60 lines
1.9 KiB
C
60 lines
1.9 KiB
C
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/*
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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
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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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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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#ifndef SEGMENT_BUFFER_SIZE
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#define SEGMENT_BUFFER_SIZE 6
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#endif
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// Initialize and setup the stepper motor subsystem
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void stepper_init();
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// Enable steppers, but cycle does not start unless called by motion control or realtime command.
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void st_wake_up();
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// Immediately disables steppers
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void st_go_idle();
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// Generate the step and direction port invert masks.
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void st_generate_step_dir_invert_masks();
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// Reset the stepper subsystem variables
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void st_reset();
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// Changes the run state of the step segment buffer to execute the special parking motion.
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void st_parking_setup_buffer();
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// Restores the step segment buffer to the normal run state after a parking motion.
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void st_parking_restore_buffer();
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// Reloads step segment buffer. Called continuously by realtime execution system.
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void st_prep_buffer();
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// Called by planner_recalculate() when the executing block is updated by the new plan.
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void st_update_plan_block_parameters();
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// Called by realtime status reporting if realtime rate reporting is enabled in config.h.
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float st_get_realtime_rate();
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#endif
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