ManuelW/grbl-LPC-CoreXY
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Simen Svale Skogsrud
2011-01-31 23:04:39 +01:00
parent 9b292ffe3c
commit 5694310a40
3 changed files with 12 additions and 2 deletions
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9
stepper.c
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@ -32,7 +32,12 @@
#include "stepper_plan.h"
#include "wiring_serial.h"
void set_step_events_per_minute(uint32_t steps_per_minute);
// Some useful constants
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
#define STEPPING_MASK (STEP_MASK | DIRECTION_MASK) // All stepping-related bits (step/direction)
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
@ -72,6 +77,8 @@ static uint32_t trapezoid_adjusted_rate; // The current rate of step_events
// The slope of acceleration is always +/- block->rate_delta and is applied at a constant rate by trapezoid_generator_tick()
// that is called ACCELERATION_TICKS_PER_SECOND times per second.
void set_step_events_per_minute(uint32_t steps_per_minute);
// Initializes the trapezoid generator from the current block. Called whenever a new
// block begins.
inline void trapezoid_generator_reset() {