/*
  stepper.h - stepper motor driver: executes motion plans using 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 <avr/io.h>
#include <avr/sleep.h>

#define ACCELERATION_TICKS_PER_SECOND 10
#define MINIMAL_STEP_RATE (ACCELERATION_TICKS_PER_SECOND*5)

// Initialize and start the stepper motor subsystem
void st_init();

// Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in 
// steps. Microseconds specify how many microseconds the move should take to perform.
void st_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t rate, double millimeters);

// Block until all buffered steps are executed
void st_synchronize();

// Cancel all pending steps
void st_flush();

// Execute the homing cycle
void st_go_home();

#endif