113 lines
3.5 KiB
C
113 lines
3.5 KiB
C
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/*
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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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#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
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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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// Interrupt Service Routines
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void isr();
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#ifdef LIN_ADVANCE
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void advance_isr();
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void advance_isr_scheduler();
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void clear_current_adv_vars(); //Used to reset the built up pretension and remaining esteps on filament change.
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#endif
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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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// Get current x and y position in steps
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void st_get_position_xy(long &x, long &y);
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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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// Call this function just before re-enabling the stepper driver interrupt and the global interrupts
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// to avoid a stepper timer overflow.
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FORCE_INLINE void st_reset_timer()
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{
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// Clear a possible pending interrupt on OCR1A overflow.
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TIFR1 |= 1 << OCF1A;
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// Reset the counter.
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TCNT1 = 0;
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// Wake up after 1ms from now.
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OCR1A = 2000;
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}
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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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bool endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();
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bool endstop_z_hit_on_purpose();
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bool enable_endstops(bool check); // Enable/disable endstop checking. Return the old value.
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bool enable_z_endstop(bool check);
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void invert_z_endstop(bool endstop_invert);
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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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extern bool x_min_endstop;
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extern bool x_max_endstop;
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extern bool y_min_endstop;
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extern bool y_max_endstop;
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extern volatile long count_position[NUM_AXIS];
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void quickStop();
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#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
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void digitalPotWrite(int address, int value);
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#endif //defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
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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 st_current_init();
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void st_current_set(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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#endif
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