stepper.h

00001 /*
00002   stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
00003   Part of Grbl
00004 
00005   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
00006   Copyright (c) 2009-2011 Simen Svale Skogsrud
00007 
00008   Grbl is free software: you can redistribute it and/or modify
00009   it under the terms of the GNU General Public License as published by
00010   the Free Software Foundation, either version 3 of the License, or
00011   (at your option) any later version.
00012 
00013   Grbl is distributed in the hope that it will be useful,
00014   but WITHOUT ANY WARRANTY; without even the implied warranty of
00015   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016   GNU General Public License for more details.
00017 
00018   You should have received a copy of the GNU General Public License
00019   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
00020 */
00021 
00022 #ifndef stepper_h
00023 #define stepper_h
00024 
00025 #ifndef SEGMENT_BUFFER_SIZE
00026 #ifdef AVRTARGET
00027 #define SEGMENT_BUFFER_SIZE 6
00028 #else
00029 #define SEGMENT_BUFFER_SIZE 10
00030 #endif
00031 #endif
00032 
00033 // Initialize and setup the stepper motor subsystem
00034 void stepper_init();
00035 
00036 // Enable steppers, but cycle does not start unless called by motion control or realtime command.
00037 void st_wake_up();
00038 
00039 // Immediately disables steppers
00040 void st_go_idle();
00041 
00042 // Generate the step and direction port invert masks.
00043 void st_generate_step_dir_invert_masks();
00044 
00045 // Reset the stepper subsystem variables
00046 void st_reset();
00047 
00048 // Changes the run state of the step segment buffer to execute the special parking motion.
00049 void st_parking_setup_buffer();
00050 
00051 // Restores the step segment buffer to the normal run state after a parking motion.
00052 void st_parking_restore_buffer();
00053 
00054 // Reloads step segment buffer. Called continuously by realtime execution system.
00055 void st_prep_buffer();
00056 
00057 // Called by planner_recalculate() when the executing block is updated by the new plan.
00058 void st_update_plan_block_parameters();
00059 
00060 // Called by realtime status reporting if realtime rate reporting is enabled in config.h.
00061 float st_get_realtime_rate();
00062 
00063 extern const PORTPINDEF step_pin_mask[N_AXIS];
00064 extern const PORTPINDEF direction_pin_mask[N_AXIS];
00065 extern const PORTPINDEF limit_pin_mask[N_AXIS];
00066 
00067 #endif