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- /*
- stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
- Part of Grbl
- Copyright (c) 2009-2011 Simen Svale Skogsrud
- 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/>.
- */
- #ifndef stepper_h
- #define stepper_h
- #include "planner.h"
- #if EXTRUDERS > 2
- #define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}
- #define NORM_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, !INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}
- #define REV_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}
- #elif EXTRUDERS > 1
- #define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
- #define NORM_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
- #define REV_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
- #else
- #define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v)
- #define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR)
- #define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
- #endif
- #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
- extern bool abort_on_endstop_hit;
- #endif
- // Initialize and start the stepper motor subsystem
- void st_init();
- // Interrupt Service Routines
- void isr();
- #ifdef LIN_ADVANCE
- void advance_isr();
- void advance_isr_scheduler();
- void clear_current_adv_vars(); //Used to reset the built up pretension and remaining esteps on filament change.
- #endif
- // Block until all buffered steps are executed
- void st_synchronize();
- // Set current position in steps
- void st_set_position(const long &x, const long &y, const long &z, const long &e);
- void st_set_e_position(const long &e);
- // Get current position in steps
- long st_get_position(uint8_t axis);
- // Get current position in mm
- float st_get_position_mm(uint8_t axis);
- // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
- // to notify the subsystem that it is time to go to work.
- void st_wake_up();
-
- void checkHitEndstops(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
- bool endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();
- bool endstop_z_hit_on_purpose();
- bool enable_endstops(bool check); // Enable/disable endstop checking. Return the old value.
- bool enable_z_endstop(bool check);
- void checkStepperErrors(); //Print errors detected by the stepper
- void finishAndDisableSteppers();
- extern block_t *current_block; // A pointer to the block currently being traced
- void quickStop();
- void digitalPotWrite(int address, int value);
- void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
- void microstep_mode(uint8_t driver, uint8_t stepping);
- void digipot_init();
- void digipot_current(uint8_t driver, int current);
- void microstep_init();
- void microstep_readings();
- #ifdef BABYSTEPPING
- void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention
- #endif
-
- #endif
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