bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Stepper and Endstops as singleton objects

Browse Source
This commit is contained in:
Scott Lahteine
2016-04-27 07:15:20 -07:00
parent 98f30283fa
commit 5e4e535ce8
10 changed files with 950 additions and 762 deletions
Download Patch File Download Diff File Expand all files Collapse all files

223
Marlin/Marlin_main.cpp
View File

@ -48,6 +48,7 @@
#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
#include "endstops.h"
#include "temperature.h"
#include "cardreader.h"
#include "configuration_store.h"
@ -547,10 +548,6 @@ static void report_current_position();
float extrude_min_temp = EXTRUDE_MINTEMP;
#endif
#if ENABLED(HAS_Z_MIN_PROBE)
extern volatile bool z_probe_is_active;
#endif
#if ENABLED(SDSUPPORT)
#include "SdFatUtil.h"
int freeMemory() { return SdFatUtil::FreeRam(); }
@ -711,7 +708,7 @@ void servo_init() {
#if HAS_SERVO_ENDSTOPS
z_probe_is_active = false;
endstops.enable_z_probe(false);
/**
* Set position of all defined Servo Endstops
@ -831,7 +828,7 @@ void setup() {
watchdog_init();
#endif
st_init(); // Initialize stepper, this enables interrupts!
stepper.init(); // Initialize stepper, this enables interrupts!
setup_photpin();
servo_init();
@ -915,7 +912,7 @@ void loop() {
commands_in_queue--;
cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
}
checkHitEndstops();
endstops.report_state();
idle();
}
@ -1445,9 +1442,9 @@ static void setup_for_endstop_move() {
feedrate_multiplier = 100;
refresh_cmd_timeout();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("setup_for_endstop_move > enable_endstops(true)");
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("setup_for_endstop_move > endstops.enable()");
#endif
enable_endstops(true);
endstops.enable();
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
@ -1553,7 +1550,7 @@ static void setup_for_endstop_move() {
#if ENABLED(DELTA)
float start_z = current_position[Z_AXIS];
long start_steps = st_get_position(Z_AXIS);
long start_steps = stepper.position(Z_AXIS);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("run_z_probe (DELTA) 1");
@ -1563,14 +1560,14 @@ static void setup_for_endstop_move() {
feedrate = homing_feedrate[Z_AXIS] / 4;
destination[Z_AXIS] = -10;
prepare_move_raw(); // this will also set_current_to_destination
st_synchronize();
endstops_hit_on_purpose(); // clear endstop hit flags
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
/**
* We have to let the planner know where we are right now as it
* is not where we said to go.
*/
long stop_steps = st_get_position(Z_AXIS);
long stop_steps = stepper.position(Z_AXIS);
float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
current_position[Z_AXIS] = mm;
@ -1588,10 +1585,10 @@ static void setup_for_endstop_move() {
// Move down until the Z probe (or endstop?) is triggered
float zPosition = -(Z_MAX_LENGTH + 10);
line_to_z(zPosition);
st_synchronize();
stepper.synchronize();
// Tell the planner where we ended up - Get this from the stepper handler
zPosition = st_get_axis_position_mm(Z_AXIS);
zPosition = stepper.get_axis_position_mm(Z_AXIS);
plan_set_position(
current_position[X_AXIS], current_position[Y_AXIS], zPosition,
current_position[E_AXIS]
@ -1600,19 +1597,19 @@ static void setup_for_endstop_move() {
// move up the retract distance
zPosition += home_bump_mm(Z_AXIS);
line_to_z(zPosition);
st_synchronize();
endstops_hit_on_purpose(); // clear endstop hit flags
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
// move back down slowly to find bed
set_homing_bump_feedrate(Z_AXIS);
zPosition -= home_bump_mm(Z_AXIS) * 2;
line_to_z(zPosition);
st_synchronize();
endstops_hit_on_purpose(); // clear endstop hit flags
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
// Get the current stepper position after bumping an endstop
current_position[Z_AXIS] = st_get_axis_position_mm(Z_AXIS);
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
sync_plan_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -1641,7 +1638,7 @@ static void setup_for_endstop_move() {
destination[Y_AXIS] = y;
destination[Z_AXIS] = z;
prepare_move_raw(); // this will also set_current_to_destination
st_synchronize();
stepper.synchronize();
#else
@ -1649,14 +1646,14 @@ static void setup_for_endstop_move() {
current_position[Z_AXIS] = z;
line_to_current_position();
st_synchronize();
stepper.synchronize();
feedrate = xy_travel_speed;
current_position[X_AXIS] = x;
current_position[Y_AXIS] = y;
line_to_current_position();
st_synchronize();
stepper.synchronize();
#endif
@ -1681,9 +1678,9 @@ static void setup_for_endstop_move() {
static void clean_up_after_endstop_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > endstops_not_homing()");
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > endstops.not_homing()");
#endif
endstops_not_homing();
endstops.not_homing();
feedrate = saved_feedrate;
feedrate_multiplier = saved_feedrate_multiplier;
refresh_cmd_timeout();
@ -1697,7 +1694,7 @@ static void setup_for_endstop_move() {
if (DEBUGGING(LEVELING)) DEBUG_POS("deploy_z_probe", current_position);
#endif
if (z_probe_is_active) return;
if (endstops.z_probe_enabled) return;
#if HAS_SERVO_ENDSTOPS
@ -1757,7 +1754,7 @@ static void setup_for_endstop_move() {
destination[Y_AXIS] = destination[Y_AXIS] * 0.75;
prepare_move_raw(); // this will also set_current_to_destination
st_synchronize();
stepper.synchronize();
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
@ -1778,10 +1775,10 @@ static void setup_for_endstop_move() {
#endif // Z_PROBE_ALLEN_KEY
#if ENABLED(FIX_MOUNTED_PROBE)
// Noting to be done. Just set z_probe_is_active
// Noting to be done. Just set endstops.z_probe_enabled
#endif
z_probe_is_active = true;
endstops.enable_z_probe();
}
@ -1793,7 +1790,7 @@ static void setup_for_endstop_move() {
if (DEBUGGING(LEVELING)) DEBUG_POS("stow_z_probe", current_position);
#endif
if (!z_probe_is_active) return;
if (!endstops.z_probe_enabled) return;
#if HAS_SERVO_ENDSTOPS
@ -1811,7 +1808,7 @@ static void setup_for_endstop_move() {
}
#endif
raise_z_after_probing(); // this also updates current_position
st_synchronize();
stepper.synchronize();
}
#endif
@ -1861,7 +1858,7 @@ static void setup_for_endstop_move() {
destination[Y_AXIS] = 0;
prepare_move_raw(); // this will also set_current_to_destination
st_synchronize();
stepper.synchronize();
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
@ -1881,10 +1878,10 @@ static void setup_for_endstop_move() {
#endif // Z_PROBE_ALLEN_KEY
#if ENABLED(FIX_MOUNTED_PROBE)
// Nothing to do here. Just clear z_probe_is_active
// Nothing to do here. Just clear endstops.z_probe_enabled
#endif
z_probe_is_active = false;
endstops.enable_z_probe(false);
}
#endif // HAS_Z_MIN_PROBE
@ -2081,13 +2078,13 @@ static void setup_for_endstop_move() {
}
#endif
if (z_probe_is_active == dock) return;
if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS]) {
axis_unhomed_error();
return;
}
if (endstops.z_probe_enabled == !dock) return; // already docked/undocked?
float oldXpos = current_position[X_AXIS]; // save x position
if (dock) {
#if Z_RAISE_AFTER_PROBING > 0
@ -2105,7 +2102,7 @@ static void setup_for_endstop_move() {
}
do_blocking_move_to_x(oldXpos); // return to position before docking
z_probe_is_active = dock;
endstops.enable_z_probe(!dock); // logically disable docked probe
}
#endif // Z_PROBE_SLED
@ -2167,39 +2164,39 @@ static void homeaxis(AxisEnum axis) {
// Engage an X or Y Servo endstop if enabled
if (_Z_SERVO_TEST && servo_endstop_id[axis] >= 0) {
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]);
if (_Z_PROBE_SUBTEST) z_probe_is_active = true;
if (_Z_PROBE_SUBTEST) endstops.z_probe_enabled = true;
}
#endif
// Set a flag for Z motor locking
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) In_Homing_Process(true);
if (axis == Z_AXIS) stepper.set_homing_flag(true);
#endif
// Move towards the endstop until an endstop is triggered
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
feedrate = homing_feedrate[axis];
line_to_destination();
st_synchronize();
stepper.synchronize();
// Set the axis position as setup for the move
current_position[axis] = 0;
sync_plan_position();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(false)");
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)");
#endif
enable_endstops(false); // Disable endstops while moving away
endstops.enable(false); // Disable endstops while moving away
// Move away from the endstop by the axis HOME_BUMP_MM
destination[axis] = -home_bump_mm(axis) * axis_home_dir;
line_to_destination();
st_synchronize();
stepper.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(true)");
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
#endif
enable_endstops(true); // Enable endstops for next homing move
endstops.enable(true); // Enable endstops for next homing move
// Slow down the feedrate for the next move
set_homing_bump_feedrate(axis);
@ -2207,7 +2204,7 @@ static void homeaxis(AxisEnum axis) {
// Move slowly towards the endstop until triggered
destination[axis] = 2 * home_bump_mm(axis) * axis_home_dir;
line_to_destination();
st_synchronize();
stepper.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
@ -2224,17 +2221,17 @@ static void homeaxis(AxisEnum axis) {
else
lockZ1 = (z_endstop_adj < 0);
if (lockZ1) Lock_z_motor(true); else Lock_z2_motor(true);
if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
sync_plan_position();
// Move to the adjusted endstop height
feedrate = homing_feedrate[axis];
destination[Z_AXIS] = adj;
line_to_destination();
st_synchronize();
stepper.synchronize();
if (lockZ1) Lock_z_motor(false); else Lock_z2_motor(false);
In_Homing_Process(false);
if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
stepper.set_homing_flag(false);
} // Z_AXIS
#endif
@ -2242,9 +2239,9 @@ static void homeaxis(AxisEnum axis) {
// retrace by the amount specified in endstop_adj
if (endstop_adj[axis] * axis_home_dir < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(false)");
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)");
#endif
enable_endstops(false); // Disable endstops while moving away
endstops.enable(false); // Disable endstops while moving away
sync_plan_position();
destination[axis] = endstop_adj[axis];
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -2254,11 +2251,11 @@ static void homeaxis(AxisEnum axis) {
}
#endif
line_to_destination();
st_synchronize();
stepper.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> enable_endstops(true)");
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
#endif
enable_endstops(true); // Enable endstops for next homing move
endstops.enable(true); // Enable endstops for next homing move
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
else {
@ -2280,7 +2277,7 @@ static void homeaxis(AxisEnum axis) {
destination[axis] = current_position[axis];
feedrate = 0.0;
endstops_hit_on_purpose(); // clear endstop hit flags
endstops.hit_on_purpose(); // clear endstop hit flags
axis_known_position[axis] = true;
axis_homed[axis] = true;
@ -2301,7 +2298,7 @@ static void homeaxis(AxisEnum axis) {
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
#endif
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
if (_Z_PROBE_SUBTEST) z_probe_is_active = false;
if (_Z_PROBE_SUBTEST) endstops.enable_z_probe(false);
}
#endif
@ -2499,7 +2496,7 @@ inline void gcode_G4() {
if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait
if (code_seen('S')) codenum = code_value() * 1000UL; // seconds to wait
st_synchronize();
stepper.synchronize();
refresh_cmd_timeout();
codenum += previous_cmd_ms; // keep track of when we started waiting
@ -2551,7 +2548,7 @@ inline void gcode_G28() {
#endif
// Wait for planner moves to finish!
st_synchronize();
stepper.synchronize();
// For auto bed leveling, clear the level matrix
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
@ -2594,8 +2591,8 @@ inline void gcode_G28() {
for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * (Z_MAX_LENGTH);
feedrate = 1.732 * homing_feedrate[X_AXIS];
line_to_destination();
st_synchronize();
endstops_hit_on_purpose(); // clear endstop hit flags
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
// Destination reached
for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
@ -2643,7 +2640,7 @@ inline void gcode_G28() {
}
#endif
line_to_destination();
st_synchronize();
stepper.synchronize();
/**
* Update the current Z position even if it currently not real from
@ -2676,7 +2673,7 @@ inline void gcode_G28() {
destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS);
feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1);
line_to_destination();
st_synchronize();
stepper.synchronize();
set_axis_is_at_home(X_AXIS);
set_axis_is_at_home(Y_AXIS);
@ -2690,8 +2687,8 @@ inline void gcode_G28() {
destination[Y_AXIS] = current_position[Y_AXIS];
line_to_destination();
feedrate = 0.0;
st_synchronize();
endstops_hit_on_purpose(); // clear endstop hit flags
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
@ -2784,7 +2781,7 @@ inline void gcode_G28() {
// Move in the XY plane
line_to_destination();
st_synchronize();
stepper.synchronize();
/**
* Update the current positions for XY, Z is still at least at
@ -2857,10 +2854,10 @@ inline void gcode_G28() {
#endif
#if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
enable_endstops(false);
endstops.enable(false);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false)");
SERIAL_ECHOLNPGM("ENDSTOPS_ONLY_FOR_HOMING endstops.enable(false)");
}
#endif
#endif
@ -2875,7 +2872,7 @@ inline void gcode_G28() {
set_destination_to_current();
feedrate = homing_feedrate[Z_AXIS];
line_to_destination();
st_synchronize();
stepper.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("mbl_was_active", current_position);
#endif
@ -2885,7 +2882,7 @@ inline void gcode_G28() {
feedrate = saved_feedrate;
feedrate_multiplier = saved_feedrate_multiplier;
refresh_cmd_timeout();
endstops_hit_on_purpose(); // clear endstop hit flags
endstops.hit_on_purpose(); // clear endstop hit flags
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@ -2921,7 +2918,7 @@ inline void gcode_G28() {
#endif
feedrate = saved_feedrate;
st_synchronize();
stepper.synchronize();
}
/**
@ -3015,7 +3012,7 @@ inline void gcode_G28() {
#endif
;
line_to_current_position();
st_synchronize();
stepper.synchronize();
// After recording the last point, activate the mbl and home
SERIAL_PROTOCOLLNPGM("Mesh probing done.");
@ -3240,7 +3237,7 @@ inline void gcode_G28() {
deploy_z_probe();
#endif
st_synchronize();
stepper.synchronize();
setup_for_endstop_move();
@ -3511,7 +3508,7 @@ inline void gcode_G28() {
float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
z_tmp = current_position[Z_AXIS],
real_z = st_get_axis_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane)
real_z = stepper.get_axis_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@ -3588,9 +3585,9 @@ inline void gcode_G28() {
#endif
enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
#if ENABLED(HAS_Z_MIN_PROBE)
z_probe_is_active = false;
endstops.enable_z_probe(false);
#endif
st_synchronize();
stepper.synchronize();
#endif
KEEPALIVE_STATE(IN_HANDLER);
@ -3615,7 +3612,7 @@ inline void gcode_G28() {
#endif
deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed here.
st_synchronize();
stepper.synchronize();
// TODO: clear the leveling matrix or the planner will be set incorrectly
setup_for_endstop_move(); // Too late. Must be done before deploying.
@ -3650,7 +3647,7 @@ inline void gcode_G28() {
inline void gcode_G92() {
bool didE = code_seen(axis_codes[E_AXIS]);
if (!didE) st_synchronize();
if (!didE) stepper.synchronize();
bool didXYZ = false;
for (int i = 0; i < NUM_AXIS; i++) {
@ -3712,7 +3709,7 @@ inline void gcode_G92() {
}
lcd_ignore_click();
st_synchronize();
stepper.synchronize();
refresh_cmd_timeout();
if (codenum > 0) {
codenum += previous_cmd_ms; // wait until this time for a click
@ -3853,7 +3850,7 @@ inline void gcode_M31() {
*/
inline void gcode_M32() {
if (card.sdprinting)
st_synchronize();
stepper.synchronize();
char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
if (!namestartpos)
@ -4819,7 +4816,7 @@ inline void gcode_M140() {
*/
inline void gcode_M81() {
disable_all_heaters();
finishAndDisableSteppers();
stepper.finish_and_disable();
#if FAN_COUNT > 0
#if FAN_COUNT > 1
for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
@ -4829,7 +4826,7 @@ inline void gcode_M81() {
#endif
delay(1000); // Wait 1 second before switching off
#if HAS_SUICIDE
st_synchronize();
stepper.synchronize();
suicide();
#elif HAS_POWER_SWITCH
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
@ -4864,10 +4861,10 @@ inline void gcode_M18_M84() {
else {
bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])) || (code_seen(axis_codes[E_AXIS])));
if (all_axis) {
finishAndDisableSteppers();
stepper.finish_and_disable();
}
else {
st_synchronize();
stepper.synchronize();
if (code_seen('X')) disable_x();
if (code_seen('Y')) disable_y();
if (code_seen('Z')) disable_z();
@ -4927,35 +4924,7 @@ static void report_current_position() {
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
CRITICAL_SECTION_START;
extern volatile long count_position[NUM_AXIS];
long xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS],
zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END;
#if ENABLED(COREXY) || ENABLED(COREXZ)
SERIAL_PROTOCOLPGM(MSG_COUNT_A);
#else
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
#endif
SERIAL_PROTOCOL(xpos);
#if ENABLED(COREXY)
SERIAL_PROTOCOLPGM(" B:");
#else
SERIAL_PROTOCOLPGM(" Y:");
#endif
SERIAL_PROTOCOL(ypos);
#if ENABLED(COREXZ)
SERIAL_PROTOCOLPGM(" C:");
#else
SERIAL_PROTOCOLPGM(" Z:");
#endif
SERIAL_PROTOCOL(zpos);
SERIAL_EOL;
stepper.report_positions();
#if ENABLED(SCARA)
SERIAL_PROTOCOLPGM("SCARA Theta:");
@ -5039,12 +5008,12 @@ inline void gcode_M119() {
/**
* M120: Enable endstops and set non-homing endstop state to "enabled"
*/
inline void gcode_M120() { enable_endstops_globally(true); }
inline void gcode_M120() { endstops.enable_globally(true); }
/**
* M121: Disable endstops and set non-homing endstop state to "disabled"
*/
inline void gcode_M121() { enable_endstops_globally(false); }
inline void gcode_M121() { endstops.enable_globally(false); }
#if ENABLED(BLINKM)
@ -5439,7 +5408,7 @@ inline void gcode_M226() {
if (pin_number > -1) {
int target = LOW;
st_synchronize();
stepper.synchronize();
pinMode(pin_number, INPUT);
@ -5801,7 +5770,7 @@ inline void gcode_M303() {
/**
* M400: Finish all moves
*/
inline void gcode_M400() { st_synchronize(); }
inline void gcode_M400() { stepper.synchronize(); }
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY))
@ -5887,7 +5856,7 @@ inline void gcode_M400() { st_synchronize(); }
* This will stop the carriages mid-move, so most likely they
* will be out of sync with the stepper position after this.
*/
inline void gcode_M410() { quickStop(); }
inline void gcode_M410() { stepper.quick_stop(); }
#if ENABLED(MESH_BED_LEVELING)
@ -6111,7 +6080,7 @@ inline void gcode_M503() {
RUNPLAN;
//finish moves
st_synchronize();
stepper.synchronize();
//disable extruder steppers so filament can be removed
disable_e0();
disable_e1();
@ -6135,7 +6104,7 @@ inline void gcode_M503() {
current_position[E_AXIS] += AUTO_FILAMENT_CHANGE_LENGTH;
destination[E_AXIS] = current_position[E_AXIS];
line_to_destination(AUTO_FILAMENT_CHANGE_FEEDRATE);
st_synchronize();
stepper.synchronize();
#endif
} // while(!lcd_clicked)
KEEPALIVE_STATE(IN_HANDLER);
@ -6143,7 +6112,7 @@ inline void gcode_M503() {
#if ENABLED(AUTO_FILAMENT_CHANGE)
current_position[E_AXIS] = 0;
st_synchronize();
stepper.synchronize();
#endif
//return to normal
@ -6198,7 +6167,7 @@ inline void gcode_M503() {
* Note: the X axis should be homed after changing dual x-carriage mode.
*/
inline void gcode_M605() {
st_synchronize();
stepper.synchronize();
if (code_seen('S')) dual_x_carriage_mode = code_value();
switch (dual_x_carriage_mode) {
case DXC_DUPLICATION_MODE:
@ -6375,7 +6344,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
st_synchronize();
stepper.synchronize();
}
// apply Y & Z extruder offset (x offset is already used in determining home pos)
@ -6460,7 +6429,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
} // (tmp_extruder != active_extruder)
#if ENABLED(EXT_SOLENOID)
st_synchronize();
stepper.synchronize();
disable_all_solenoids();
enable_solenoid_on_active_extruder();
#endif // EXT_SOLENOID
@ -7400,7 +7369,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[X_AXIS], 1);
sync_plan_position();
st_synchronize();
stepper.synchronize();
extruder_duplication_enabled = true;
active_extruder_parked = false;
}
@ -7927,7 +7896,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
destination[E_AXIS] = oldedes;
plan_set_e_position(oldepos);
previous_cmd_ms = ms; // refresh_cmd_timeout()
st_synchronize();
stepper.synchronize();
switch (active_extruder) {
case 0:
E0_ENABLE_WRITE(oldstatus);
@ -8004,7 +7973,7 @@ void kill(const char* lcd_msg) {
if (!filament_ran_out) {
filament_ran_out = true;
enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
st_synchronize();
stepper.synchronize();
}
}