34f6d2eb4b
- Allowed status_message function to be called by others. This is to centralize all feedback into protocol.c. - Fixed a bug where line number words 'N' were causing the parser to error out. - Allowed homing routine feed rates to move slower than the MINIMUM_STEP_RATE parameter in config.h. - Homing performs idle lock at the end of the routine. - Stepper idle lock time will now not disable the steppers when the value is set at 255. This is accomodate users who prefer to keep their axes enabled at all times. - Moved some defines around to where they need to be.
52 lines
1.6 KiB
C
Executable File
52 lines
1.6 KiB
C
Executable File
/*
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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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Copyright (c) 2011 Sungeun K. Jeon
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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 <avr/io.h>
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#include <avr/sleep.h>
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// Some useful constants
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#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
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#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
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#define STEPPING_MASK (STEP_MASK | DIRECTION_MASK) // All stepping-related bits (step/direction)
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// Initialize and setup the stepper motor subsystem
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void st_init();
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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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// Notify the stepper subsystem to start executing the g-code program in buffer.
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void st_cycle_start();
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// Reinitializes the buffer after a feed hold for a resume.
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void st_cycle_reinitialize();
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// Initiates a feed hold of the running program
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void st_feed_hold();
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#endif
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