diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp
index 870d133f709ca558982b256d9b052abe2d329d0f..b3e3cf082e9dfe265a465eefa62ff6edf3e49771 100644
--- a/Marlin/src/Marlin.cpp
+++ b/Marlin/src/Marlin.cpp
@@ -274,7 +274,7 @@ bool pin_is_protected(const pin_t pin) {
void quickstop_stepper() {
stepper.quick_stop();
- stepper.synchronize();
+ planner.synchronize();
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
}
@@ -461,7 +461,7 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
current_position[E_AXIS] = olde;
planner.set_e_position_mm(olde);
- stepper.synchronize();
+ planner.synchronize();
#if ENABLED(SWITCHING_EXTRUDER)
E0_ENABLE_WRITE(oldstatus);
#else
diff --git a/Marlin/src/feature/I2CPositionEncoder.cpp b/Marlin/src/feature/I2CPositionEncoder.cpp
index 9d7e4bddb83ddb83cf36f9440c8a6dc80b5b5fce..352fb369b385ec3dfa60dde9f0961b950eaffbba 100644
--- a/Marlin/src/feature/I2CPositionEncoder.cpp
+++ b/Marlin/src/feature/I2CPositionEncoder.cpp
@@ -356,11 +356,11 @@ bool I2CPositionEncoder::test_axis() {
startCoord[encoderAxis] = startPosition;
endCoord[encoderAxis] = endPosition;
- stepper.synchronize();
+ planner.synchronize();
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
- stepper.synchronize();
+ planner.synchronize();
// if the module isn't currently trusted, wait until it is (or until it should be if things are working)
if (!trusted) {
@@ -372,7 +372,7 @@ bool I2CPositionEncoder::test_axis() {
if (trusted) { // if trusted, commence test
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
- stepper.synchronize();
+ planner.synchronize();
}
return trusted;
@@ -415,12 +415,12 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
startCoord[encoderAxis] = startDistance;
endCoord[encoderAxis] = endDistance;
- stepper.synchronize();
+ planner.synchronize();
LOOP_L_N(i, iter) {
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
- stepper.synchronize();
+ planner.synchronize();
delay(250);
startCount = get_position();
@@ -429,7 +429,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
- stepper.synchronize();
+ planner.synchronize();
//Read encoder distance
delay(250);
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
index 1537239ad4baba4d1f9536284c1d12244d539d13..c4b1dc73d1ee9aa8403c020a2223e3c5b78b3a57 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
@@ -797,7 +797,7 @@
do_blocking_move_to(0.5 * (MESH_MAX_X - (MESH_MIN_X)), 0.5 * (MESH_MAX_Y - (MESH_MIN_Y)), in_height);
//, min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]) / 2.0);
- stepper.synchronize();
+ planner.synchronize();
SERIAL_PROTOCOLPGM("Place shim under nozzle");
LCD_MESSAGEPGM(MSG_UBL_BC_INSERT);
@@ -806,7 +806,7 @@
const float z1 = measure_point_with_encoder();
do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
- stepper.synchronize();
+ planner.synchronize();
SERIAL_PROTOCOLPGM("Remove shim");
LCD_MESSAGEPGM(MSG_UBL_BC_REMOVE);
diff --git a/Marlin/src/feature/pause.cpp b/Marlin/src/feature/pause.cpp
index 913316ecf91a1265e6cf81238e092a52d5b489bb..fa06193ab9db27a6046b971eaa991e94ffc89fb7 100644
--- a/Marlin/src/feature/pause.cpp
+++ b/Marlin/src/feature/pause.cpp
@@ -122,7 +122,7 @@ static void do_pause_e_move(const float &length, const float &fr) {
destination[E_AXIS] += length / planner.e_factor[active_extruder];
planner.buffer_line_kinematic(destination, fr, active_extruder);
set_current_from_destination();
- stepper.synchronize();
+ planner.synchronize();
}
/**
@@ -370,7 +370,7 @@ bool pause_print(const float &retract, const point_t &park_point, const float &u
COPY(resume_position, current_position);
// Wait for buffered blocks to complete
- stepper.synchronize();
+ planner.synchronize();
// Initial retract before move to filament change position
if (retract && thermalManager.hotEnoughToExtrude(active_extruder))
diff --git a/Marlin/src/feature/runout.h b/Marlin/src/feature/runout.h
index 37b4dbfba5b331793859382d9fe128528394736c..47bd2cf7b85502cb3b975489809f7ed47f8d2c03 100644
--- a/Marlin/src/feature/runout.h
+++ b/Marlin/src/feature/runout.h
@@ -48,7 +48,7 @@ class FilamentRunoutSensor {
if ((IS_SD_PRINTING || print_job_timer.isRunning()) && check() && !filament_ran_out) {
filament_ran_out = true;
enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
- stepper.synchronize();
+ planner.synchronize();
}
}
private:
diff --git a/Marlin/src/feature/snmm.cpp b/Marlin/src/feature/snmm.cpp
index e9ef540d626db74a606cae39f0694e09cb1e900a..e8c04f2197809fe372033ed2c997085da489f165 100644
--- a/Marlin/src/feature/snmm.cpp
+++ b/Marlin/src/feature/snmm.cpp
@@ -27,7 +27,7 @@
#include "../module/stepper.h"
void select_multiplexed_stepper(const uint8_t e) {
- stepper.synchronize();
+ planner.synchronize();
disable_e_steppers();
WRITE(E_MUX0_PIN, TEST(e, 0) ? HIGH : LOW);
WRITE(E_MUX1_PIN, TEST(e, 1) ? HIGH : LOW);
diff --git a/Marlin/src/gcode/bedlevel/G26.cpp b/Marlin/src/gcode/bedlevel/G26.cpp
index bba31188835e9bff87f2104449eee92f676588c5..749f305d8aeed773805fe8e507abc99f9ca48837 100644
--- a/Marlin/src/gcode/bedlevel/G26.cpp
+++ b/Marlin/src/gcode/bedlevel/G26.cpp
@@ -500,7 +500,7 @@ inline bool prime_nozzle() {
#endif
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
set_destination_from_current();
- stepper.synchronize(); // Without this synchronize, the purge is more consistent,
+ planner.synchronize(); // Without this synchronize, the purge is more consistent,
// but because the planner has a buffer, we won't be able
// to stop as quickly. So we put up with the less smooth
// action to give the user a more responsive 'Stop'.
diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp
index 8f33033af9c4ce56fae12fac8a74ede368160307..e4a597da2c31af65a4e2153dba5ffd6e17840bc6 100644
--- a/Marlin/src/gcode/bedlevel/abl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -391,7 +391,7 @@ void GcodeSuite::G29() {
SERIAL_EOL();
}
- stepper.synchronize();
+ planner.synchronize();
// Disable auto bed leveling during G29.
// Be formal so G29 can be done successively without G28.
@@ -949,7 +949,7 @@ void GcodeSuite::G29() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
#endif
- stepper.synchronize();
+ planner.synchronize();
enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
#endif
diff --git a/Marlin/src/gcode/bedlevel/mbl/G29.cpp b/Marlin/src/gcode/bedlevel/mbl/G29.cpp
index 24249cc39c9f756502a2210dc536155c9aee93be..0332506d9930c21ea6c08bf9ce96cd120e00175e 100644
--- a/Marlin/src/gcode/bedlevel/mbl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/mbl/G29.cpp
@@ -132,7 +132,7 @@ void GcodeSuite::G29() {
// One last "return to the bed" (as originally coded) at completion
current_position[Z_AXIS] = MANUAL_PROBE_HEIGHT;
line_to_current_position();
- stepper.synchronize();
+ planner.synchronize();
// After recording the last point, activate home and activate
mbl_probe_index = -1;
@@ -147,7 +147,7 @@ void GcodeSuite::G29() {
current_position[Z_AXIS] = 0;
set_destination_from_current();
buffer_line_to_destination(homing_feedrate(Z_AXIS));
- stepper.synchronize();
+ planner.synchronize();
#endif
#if ENABLED(LCD_BED_LEVELING)
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 043179c931768ec900b239861526506959993f6e..a0bce4731cb4dd3a22acc4eaaf66ad06ce3ee93c 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -171,7 +171,7 @@ void GcodeSuite::G28(const bool always_home_all) {
#endif
// Wait for planner moves to finish!
- stepper.synchronize();
+ planner.synchronize();
// Cancel the active G29 session
#if ENABLED(PROBE_MANUALLY)
diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp
index 6aac9f02705fe153b76a5308c561c6d3aa3dd6b6..15822262fc53b120a71aa5c820c26a4ff26a6bd4 100644
--- a/Marlin/src/gcode/calibrate/G33.cpp
+++ b/Marlin/src/gcode/calibrate/G33.cpp
@@ -85,7 +85,7 @@ void ac_setup(const bool reset_bed) {
tool_change(0, 0, true);
#endif
- stepper.synchronize();
+ planner.synchronize();
setup_for_endstop_or_probe_move();
#if HAS_LEVELING
diff --git a/Marlin/src/gcode/control/M17_M18_M84.cpp b/Marlin/src/gcode/control/M17_M18_M84.cpp
index 34da0b10497f6adffb88beecaadc5fec5ebdb899..5ff581260744d98d81b1128ccf29751a472bdd6e 100644
--- a/Marlin/src/gcode/control/M17_M18_M84.cpp
+++ b/Marlin/src/gcode/control/M17_M18_M84.cpp
@@ -50,7 +50,7 @@ void GcodeSuite::M18_M84() {
stepper.finish_and_disable();
}
else {
- stepper.synchronize();
+ planner.synchronize();
if (parser.seen('X')) disable_X();
if (parser.seen('Y')) disable_Y();
if (parser.seen('Z')) disable_Z();
diff --git a/Marlin/src/gcode/control/M226.cpp b/Marlin/src/gcode/control/M226.cpp
index 889bac118c1cc9aaf03a05ab2850b8b1c8c92064..51ee96b9ba1ab40b82157e6e30317a61eee4b30c 100644
--- a/Marlin/src/gcode/control/M226.cpp
+++ b/Marlin/src/gcode/control/M226.cpp
@@ -37,7 +37,7 @@ void GcodeSuite::M226() {
int target = LOW;
- stepper.synchronize();
+ planner.synchronize();
pinMode(pin, INPUT);
switch (pin_state) {
diff --git a/Marlin/src/gcode/control/M3-M5.cpp b/Marlin/src/gcode/control/M3-M5.cpp
index 1fea7e56f1b3c75e67c11eae8ab4721d7b4a5b7a..980fc26a1a5a552b40d676b0c1110735a62a5db2 100644
--- a/Marlin/src/gcode/control/M3-M5.cpp
+++ b/Marlin/src/gcode/control/M3-M5.cpp
@@ -79,7 +79,7 @@ inline void ocr_val_mode() {
void GcodeSuite::M3_M4(bool is_M3) {
- stepper.synchronize(); // wait until previous movement commands (G0/G0/G2/G3) have completed before playing with the spindle
+ planner.synchronize(); // wait until previous movement commands (G0/G0/G2/G3) have completed before playing with the spindle
#if SPINDLE_DIR_CHANGE
const bool rotation_dir = (is_M3 != SPINDLE_INVERT_DIR);
if (SPINDLE_STOP_ON_DIR_CHANGE \
@@ -129,7 +129,7 @@ void GcodeSuite::M3_M4(bool is_M3) {
* M5 turn off spindle
*/
void GcodeSuite::M5() {
- stepper.synchronize();
+ planner.synchronize();
WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT);
#if ENABLED(SPINDLE_LASER_PWM)
analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0);
diff --git a/Marlin/src/gcode/control/M400.cpp b/Marlin/src/gcode/control/M400.cpp
index 0cd1049591e7b6b01f55a9094de778f36f7adfb7..f55f626d098e2e0f9edda625804714ab1487f4a0 100644
--- a/Marlin/src/gcode/control/M400.cpp
+++ b/Marlin/src/gcode/control/M400.cpp
@@ -28,6 +28,6 @@
*/
void GcodeSuite::M400() {
- stepper.synchronize();
+ planner.synchronize();
}
diff --git a/Marlin/src/gcode/control/M605.cpp b/Marlin/src/gcode/control/M605.cpp
index 4cfa571990be1d7831963fb19c544c84c56f6636..e94e076e46502fa431798da7aa8289b0f3873690 100644
--- a/Marlin/src/gcode/control/M605.cpp
+++ b/Marlin/src/gcode/control/M605.cpp
@@ -43,7 +43,7 @@
* Note: the X axis should be homed after changing dual x-carriage mode.
*/
void GcodeSuite::M605() {
- stepper.synchronize();
+ planner.synchronize();
if (parser.seen('S')) dual_x_carriage_mode = (DualXMode)parser.value_byte();
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
@@ -75,7 +75,7 @@
#elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
void GcodeSuite::M605() {
- stepper.synchronize();
+ planner.synchronize();
extruder_duplication_enabled = parser.intval('S') == (int)DXC_DUPLICATION_MODE;
SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
diff --git a/Marlin/src/gcode/feature/advance/M900.cpp b/Marlin/src/gcode/feature/advance/M900.cpp
index dd286e0475c8d4c4696bb3af977060e50e68be03..3627869a068527e9a1dd60096445e871bf5862fc 100644
--- a/Marlin/src/gcode/feature/advance/M900.cpp
+++ b/Marlin/src/gcode/feature/advance/M900.cpp
@@ -37,7 +37,7 @@ void GcodeSuite::M900() {
if (parser.seenval('K')) {
const float newK = parser.floatval('K');
if (WITHIN(newK, 0, 10)) {
- stepper.synchronize();
+ planner.synchronize();
planner.extruder_advance_K = newK;
}
else
diff --git a/Marlin/src/gcode/geometry/G53-G59.cpp b/Marlin/src/gcode/geometry/G53-G59.cpp
index d2a89a4858a4a7d8dc0d9d8ae45a31e0e53e2423..09708c03ea451883be408f6a56eaa2965d8b27e6 100644
--- a/Marlin/src/gcode/geometry/G53-G59.cpp
+++ b/Marlin/src/gcode/geometry/G53-G59.cpp
@@ -33,7 +33,7 @@
*/
bool GcodeSuite::select_coordinate_system(const int8_t _new) {
if (active_coordinate_system == _new) return false;
- stepper.synchronize();
+ planner.synchronize();
float old_offset[XYZ] = { 0 }, new_offset[XYZ] = { 0 };
if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
COPY(old_offset, coordinate_system[active_coordinate_system]);
diff --git a/Marlin/src/gcode/host/M114.cpp b/Marlin/src/gcode/host/M114.cpp
index af50da56565f66a2df63ac0f1648678f90e18d82..154b280550bb080c77658b5a6b2fe8b3f1fc6d09 100644
--- a/Marlin/src/gcode/host/M114.cpp
+++ b/Marlin/src/gcode/host/M114.cpp
@@ -77,7 +77,7 @@
report_xyz(delta);
#endif
- stepper.synchronize();
+ planner.synchronize();
SERIAL_PROTOCOLPGM("Stepper:");
LOOP_XYZE(i) {
@@ -126,6 +126,6 @@ void GcodeSuite::M114() {
}
#endif
- stepper.synchronize();
+ planner.synchronize();
report_current_position();
}
diff --git a/Marlin/src/gcode/lcd/M0_M1.cpp b/Marlin/src/gcode/lcd/M0_M1.cpp
index 453d02cd03d2863bc05b54ffc4fe72b9a892fec5..7563f85ff6918821f9bbe0295f78569187bd9a83 100644
--- a/Marlin/src/gcode/lcd/M0_M1.cpp
+++ b/Marlin/src/gcode/lcd/M0_M1.cpp
@@ -58,7 +58,7 @@ void GcodeSuite::M0_M1() {
const bool has_message = !hasP && !hasS && args && *args;
- stepper.synchronize();
+ planner.synchronize();
#if ENABLED(ULTIPANEL)
diff --git a/Marlin/src/gcode/motion/G0_G1.cpp b/Marlin/src/gcode/motion/G0_G1.cpp
index 46a4cf826bc4abdeba9f63219b5f1a25a2b796dc..d3091fecc597f52bcf5bc667e0058e81406e38f4 100644
--- a/Marlin/src/gcode/motion/G0_G1.cpp
+++ b/Marlin/src/gcode/motion/G0_G1.cpp
@@ -84,7 +84,7 @@ void GcodeSuite::G0_G1(
#define _MOVE_SYNC parser.seenval('Z') // Only for Z move
#endif
if (_MOVE_SYNC) {
- stepper.synchronize();
+ planner.synchronize();
SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
}
#endif
diff --git a/Marlin/src/gcode/motion/G4.cpp b/Marlin/src/gcode/motion/G4.cpp
index ff17cb6aa250779f4688e39968e280cc1cc66cea..7d53cb03048247356330188ce45319750e7229c5 100644
--- a/Marlin/src/gcode/motion/G4.cpp
+++ b/Marlin/src/gcode/motion/G4.cpp
@@ -33,7 +33,7 @@ void GcodeSuite::G4() {
if (parser.seenval('P')) dwell_ms = parser.value_millis(); // milliseconds to wait
if (parser.seenval('S')) dwell_ms = parser.value_millis_from_seconds(); // seconds to wait
- stepper.synchronize();
+ planner.synchronize();
#if ENABLED(NANODLP_Z_SYNC)
SERIAL_ECHOLNPGM(MSG_Z_MOVE_COMP);
#endif
diff --git a/Marlin/src/gcode/probe/G38.cpp b/Marlin/src/gcode/probe/G38.cpp
index adc0d491d41c1bb5f97c1e2ac7471c7fcf74b051..263b1d1df95261fdc3f751f8aa4f1ff934e5b164 100644
--- a/Marlin/src/gcode/probe/G38.cpp
+++ b/Marlin/src/gcode/probe/G38.cpp
@@ -44,14 +44,14 @@ static bool G38_run_probe() {
}
#endif
- stepper.synchronize(); // wait until the machine is idle
+ planner.synchronize(); // wait until the machine is idle
// Move until destination reached or target hit
endstops.enable(true);
G38_move = true;
G38_endstop_hit = false;
prepare_move_to_destination();
- stepper.synchronize();
+ planner.synchronize();
G38_move = false;
endstops.hit_on_purpose();
@@ -68,7 +68,7 @@ static bool G38_run_probe() {
LOOP_XYZ(i) destination[i] += retract_mm[i];
endstops.enable(false);
prepare_move_to_destination();
- stepper.synchronize();
+ planner.synchronize();
feedrate_mm_s /= 4;
@@ -78,7 +78,7 @@ static bool G38_run_probe() {
endstops.enable(true);
G38_move = true;
prepare_move_to_destination();
- stepper.synchronize();
+ planner.synchronize();
G38_move = false;
set_current_from_steppers_for_axis(ALL_AXES);
diff --git a/Marlin/src/gcode/sdcard/M20-M30_M32-M34_M928.cpp b/Marlin/src/gcode/sdcard/M20-M30_M32-M34_M928.cpp
index 8fbec3a2dbca5e16bd6bda53ab331ba979019fbe..85b352bb0e52a33598e74ca05d3f3ab524dd3e2c 100644
--- a/Marlin/src/gcode/sdcard/M20-M30_M32-M34_M928.cpp
+++ b/Marlin/src/gcode/sdcard/M20-M30_M32-M34_M928.cpp
@@ -179,7 +179,7 @@ void GcodeSuite::M30() {
*
*/
void GcodeSuite::M32() {
- if (card.sdprinting) stepper.synchronize();
+ if (card.sdprinting) planner.synchronize();
if (card.cardOK) {
const bool call_procedure = parser.boolval('P');
diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp
index 84d2ffd21b7362f4f907be2be01f139ccb80305b..48f84d08590444eaac95ac77af3b3a856f583446 100644
--- a/Marlin/src/lcd/ultralcd.cpp
+++ b/Marlin/src/lcd/ultralcd.cpp
@@ -570,7 +570,7 @@ uint16_t max_display_update_time = 0;
no_reentry = true;
const screenFunc_t old_screen = currentScreen;
lcd_goto_screen(_lcd_synchronize);
- stepper.synchronize(); // idle() is called until moves complete
+ planner.synchronize(); // idle() is called until moves complete
no_reentry = false;
lcd_goto_screen(old_screen);
}
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index 62b3888f2b037405eb4a4ac40103ea2861c332b4..1b0e9086fed328001cc65527cd9e5e46bffcef55 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -32,7 +32,7 @@
#include "motion.h"
// For homing:
-#include "stepper.h"
+#include "planner.h"
#include "endstops.h"
#include "../lcd/ultralcd.h"
#include "../Marlin.h"
@@ -258,7 +258,7 @@ bool home_delta() {
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (delta_height + 10);
feedrate_mm_s = homing_feedrate(X_AXIS);
line_to_current_position();
- stepper.synchronize();
+ planner.synchronize();
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 042661f54d75cde74fa551cc3f7d9ad64b33a4b7..cbaaf82bfe532e70b7d881711bcf91649949baa4 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -402,7 +402,7 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const f
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
#endif
- stepper.synchronize();
+ planner.synchronize();
}
void do_blocking_move_to_x(const float &rx, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(rx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
@@ -881,7 +881,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
planner.max_feedrate_mm_s[X_AXIS], 1
);
- stepper.synchronize();
+ planner.synchronize();
SYNC_PLAN_POSITION_KINEMATIC();
extruder_duplication_enabled = true;
active_extruder_parked = false;
@@ -1110,7 +1110,7 @@ static void do_homing_move(const AxisEnum axis, const float distance, const floa
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
#endif
- stepper.synchronize();
+ planner.synchronize();
if (is_home_dir) {
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index a1d099767e35d7d832ef31223e7ecf0263db169b..99d814ce4b071eea9bdf731d30829eb536af540c 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -1299,6 +1299,11 @@ void Planner::check_axes_activity() {
#endif // PLANNER_LEVELING
+/**
+ * Block until all buffered steps are executed / cleaned
+ */
+void Planner::synchronize() { while (has_blocks_queued() || stepper.cleaning_buffer_counter) idle(); }
+
/**
* Planner::_buffer_steps
*
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index bb4483c383e301c5328ceb8a264d1c8479da3016..148ca93bdb100cc5a5a5e2f57cd77431e9adeefe 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -551,6 +551,11 @@ class Planner {
*/
FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
+ //
+ // Block until all buffered steps are executed
+ //
+ static void synchronize();
+
/**
* "Discard" the block and "release" the memory.
* Called when the current block is no longer needed.
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index f26001074e831cc37835fea4acecf6a82a6e2ce6..64f251794277fcc52cf7af104689d2b607104f3b 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -1977,12 +1977,6 @@ 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
*
@@ -2055,7 +2049,7 @@ float Stepper::get_axis_position_mm(const AxisEnum axis) {
}
void Stepper::finish_and_disable() {
- synchronize();
+ planner.synchronize();
disable_all_steppers();
}
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index 5af7f87a3cab73ee2afa8cd5fc85f4163e9a8c87..0df42d24b8fb7d3c3fab01ce14291e97c05ea978 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -183,11 +183,6 @@ class Stepper {
static void advance_isr_scheduler();
#endif
- //
- // Block until all buffered steps are executed
- //
- static void synchronize();
-
//
// Set the current position in steps
//
@@ -196,14 +191,14 @@ class Stepper {
FORCE_INLINE static void _set_position(const AxisEnum a, const int32_t &v) { count_position[a] = v; }
FORCE_INLINE static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
- synchronize();
+ planner.synchronize();
CRITICAL_SECTION_START;
_set_position(a, b, c, e);
CRITICAL_SECTION_END;
}
static void set_position(const AxisEnum a, const int32_t &v) {
- synchronize();
+ planner.synchronize();
CRITICAL_SECTION_START;
count_position[a] = v;
CRITICAL_SECTION_END;
@@ -212,7 +207,7 @@ class Stepper {
FORCE_INLINE static void _set_e_position(const int32_t &e) { count_position[E_AXIS] = e; }
static void set_e_position(const int32_t &e) {
- synchronize();
+ planner.synchronize();
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp
index 2bb071a20e60e3c8d2eb9fec992841567f50ac1d..2701a7707eb598dabdcf6959e7d8f547aa744f2c 100644
--- a/Marlin/src/module/tool_change.cpp
+++ b/Marlin/src/module/tool_change.cpp
@@ -24,7 +24,6 @@
#include "motion.h"
#include "planner.h"
-#include "stepper.h"
#include "../Marlin.h"
@@ -71,7 +70,7 @@
void move_extruder_servo(const uint8_t e) {
constexpr int16_t angles[] = SWITCHING_EXTRUDER_SERVO_ANGLES;
static_assert(COUNT(angles) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles.");
- stepper.synchronize();
+ planner.synchronize();
#if EXTRUDERS & 1
if (e < EXTRUDERS - 1)
#endif
@@ -87,7 +86,7 @@
void move_nozzle_servo(const uint8_t e) {
const int16_t angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
- stepper.synchronize();
+ planner.synchronize();
MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, angles[e]);
safe_delay(500);
}
@@ -144,7 +143,7 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
- stepper.synchronize();
+ planner.synchronize();
// STEP 2
current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
@@ -153,7 +152,7 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
- stepper.synchronize();
+ planner.synchronize();
// STEP 3
#if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -171,7 +170,7 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
- stepper.synchronize();
+ planner.synchronize();
// STEP 5
#if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -192,7 +191,7 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
- stepper.synchronize();
+ planner.synchronize();
// Step 7
current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
@@ -201,7 +200,7 @@
if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
#endif
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
- stepper.synchronize();
+ planner.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
SERIAL_ECHOLNPGM("Autopark done.");
#endif
@@ -283,7 +282,7 @@ inline void invalid_extruder_error(const uint8_t e) {
planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
active_extruder
);
- stepper.synchronize();
+ planner.synchronize();
}
// Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
@@ -466,7 +465,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#endif
} // (tmp_extruder != active_extruder)
- stepper.synchronize();
+ planner.synchronize();
#if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
disable_all_solenoids();
@@ -493,7 +492,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#endif // HOTENDS <= 1
#if DO_SWITCH_EXTRUDER
- stepper.synchronize();
+ planner.synchronize();
move_extruder_servo(active_extruder);
#endif
diff --git a/Marlin/src/sd/cardreader.cpp b/Marlin/src/sd/cardreader.cpp
index e8c63bcf6905957a90e5ee65ecd023a10322158f..11e2e8561c6af8f8192f123f8b38f3ae29b70e27 100644
--- a/Marlin/src/sd/cardreader.cpp
+++ b/Marlin/src/sd/cardreader.cpp
@@ -28,6 +28,7 @@
#include "../Marlin.h"
#include "../lcd/ultralcd.h"
+#include "../module/planner.h"
#include "../module/stepper.h"
#include "../module/printcounter.h"
#include "../core/language.h"
@@ -962,7 +963,7 @@ uint16_t CardReader::get_num_Files() {
}
void CardReader::printingHasFinished() {
- stepper.synchronize();
+ planner.synchronize();
file.close();
if (file_subcall_ctr > 0) { // Heading up to a parent file that called current as a procedure.
file_subcall_ctr--;