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145 lines
6.1 KiB
C
145 lines
6.1 KiB
C
/*
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stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef stepper_h
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#define stepper_h
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#include "planner.h"
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#include "stepper_indirection.h"
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#ifdef HAVE_TMCDRIVER
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#include <SPI.h>
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#include <TMC26XStepper.h>
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#endif
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#if EXTRUDERS > 3
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#define WRITE_E_STEP(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
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#define NORM_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}}
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#define REV_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE(INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}}
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#elif EXTRUDERS > 2
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#define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}
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#define NORM_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}
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#define REV_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}
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#elif EXTRUDERS > 1
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#ifndef DUAL_X_CARRIAGE
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#define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
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#define NORM_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
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#define REV_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
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#else
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extern bool extruder_duplication_enabled;
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#define WRITE_E_STEP(v) { if(extruder_duplication_enabled) { E0_STEP_WRITE(v); E1_STEP_WRITE(v); } else if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
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#define NORM_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(!INVERT_E0_DIR); E1_DIR_WRITE(!INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
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#define REV_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(INVERT_E0_DIR); E1_DIR_WRITE(INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
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#endif
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#else
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#define WRITE_E_STEP(v) E0_STEP_WRITE(v)
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#define NORM_E_DIR() E0_DIR_WRITE(!INVERT_E0_DIR)
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#define REV_E_DIR() E0_DIR_WRITE(INVERT_E0_DIR)
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#endif
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#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
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extern bool abort_on_endstop_hit;
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#endif
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// Initialize and start the stepper motor subsystem
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void st_init();
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// Block until all buffered steps are executed
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void st_synchronize();
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// Set current position in steps
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void st_set_position(const long &x, const long &y, const long &z, const long &e);
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void st_set_e_position(const long &e);
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// Get current position in steps
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long st_get_position(uint8_t axis);
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#ifdef ENABLE_AUTO_BED_LEVELING
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// Get current position in mm
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float st_get_position_mm(uint8_t axis);
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#endif //ENABLE_AUTO_BED_LEVELING
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// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
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// to notify the subsystem that it is time to go to work.
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void st_wake_up();
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void checkHitEndstops(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
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void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();
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void enable_endstops(bool check); // Enable/disable endstop checking
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void checkStepperErrors(); //Print errors detected by the stepper
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void finishAndDisableSteppers();
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extern block_t *current_block; // A pointer to the block currently being traced
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void quickStop();
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void digitalPotWrite(int address, int value);
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void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
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void microstep_mode(uint8_t driver, uint8_t stepping);
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void digipot_init();
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void digipot_current(uint8_t driver, int current);
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void microstep_init();
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void microstep_readings();
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#ifdef BABYSTEPPING
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void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention
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#endif
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#ifdef HAVE_TMCDRIVER
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void tmc_init();
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#ifdef X_IS_TMC
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extern TMC26XStepper stepperX;
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#endif
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#ifdef X2_IS_TMC
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extern TMC26XStepper stepperX2;
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#endif
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#ifdef Y_IS_TMC
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extern TMC26XStepper stepperY;
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#endif
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#ifdef Y2_IS_TMC
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extern TMC26XStepper stepperY2;
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#endif
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#ifdef Z_IS_TMC
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extern TMC26XStepper stepperZ;
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#endif
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#ifdef Z2_IS_TMC
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extern TMC26XStepper stepperZ2;
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#endif
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#ifdef E0_IS_TMC
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extern TMC26XStepper stepperE0;
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#endif
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#ifdef E1_IS_TMC
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extern TMC26XStepper stepperE1;
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#endif
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#ifdef E2_IS_TMC
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extern TMC26XStepper stepperE2;
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#endif
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#ifdef E3_IS_TMC
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extern TMC26XStepper stepperE3;
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#endif
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#endif
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#endif
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