41 lines
1.4 KiB
C
41 lines
1.4 KiB
C
|
/*
|
||
|
|
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
|
||
|
|
// Initialize and start the stepper motor subsystem
|
||
|
|
void st_init();
|
||
|
|
|
||
|
|
// Block until all buffered steps are executed
|
||
|
|
void st_synchronize();
|
||
|
|
|
||
|
|
// 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();
|
||
|
|
|
||
|
|
// if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
|
||
|
|
// for debugging purposes only, should be disabled by default
|
||
|
|
#ifdef DEBUG_STEPS
|
||
|
|
extern volatile long count_position[NUM_AXIS];
|
||
|
|
extern volatile int count_direction[NUM_AXIS];
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|