66 lines
2.0 KiB
C
66 lines
2.0 KiB
C
/*
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stepper.h - stepper motor interface
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Part of Grbl
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Copyright (c) 2009 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 STEPPER_MODE_STOPPED 0
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#define STEPPER_MODE_RUNNING 1
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#define STEPPER_MODE_LIMIT_OVERRUN 2
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#define STEPPER_MODE_HOMING 3
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// Initialize and start the stepper motor subsystem
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void st_init();
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// Returns a bitmask with the stepper bit for the given axis set
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uint8_t st_bit_for_stepper(int axis);
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// Buffer a pace change. Pace is the rate with which steps are executed. It is measured in microseconds from step to step.
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// It is continually adjusted to achieve constant actual feed rate. Unless pace-changes was buffered along with the steps
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// they govern they might change at slightly wrong moments in time as the pace would change while the stepper buffer was
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// still churning out the previous movement.
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void st_buffer_pace(uint32_t microseconds);
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// Buffer a new instruction for the steppers
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void st_buffer_step(uint8_t motor_port_bits);
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// Block until all buffered steps are executed
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void st_synchronize();
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// Cancel all pending steps
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void st_flush();
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// Start the stepper subsystem
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void st_start();
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// Execute all buffered steps, then stop the stepper subsystem
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inline void st_stop();
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// Execute the homing cycle
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void st_go_home();
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// Echo steps to serial port? (true/false)
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void st_set_echo(int value);
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#endif
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