Move Stepper::synchronize to Planner (#10713)

Co-Authored-By: ejtagle <ejtagle@hotmail.com>
6 years ago · 306f0f2135
33 changed files with 72 additions and 73 deletions
--- 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
--- 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);
--- 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);
--- 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))
--- 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:
--- 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);
--- 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'.
--- 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

--- 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)
--- 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)
--- 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
--- 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();
--- 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) {
--- 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);
--- 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();

 }
--- 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);
--- 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
--- 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]);
--- 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();
 }
--- 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)

--- 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
--- 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
--- 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);
--- 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');
--- 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);
  }
--- 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)
--- 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) {

--- 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
 *
--- 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.
--- 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();
 }

--- 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;
--- 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

--- 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--;