--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/stepper.h Sat Nov 07 13:23:07 2015 +0100
@@ -0,0 +1,139 @@
+/*
+ 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 "slave_comms.h"
+
+#ifdef REPRAPPRO_MULTIMATERIALS
+
+#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); }}}
+#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); }}}
+#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); }}}
+
+
+/*
+inline void WRITE_E_STEP(int8_t v)
+{
+ if(current_block->active_extruder == 2)
+ {
+ slaveRemoteStep(2, v); //E2_STEP_PIN, v);
+ } else
+ {
+ if(current_block->active_extruder == 1)
+ {
+ slaveRemoteStep(1, v); //E1_STEP_PIN, v);
+ } else
+ {
+ WRITE(E0_STEP_PIN, v);
+ }
+ }
+}
+
+inline void NORM_E_DIR()
+{
+ if(current_block->active_extruder == 2)
+ {
+ slaveRemoteDir(2, true); //!E2_DIR_PIN, INVERT_E2_DIR);
+ } else
+ {
+ if(current_block->active_extruder == 1)
+ {
+ slaveRemoteDir(1, true); //!E1_DIR_PIN, INVERT_E1_DIR);
+ } else
+ {
+ WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
+ }
+ }
+}
+
+inline void REV_E_DIR()
+{
+ if(current_block->active_extruder == 2)
+ {
+ slaveRemoteDir(2, false); //E2_DIR_PIN, INVERT_E2_DIR);
+ } else
+ {
+ if(current_block->active_extruder == 1)
+ {
+ slaveRemoteDir(1, false); //E1_DIR_PIN, INVERT_E1_DIR);
+ } else
+ {
+ WRITE(E0_DIR_PIN, INVERT_E0_DIR);
+ }
+ }
+}
+*/
+#else
+
+#if EXTRUDERS > 2
+ #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); }}}
+ #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); }}}
+ #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); }}}
+#elif EXTRUDERS > 1
+ #define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
+ #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); }}
+ #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); }}
+#else
+ #define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v)
+ #define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR)
+ #define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
+#endif
+
+#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);
+
+// 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 somwhere 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 homeing 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
+extern volatile long endstops_trigsteps[];
+extern volatile bool endstop_z_hit;
+extern bool old_z_min_endstop;
+
+void quickStop();
+#endif