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Planner singleton class

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This commit is contained in:
Scott Lahteine
2016-04-27 18:06:32 -07:00
parent 5076d12344
commit 96f51f400f
10 changed files with 587 additions and 499 deletions
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12
Marlin/stepper.cpp
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@ -242,7 +242,7 @@ ISR(TIMER1_COMPA_vect) { stepper.isr(); }
void Stepper::isr() {
if (cleaning_buffer_counter) {
current_block = NULL;
plan_discard_current_block();
planner.discard_current_block();
#ifdef SD_FINISHED_RELEASECOMMAND
if ((cleaning_buffer_counter == 1) && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
@ -254,7 +254,7 @@ void Stepper::isr() {
// If there is no current block, attempt to pop one from the buffer
if (!current_block) {
// Anything in the buffer?
current_block = plan_get_current_block();
current_block = planner.get_current_block();
if (current_block) {
current_block->busy = true;
trapezoid_generator_reset();
@ -396,7 +396,7 @@ void Stepper::isr() {
// If current block is finished, reset pointer
if (step_events_completed >= current_block->step_event_count) {
current_block = NULL;
plan_discard_current_block();
planner.discard_current_block();
}
}
}
@ -620,7 +620,7 @@ void Stepper::init() {
/**
* Block until all buffered steps are executed
*/
void Stepper::synchronize() { while (blocks_queued()) idle(); }
void Stepper::synchronize() { while (planner.blocks_queued()) idle(); }
/**
* Set the stepper positions directly in steps
@ -693,7 +693,7 @@ float Stepper::get_axis_position_mm(AxisEnum axis) {
#else
axis_steps = position(axis);
#endif
return axis_steps / axis_steps_per_unit[axis];
return axis_steps / planner.axis_steps_per_unit[axis];
}
void Stepper::finish_and_disable() {
@ -704,7 +704,7 @@ void Stepper::finish_and_disable() {
void Stepper::quick_stop() {
cleaning_buffer_counter = 5000;
DISABLE_STEPPER_DRIVER_INTERRUPT();
while (blocks_queued()) plan_discard_current_block();
while (planner.blocks_queued()) planner.discard_current_block();
current_block = NULL;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}