110 lines
3.6 KiB
C
110 lines
3.6 KiB
C
/*
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program 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.
|
|
*
|
|
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
|
|
/*
|
|
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"
|
|
#include "stepper_indirection.h"
|
|
|
|
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
|
|
extern bool abort_on_endstop_hit;
|
|
#endif
|
|
|
|
// Initialize and start the stepper motor subsystem
|
|
void st_init();
|
|
|
|
// 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 axis position in mm
|
|
float st_get_axis_position_mm(AxisEnum 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
|
|
void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();
|
|
|
|
void enable_endstops(bool check); // Enable/disable endstop checking
|
|
|
|
void enable_endstops_globally(bool check);
|
|
void endstops_not_homing();
|
|
|
|
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();
|
|
|
|
#if HAS_DIGIPOTSS
|
|
void digitalPotWrite(int address, int value);
|
|
#endif
|
|
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();
|
|
|
|
#if ENABLED(Z_DUAL_ENDSTOPS)
|
|
void In_Homing_Process(bool state);
|
|
void Lock_z_motor(bool state);
|
|
void Lock_z2_motor(bool state);
|
|
#endif
|
|
|
|
#if ENABLED(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
|