3d_print_resources/Marlin
1
0
Fork 0
Code Issues Pull requests Releases Wiki Activity

Move some Stepper methods to Planner (#10719)

Browse source
This commit is contained in:
Scott Lahteine 2018-05-12 09:29:17 -05:00 • committed by GitHub
parent 8c81e6341a
commit ea353c3df6
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
12 changed files with 139 additions and 136 deletions
Download patch file Download diff file Expand all files Collapse all files

34
Marlin/stepper.cpp
View file

@ -1950,12 +1950,6 @@ void Stepper::init() {
set_directions(); // Init directions to last_direction_bits = 0
}
/**
* Block until all buffered steps are executed / cleaned
*/
void Stepper::synchronize() { while (planner.has_blocks_queued() || cleaning_buffer_counter) idle(); }
/**
* Set the stepper positions directly in steps
*
@ -2001,34 +1995,8 @@ int32_t Stepper::position(const AxisEnum axis) {
return count_pos;
}
/**
* Get an axis position according to stepper position(s)
* For CORE machines apply translation from ABC to XYZ.
*/
float Stepper::get_axis_position_mm(const AxisEnum axis) {
float axis_steps;
#if IS_CORE
// Requesting one of the "core" axes?
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
CRITICAL_SECTION_START;
// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
axis_steps = 0.5f * (
axis == CORE_AXIS_2 ? CORESIGN(count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2])
: count_position[CORE_AXIS_1] + count_position[CORE_AXIS_2]
);
CRITICAL_SECTION_END;
}
else
axis_steps = position(axis);
#else
axis_steps = position(axis);
#endif
return axis_steps * planner.steps_to_mm[axis];
}
void Stepper::finish_and_disable() {
synchronize();
planner.synchronize();
disable_all_steppers();
}