9141ad2825
- Fleshed out the original idea to completely remove the long slope at the end of deceleration issue. This third time should absolutely eliminate it. - Changed the acceleration setting to kept as mm/min^2 internally, since this was creating unneccessary additional computation in the planner. Human readable value kept at mm/sec^2. - Updated grbl version 0.7d and settings version to 4. NOTE: Please check settings after update. These may have changed, but shouldn't. - Before updating the new features (pause, e-stop, federate override, etc), the edge branch will soon be merged with the master, barring any immediate issues that people may have, and the edge branch will be the testing ground for the new grbl version 0.8.
45 lines
1.5 KiB
C
45 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) 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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#include <avr/io.h>
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#include <avr/sleep.h>
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#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
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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 start the stepper motor subsystem
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void st_init();
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// Block until all buffered steps are executed
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void st_synchronize();
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// Execute the homing cycle
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void st_go_home();
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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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#endif
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