2009-01-28 23:48:21 +01:00
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/*
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2011-02-11 00:34:53 +01:00
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stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
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2015-02-16 01:36:08 +01:00
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Part of Grbl
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2009-01-28 23:48:21 +01:00
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2015-02-16 01:36:08 +01:00
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Copyright (c) 2011-2015 Sungeun K. Jeon
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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2009-01-28 23:48:21 +01:00
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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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2013-11-23 01:35:58 +01:00
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#ifndef SEGMENT_BUFFER_SIZE
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2013-12-30 04:34:51 +01:00
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#define SEGMENT_BUFFER_SIZE 6
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2013-11-23 01:35:58 +01:00
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#endif
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2011-12-09 02:47:48 +01:00
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// Initialize and setup the stepper motor subsystem
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2014-01-11 04:22:10 +01:00
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void stepper_init();
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2009-01-28 23:48:21 +01:00
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2015-01-15 06:14:52 +01:00
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// Enable steppers, but cycle does not start unless called by motion control or realtime command.
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2012-11-01 16:37:27 +01:00
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void st_wake_up();
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2011-12-09 02:47:48 +01:00
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// Immediately disables steppers
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void st_go_idle();
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2009-01-28 23:48:21 +01:00
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2014-08-01 16:29:35 +02:00
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// Generate the step and direction port invert masks.
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void st_generate_step_dir_invert_masks();
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2011-12-09 02:47:48 +01:00
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// Reset the stepper subsystem variables
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void st_reset();
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v1.0 Beta Release.
- Tons of new stuff in this release, which is fairly stable and well
tested. However, much more is coming soon!
- Real-time parking motion with safety door. When this compile option
is enabled, an opened safety door will cause Grbl to automatically feed
hold, retract, de-energize the spindle/coolant, and parks near Z max.
After the door is closed and resume is commanded, this reverses and the
program continues as if nothing happened. This is also highly
configurable. See config.h for details.
- New spindle max and min rpm ‘$’ settings! This has been requested
often. Grbl will output 5V when commanded to turn on the spindle at its
max rpm, and 0.02V with min rpm. The voltage and the rpm range are
linear to each other. This should help users tweak their settings to
get close to true rpm’s.
- If the new max rpm ‘$’ setting is set = 0 or less than min rpm, the
spindle speed PWM pin will act like a regular on/off spindle enable
pin. On pin D11.
- BEWARE: Your old EEPROM settings will be wiped! The new spindle rpm
settings require a new settings version, so Grbl will automatically
wipe and restore the EEPROM with the new defaults.
- Control pin can now be inverted individually with a
CONTROL_INVERT_MASK in the cpu_map header file. Not typical for users
to need this, but handy to have.
- Fixed bug when Grbl receive too many characters in a line and
overflows. Previously it would respond with an error per overflow
character and another acknowledge upon an EOL character. This broke the
streaming protocol. Now fixed to only respond with an error after an
EOL character.
- Fixed a bug with the safety door during an ALARM mode. You now can’t
home or unlock the axes until the safety door has been closed. This is
for safety reasons (obviously.)
- Tweaked some the Mega2560 cpu_map settings . Increased segment buffer
size and fixed the spindle PWM settings to output at a higher PWM
frequency.
- Generalized the delay function used by G4 delay for use by parking
motion. Allows non-blocking status reports and real-time control during
re-energizing of the spindle and coolant.
- Added spindle rpm max and min defaults to default.h files.
- Added a new print float for rpm values.
2015-08-28 05:37:19 +02:00
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// Changes the run state of the step segment buffer to execute the special parking motion.
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void st_parking_setup_buffer();
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// Restores the step segment buffer to the normal run state after a parking motion.
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void st_parking_restore_buffer();
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2011-02-11 00:34:53 +01:00
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2015-01-15 06:14:52 +01:00
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// Reloads step segment buffer. Called continuously by realtime execution system.
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2013-10-30 02:10:39 +01:00
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void st_prep_buffer();
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2013-11-23 01:35:58 +01:00
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// Called by planner_recalculate() when the executing block is updated by the new plan.
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void st_update_plan_block_parameters();
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2013-02-20 14:56:47 +01:00
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2015-01-15 06:14:52 +01:00
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// Called by realtime status reporting if realtime rate reporting is enabled in config.h.
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2014-07-05 00:08:15 +02:00
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#ifdef REPORT_REALTIME_RATE
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float st_get_realtime_rate();
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#endif
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2009-01-28 23:48:21 +01:00
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#endif
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