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G6 Direct Stepping (#17853)

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This commit is contained in:
Colin Godsey
2020-05-11 18:22:41 -06:00
committed by GitHub
parent 174e41c17d
commit 8a22ef0c83
17 changed files with 859 additions and 64 deletions
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15
Marlin/src/module/stepper.h
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@ -334,6 +334,10 @@ class Stepper {
static uint32_t nextBabystepISR;
#endif
#if ENABLED(DIRECT_STEPPING)
static page_step_state_t page_step_state;
#endif
static int32_t ticks_nominal;
#if DISABLED(S_CURVE_ACCELERATION)
static uint32_t acc_step_rate; // needed for deceleration start point
@ -426,6 +430,17 @@ class Stepper {
static void report_a_position(const xyz_long_t &pos);
static void report_positions();
// Discard current block and free any resources
FORCE_INLINE static void discard_current_block() {
#if ENABLED(DIRECT_STEPPING)
if (IS_PAGE(current_block))
page_manager.free_page(current_block->page_idx);
#endif
current_block = nullptr;
axis_did_move = 0;
planner.release_current_block();
}
// Quickly stop all steppers
FORCE_INLINE static void quick_stop() { abort_current_block = true; }