comparison: stepper.h
stepper.h
- changeset 0
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| 1 /* | |
| 2 stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors | |
| 3 Part of Grbl | |
| 4 | |
| 5 Copyright (c) 2009-2011 Simen Svale Skogsrud | |
| 6 | |
| 7 Grbl is free software: you can redistribute it and/or modify | |
| 8 it under the terms of the GNU General Public License as published by | |
| 9 the Free Software Foundation, either version 3 of the License, or | |
| 10 (at your option) any later version. | |
| 11 | |
| 12 Grbl is distributed in the hope that it will be useful, | |
| 13 but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
| 15 GNU General Public License for more details. | |
| 16 | |
| 17 You should have received a copy of the GNU General Public License | |
| 18 along with Grbl. If not, see <http://www.gnu.org/licenses/>. | |
| 19 */ | |
| 20 | |
| 21 #ifndef stepper_h | |
| 22 #define stepper_h | |
| 23 | |
| 24 #include "planner.h" | |
| 25 #include "slave_comms.h" | |
| 26 | |
| 27 #ifdef REPRAPPRO_MULTIMATERIALS | |
| 28 | |
| 29 #define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { slaveRemoteStep(2, v); } else { if(current_block->active_extruder == 1) { slaveRemoteStep(1, v); } else { WRITE(E0_STEP_PIN, v); }}} | |
| 30 #define NORM_E_DIR() { if(current_block->active_extruder == 2) { slaveRemoteDir(2, true); } else { if(current_block->active_extruder == 1) { slaveRemoteDir(1, true); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}} | |
| 31 #define REV_E_DIR() { if(current_block->active_extruder == 2) { slaveRemoteDir(2, false); } else { if(current_block->active_extruder == 1) { slaveRemoteDir(1, false); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}} | |
| 32 | |
| 33 | |
| 34 /* | |
| 35 inline void WRITE_E_STEP(int8_t v) | |
| 36 { | |
| 37 if(current_block->active_extruder == 2) | |
| 38 { | |
| 39 slaveRemoteStep(2, v); //E2_STEP_PIN, v); | |
| 40 } else | |
| 41 { | |
| 42 if(current_block->active_extruder == 1) | |
| 43 { | |
| 44 slaveRemoteStep(1, v); //E1_STEP_PIN, v); | |
| 45 } else | |
| 46 { | |
| 47 WRITE(E0_STEP_PIN, v); | |
| 48 } | |
| 49 } | |
| 50 } | |
| 51 | |
| 52 inline void NORM_E_DIR() | |
| 53 { | |
| 54 if(current_block->active_extruder == 2) | |
| 55 { | |
| 56 slaveRemoteDir(2, true); //!E2_DIR_PIN, INVERT_E2_DIR); | |
| 57 } else | |
| 58 { | |
| 59 if(current_block->active_extruder == 1) | |
| 60 { | |
| 61 slaveRemoteDir(1, true); //!E1_DIR_PIN, INVERT_E1_DIR); | |
| 62 } else | |
| 63 { | |
| 64 WRITE(E0_DIR_PIN, !INVERT_E0_DIR); | |
| 65 } | |
| 66 } | |
| 67 } | |
| 68 | |
| 69 inline void REV_E_DIR() | |
| 70 { | |
| 71 if(current_block->active_extruder == 2) | |
| 72 { | |
| 73 slaveRemoteDir(2, false); //E2_DIR_PIN, INVERT_E2_DIR); | |
| 74 } else | |
| 75 { | |
| 76 if(current_block->active_extruder == 1) | |
| 77 { | |
| 78 slaveRemoteDir(1, false); //E1_DIR_PIN, INVERT_E1_DIR); | |
| 79 } else | |
| 80 { | |
| 81 WRITE(E0_DIR_PIN, INVERT_E0_DIR); | |
| 82 } | |
| 83 } | |
| 84 } | |
| 85 */ | |
| 86 #else | |
| 87 | |
| 88 #if EXTRUDERS > 2 | |
| 89 #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); }}} | |
| 90 #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); }}} | |
| 91 #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); }}} | |
| 92 #elif EXTRUDERS > 1 | |
| 93 #define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }} | |
| 94 #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); }} | |
| 95 #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); }} | |
| 96 #else | |
| 97 #define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v) | |
| 98 #define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR) | |
| 99 #define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR) | |
| 100 #endif | |
| 101 | |
| 102 #endif | |
| 103 | |
| 104 | |
| 105 | |
| 106 // Initialize and start the stepper motor subsystem | |
| 107 void st_init(); | |
| 108 | |
| 109 // Block until all buffered steps are executed | |
| 110 void st_synchronize(); | |
| 111 | |
| 112 // Set current position in steps | |
| 113 void st_set_position(const long &x, const long &y, const long &z, const long &e); | |
| 114 void st_set_e_position(const long &e); | |
| 115 | |
| 116 // Get current position in steps | |
| 117 long st_get_position(uint8_t axis); | |
| 118 | |
| 119 // The stepper subsystem goes to sleep when it runs out of things to execute. Call this | |
| 120 // to notify the subsystem that it is time to go to work. | |
| 121 void st_wake_up(); | |
| 122 | |
| 123 | |
| 124 void checkHitEndstops(); //call from somwhere to create an serial error message with the locations the endstops where hit, in case they were triggered | |
| 125 void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homeing and before a routine call of checkHitEndstops(); | |
| 126 | |
| 127 void enable_endstops(bool check); // Enable/disable endstop checking | |
| 128 | |
| 129 void checkStepperErrors(); //Print errors detected by the stepper | |
| 130 | |
| 131 void finishAndDisableSteppers(); | |
| 132 | |
| 133 extern block_t *current_block; // A pointer to the block currently being traced | |
| 134 extern volatile long endstops_trigsteps[]; | |
| 135 extern volatile bool endstop_z_hit; | |
| 136 extern bool old_z_min_endstop; | |
| 137 | |
| 138 void quickStop(); | |
| 139 #endif |
