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ClosedLoop as singleton

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This commit is contained in:
Scott Lahteine
2020-06-28 13:48:48 -05:00
parent 30ee0d3800
commit 48151d1778
6 changed files with 29 additions and 13 deletions
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11
Marlin/src/module/planner.cpp
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@ -91,6 +91,10 @@
#include "../feature/power.h"
#endif
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
#include "../feature/closedloop.h"
#endif
#if ENABLED(BACKLASH_COMPENSATION)
#include "../feature/backlash.h"
#endif
@ -1634,11 +1638,8 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
* Block until all buffered steps are executed / cleaned
*/
void Planner::synchronize() {
while (
has_blocks_queued() || cleaning_buffer_counter
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
|| (READ(CLOSED_LOOP_ENABLE_PIN) && !READ(CLOSED_LOOP_MOVE_COMPLETE_PIN))
#endif
while (has_blocks_queued() || cleaning_buffer_counter
|| TERN0(EXTERNAL_CLOSED_LOOP_CONTROLLER, CLOSED_LOOP_WAITING())
) idle();
}