void
stepper_shutdown(void)
{
uint8_t i;
struct stepper *s;
foreach_oid(i, s, command_config_stepper) {
s->first = NULL;
stepper_stop(s);
}
/*
* Stop printing
*/
int unicorn_stop(bool blocking)
{
channel_tag fan = NULL;
if (blocking) {
printf("unicorn_stop: blocking\n");
} else {
printf("unicorn_stop: non-blocking\n");
}
/* If paused, pause thread off */
if (!blocking) {
if (hPause_printing) {
Pause_on(hPause_printing);
}
}
printf("stepper_stop\n");
stepper_stop(blocking);
printf("ok\n");
fan = fan_lookup_by_name("fan_ext");
if (fan) {
fan_set_level(fan, 0);
fan_disable(fan);
}
fan = fan_lookup_by_name("fan_ext2");
if (fan) {
fan_set_level(fan, 0);
fan_disable(fan);
}
printf("gcode_stop\n");
gcode_stop();
printf("ok\n");
//if (!blocking) {
/* Clean up all fifo data */
stepper_clean_up_fifo();
//}
printf("plan_stop\n");
plan_stop();
printf("ok\n");
printf("heater_stop\n");
heater_stop();
printf("ok\n");
if (!blocking) {
if (unicorn_get_mode() == FW_MODE_REMOTE) {
if (hPause_printing) {
Pause_off(hPause_printing);
}
}
}
printf("unicorn stop ok!\n");
return 0;
}
void stepper_move_steps(struct stepper *s, uint32_t steps){
stepper_start(s);
while(s->fires_this_move < steps);
stepper_stop(s);
}
