void invalid_extruder_error(const uint8_t e) {
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if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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stepper.synchronize();
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planner.synchronize();
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// STEP 2
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current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
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@ -11771,7 +11771,7 @@ inline void invalid_extruder_error(const uint8_t e) {
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if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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stepper.synchronize();
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planner.synchronize();
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// STEP 3
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -11789,7 +11789,7 @@ inline void invalid_extruder_error(const uint8_t e) {
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if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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stepper.synchronize();
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planner.synchronize();
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// STEP 5
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -11810,7 +11810,7 @@ inline void invalid_extruder_error(const uint8_t e) {
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
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stepper.synchronize();
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planner.synchronize();
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// Step 7
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current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
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@ -11819,7 +11819,7 @@ inline void invalid_extruder_error(const uint8_t e) {
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
|
||||
stepper.synchronize();
|
||||
planner.synchronize();
|
||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||
SERIAL_ECHOLNPGM("Autopark done.");
|
||||
#endif
|
||||
|
|
@ -11956,7 +11956,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
|
|||
#endif
|
||||
} // (tmp_extruder != active_extruder)
|
||||
|
||||
stepper.synchronize();
|
||||
planner.synchronize();
|
||||
|
||||
#if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
|
||||
disable_all_solenoids();
|
||||
|
|
@ -11983,7 +11983,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
|
|||
#endif // HOTENDS <= 1
|
||||
|
||||
#if DO_SWITCH_EXTRUDER
|
||||
stepper.synchronize();
|
||||
planner.synchronize();
|
||||
move_extruder_servo(active_extruder);
|
||||
#endif
|
||||
|
||||
|
|
@ -12903,21 +12903,21 @@ void ok_to_send() {
|
|||
void get_cartesian_from_steppers() {
|
||||
#if ENABLED(DELTA)
|
||||
forward_kinematics_DELTA(
|
||||
stepper.get_axis_position_mm(A_AXIS),
|
||||
stepper.get_axis_position_mm(B_AXIS),
|
||||
stepper.get_axis_position_mm(C_AXIS)
|
||||
planner.get_axis_position_mm(A_AXIS),
|
||||
planner.get_axis_position_mm(B_AXIS),
|
||||
planner.get_axis_position_mm(C_AXIS)
|
||||
);
|
||||
#else
|
||||
#if IS_SCARA
|
||||
forward_kinematics_SCARA(
|
||||
stepper.get_axis_position_degrees(A_AXIS),
|
||||
stepper.get_axis_position_degrees(B_AXIS)
|
||||
planner.get_axis_position_degrees(A_AXIS),
|
||||
planner.get_axis_position_degrees(B_AXIS)
|
||||
);
|
||||
#else
|
||||
cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
|
||||
cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
|
||||
cartes[X_AXIS] = planner.get_axis_position_mm(X_AXIS);
|
||||
cartes[Y_AXIS] = planner.get_axis_position_mm(Y_AXIS);
|
||||
#endif
|
||||
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
|
||||
cartes[Z_AXIS] = planner.get_axis_position_mm(Z_AXIS);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
@ -13432,7 +13432,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
|
|||
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
|
||||
planner.max_feedrate_mm_s[X_AXIS], 1
|
||||
);
|
||||
stepper.synchronize();
|
||||
planner.synchronize();
|
||||
SYNC_PLAN_POSITION_KINEMATIC();
|
||||
extruder_duplication_enabled = true;
|
||||
active_extruder_parked = false;
|
||||
|
|
@ -14043,7 +14043,7 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
|
|||
current_position[E_AXIS] = olde;
|
||||
planner.set_e_position_mm(olde);
|
||||
|
||||
stepper.synchronize();
|
||||
planner.synchronize();
|
||||
#if ENABLED(SWITCHING_EXTRUDER)
|
||||
E0_ENABLE_WRITE(oldstatus);
|
||||
#else
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue