stepper.h

/*
  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"
 
#define ENABLE_STEPPER_DRIVER_INTERRUPT()  TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
 
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
extern bool abort_on_endstop_hit;
#endif
 
// Initialize and start the stepper motor subsystem
void st_init();
 
// Interrupt Service Routines
 
void isr();
 
// Block until all buffered steps are executed
void st_synchronize();
 
// Set current position in steps
void st_set_position(const long *pos);
void st_set_e_position(const long &e);
 
// Get current position in steps
long st_get_position(uint8_t axis);
 
// Get current x and y position in steps
void st_get_position_xy(long &x, long &y);
 
// Get current position in mm
float st_get_position_mm(uint8_t axis);
 
 
// Call this function just before re-enabling the stepper driver interrupt and the global interrupts
// to avoid a stepper timer overflow.
void st_reset_timer();
 
void checkHitEndstops(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
bool endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();
bool endstop_z_hit_on_purpose();
 
 
bool enable_endstops(bool check); // Enable/disable endstop checking. Return the old value.
bool enable_z_endstop(bool check);
void invert_z_endstop(bool endstop_invert);
 
void checkStepperErrors(); //Print errors detected by the stepper
 
extern block_t *current_block;  // A pointer to the block currently being traced
extern volatile long count_position[NUM_AXIS];
 
void quickStop();
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
void digitalPotWrite(int address, int value);
#endif //defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
 
#ifndef TMC2130
void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
void microstep_mode(uint8_t driver, uint8_t stepping);
void st_current_init();
void st_current_set(uint8_t driver, int current);
void microstep_init();
void microstep_readings();
#endif 
 
#ifdef 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