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stepper.h
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stepper.h
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/*
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 EXTRUDERS > 3
#define E_STEP_WRITE(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
#define NORM_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}}
#define REV_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE(INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}}
#elif EXTRUDERS > 2
#define E_STEP_WRITE(v) { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}
#define NORM_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}
#define REV_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}
#elif EXTRUDERS > 1
#if DISABLED(DUAL_X_CARRIAGE)
#define E_STEP_WRITE(v) { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
#define NORM_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
#define REV_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
#else
extern bool extruder_duplication_enabled;
#define E_STEP_WRITE(v) { if(extruder_duplication_enabled) { E0_STEP_WRITE(v); E1_STEP_WRITE(v); } else if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
#define NORM_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(!INVERT_E0_DIR); E1_DIR_WRITE(!INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
#define REV_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(INVERT_E0_DIR); E1_DIR_WRITE(INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
#endif
#else
#define E_STEP_WRITE(v) E0_STEP_WRITE(v)
#define NORM_E_DIR() E0_DIR_WRITE(!INVERT_E0_DIR)
#define REV_E_DIR() E0_DIR_WRITE(INVERT_E0_DIR)
#endif
#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 position in mm
float st_get_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 checkStepperErrors(); //Print errors detected by the stepper
void finishAndDisableSteppers();
extern block_t* current_block; // A pointer to the block currently being traced
void quickStop();
void digitalPotWrite(int address, int value);
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