MarlinFirmware · thinkyhead · May 12, 2018 · May 12, 2018
diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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)