You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
72 lines
3.2 KiB
C
72 lines
3.2 KiB
C
/*
|
|
stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
|
|
Part of Grbl
|
|
|
|
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
|
|
Grbl is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
Grbl is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef stepper_h
|
|
#define stepper_h
|
|
|
|
#include "planner.h"
|
|
|
|
#if EXTRUDERS > 2
|
|
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}
|
|
#define NORM_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, !INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}
|
|
#define REV_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}
|
|
#elif EXTRUDERS > 1
|
|
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
|
|
#define NORM_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
|
|
#define REV_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
|
|
#else
|
|
#define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v)
|
|
#define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR)
|
|
#define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
|
|
#endif
|
|
|
|
|
|
// Initialize and start the stepper motor subsystem
|
|
void st_init();
|
|
|
|
// Block until all buffered steps are executed
|
|
void st_synchronize();
|
|
|
|
// Set current position in steps
|
|
void st_set_position(const long &x, const long &y, const long &z, const long &e);
|
|
void st_set_e_position(const long &e);
|
|
|
|
// Get current position in steps
|
|
long st_get_position(uint8_t axis);
|
|
|
|
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
|
|
// to notify the subsystem that it is time to go to work.
|
|
void st_wake_up();
|
|
|
|
|
|
void checkHitEndstops(); //call from somwhere to create an serial error message with the locations the endstops where hit, in case they were triggered
|
|
void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homeing and before a routine call of checkHitEndstops();
|
|
|
|
void enable_endstops(bool check); // Enable/disable endstop checking
|
|
|
|
void checkStepperErrors(); //Print errors detected by the stepper
|
|
|
|
void finishAndDisableSteppers();
|
|
|
|
extern block_t *current_block; // A pointer to the block currently being traced
|
|
|
|
void quickStop();
|
|
#endif
|