ed417220e1
- Added a new optional compile-time feature for ‘realtime’ (within 50ms) feed rate reporting. When querying for a status report, a new data value will state the current operating rate. It’s only beta at the moment and has some kinks to work out. - Updated the code for printing floating point values to N decimal places. Generalized the main floating point print code to accept a new decimal places value and created a set of handler functions to print certain floating point value types used in Grbl, like position, rates, coordinate offsets, etc. All of these have different decimal requirements and change when printed in mm or inches mode. - Number of decimal places for the different value types can be re-defined in config.h, but there shouldn’t be a need for this, as these are physically limited. - Removed the decimal places settings, as this was now obsoleted by the new decimal places code. - The new decimal places code also saves almost 300kB in flash space, as it’s more efficient.
53 lines
1.6 KiB
C
53 lines
1.6 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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// Called by runtime status reporting if realtime rate reporting is enabled in config.h.
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#ifdef REPORT_REALTIME_RATE
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float st_get_realtime_rate();
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#endif
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#endif
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