50fbc6e297
WARNING: There are still some bugs to be worked out. Please use caution if you test this firmware. - Feed holds work much better, but there are still some failure conditions that need to be worked out. This is the being worked on currently and a fix is planned to be pushed next. - Homing cycle refactoring: Slight adjustment of the homing cycle to allow for limit pins to be shared by different axes, as long as the shared limit pins are not homed on the same cycle. Also, removed the LOCATE_CYCLE portion of the homing cycle configuration. It was redundant. - Limit pin sharing: (See above). To clear up one or two limit pins for other IO, limit pins can now be shared. For example, the Z-limit can be shared with either X or Y limit pins, because it’s on a separate homing cycle. Hard limit will still work exactly as before. - Spindle pin output fixed. The pins weren’t getting initialized correctly. - Fixed a cycle issue where streaming was working almost like a single block mode. This was caused by a problem with the spindle_run() and coolant_run() commands and issuing an unintended planner buffer sync. - Refactored the cycle_start, feed_hold, and other runtime routines into the runtime command module, where they should be handled here only. These were redundant. - Moved some function calls around into more appropriate source code modules. - Fixed the reporting of spindle state.
48 lines
1.5 KiB
C
48 lines
1.5 KiB
C
/*
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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) 2011-2014 Sungeun K. Jeon
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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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#ifndef SEGMENT_BUFFER_SIZE
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#define SEGMENT_BUFFER_SIZE 6
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#endif
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// Initialize and setup the stepper motor subsystem
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void stepper_init();
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// Enable steppers, but cycle does not start unless called by motion control or runtime command.
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void st_wake_up();
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// Immediately disables steppers
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void st_go_idle();
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// Reset the stepper subsystem variables
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void st_reset();
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// Reloads step segment buffer. Called continuously by runtime execution system.
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void st_prep_buffer();
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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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#endif
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