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9980ceb4a3
and the mechanism so that if an endstop is hit it the ISR, the steps_to_be_taken are stored, and some current_block data that will be deleted in the next move If the normal loop() then finds such an event, the position is calculated (floats would have taken too long in the ISR) A serial message is generated.
52 lines
1.8 KiB
C
52 lines
1.8 KiB
C
/*
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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) 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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#include "planner.h"
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// Initialize and start the stepper motor subsystem
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void st_init();
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// Block until all buffered steps are executed
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void st_synchronize();
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// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
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// to notify the subsystem that it is time to go to work.
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void st_wake_up();
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// if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
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// for debugging purposes only, should be disabled by default
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#ifdef DEBUG_STEPS
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extern volatile long count_position[NUM_AXIS];
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extern volatile int count_direction[NUM_AXIS];
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#endif
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void checkHitEndstops(); //call from somwhere to create an serial error message with the locations the endstops where hit, in case they were triggered
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void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homeing and before a routine call of checkHitEndstops();
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extern block_t *current_block; // A pointer to the block currently being traced
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#endif
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