b237ad566a
- Re-organized source code files into a ‘grbl’ directory to lessen one step in compiling Grbl through the Arduino IDE. - Added an ‘examples’ directory with an upload .INO sketch to further simplify compiling and uploading Grbl via the Arduino IDE. - Updated the Makefile with regard to the source code no longer being in the root directory. All files generated by compiling is placed in a separate ‘build’ directory to keep things tidy. The makefile should operate in the same way as it did before.
61 lines
1.9 KiB
C
61 lines
1.9 KiB
C
/*
|
|
stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
|
|
Part of Grbl v0.9
|
|
|
|
Copyright (c) 2012-2015 Sungeun K. Jeon
|
|
|
|
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/>.
|
|
*/
|
|
/*
|
|
This file is based on work from Grbl v0.8, distributed under the
|
|
terms of the MIT-license. See COPYING for more details.
|
|
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
Copyright (c) 2011 Sungeun K. Jeon
|
|
*/
|
|
|
|
#ifndef stepper_h
|
|
#define stepper_h
|
|
|
|
#ifndef SEGMENT_BUFFER_SIZE
|
|
#define SEGMENT_BUFFER_SIZE 6
|
|
#endif
|
|
|
|
// Initialize and setup the stepper motor subsystem
|
|
void stepper_init();
|
|
|
|
// Enable steppers, but cycle does not start unless called by motion control or realtime command.
|
|
void st_wake_up();
|
|
|
|
// Immediately disables steppers
|
|
void st_go_idle();
|
|
|
|
// Generate the step and direction port invert masks.
|
|
void st_generate_step_dir_invert_masks();
|
|
|
|
// Reset the stepper subsystem variables
|
|
void st_reset();
|
|
|
|
// Reloads step segment buffer. Called continuously by realtime execution system.
|
|
void st_prep_buffer();
|
|
|
|
// Called by planner_recalculate() when the executing block is updated by the new plan.
|
|
void st_update_plan_block_parameters();
|
|
|
|
// Called by realtime status reporting if realtime rate reporting is enabled in config.h.
|
|
#ifdef REPORT_REALTIME_RATE
|
|
float st_get_realtime_rate();
|
|
#endif
|
|
|
|
#endif
|