kopia lustrzana https://github.com/Schildkroet/GRBL-Advanced
69 wiersze
2.2 KiB
C
69 wiersze
2.2 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-Advanced
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2017 Patrick F.
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Grbl-Advanced 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-Advanced 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-Advanced. 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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extern float current_backlash[];
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// Initialize and setup the stepper motor subsystem
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void Stepper_Init(void);
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// Enable steppers, but cycle does not start unless called by motion control or realtime command.
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void Stepper_WakeUp(void);
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// Immediately disables steppers
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void Stepper_Disable(uint8_t ovr_disable);
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// Main ISR
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void Stepper_MainISR(void);
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// Stepper Port Reset ISR
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void Stepper_PortResetISR(void);
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// Generate the step and direction port invert masks.
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void Stepper_GenerateStepDirInvertMasks(void);
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// Reset the stepper subsystem variables
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void Stepper_Reset(void);
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// Changes the run state of the step segment buffer to execute the special parking motion.
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void Stepper_ParkingSetupBuffer(void);
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// Restores the step segment buffer to the normal run state after a parking motion.
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void Stepper_ParkingRestoreBuffer(void);
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// Reloads step segment buffer. Called continuously by realtime execution system.
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void Stepper_PrepareBuffer(void);
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// Called by planner_recalculate() when the executing block is updated by the new plan.
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void Stepper_UpdatePlannerBlockParams(void);
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// Called by realtime status reporting if realtime rate reporting is enabled in config.h.
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float Stepper_GetRealtimeRate(void);
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void Stepper_Ovr(float ovr);
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#endif // STEPPER_H
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