stepper.c File Reference

#include "grbl.h"

Include dependency graph for stepper.c:

Go to the source code of this file.

Classes
struct	st_block_t
struct	segment_t
struct	stepper_t
struct	st_prep_t

Macros
#define	DT_SEGMENT   (1.0/(ACCELERATION_TICKS_PER_SECOND*60.0))
#define	REQ_MM_INCREMENT_SCALAR   1.25
#define	RAMP_ACCEL   0
#define	RAMP_CRUISE   1
#define	RAMP_DECEL   2
#define	RAMP_DECEL_OVERRIDE   3
#define	PREP_FLAG_RECALCULATE   bit(0)
#define	PREP_FLAG_HOLD_PARTIAL_BLOCK   bit(1)
#define	PREP_FLAG_PARKING   bit(2)
#define	PREP_FLAG_DECEL_OVERRIDE   bit(3)
#define	MAX_AMASS_LEVEL   3
#define	AMASS_LEVEL1   (F_CPU/8000)
#define	AMASS_LEVEL2   (F_CPU/4000)
#define	AMASS_LEVEL3   (F_CPU/2000)

Functions
void	st_wake_up ()
void	st_go_idle ()
	ISR (TIMER1_COMPA_vect)
	ISR (TIMER0_OVF_vect)
void	st_generate_step_dir_invert_masks ()
void	st_reset ()
void	stepper_init ()
void	st_update_plan_block_parameters ()
static uint8_t	st_next_block_index (uint8_t block_index)
void	st_prep_buffer ()
float	st_get_realtime_rate ()

Variables
static st_block_t	st_block_buffer [SEGMENT_BUFFER_SIZE-1]
static segment_t	segment_buffer [SEGMENT_BUFFER_SIZE]
static stepper_t	st
static volatile uint8_t	segment_buffer_tail
static uint8_t	segment_buffer_head
static uint8_t	segment_next_head
static uint8_t	step_port_invert_mask
static uint8_t	dir_port_invert_mask
static volatile uint8_t	busy
static plan_block_t *	pl_block
static st_block_t *	st_prep_block
static st_prep_t	prep

Macro Definition Documentation

AMASS_LEVEL1

#define AMASS_LEVEL1   (F_CPU/8000)

Definition at line 50 of file stepper.c.

AMASS_LEVEL2

#define AMASS_LEVEL2   (F_CPU/4000)

Definition at line 51 of file stepper.c.

AMASS_LEVEL3

#define AMASS_LEVEL3   (F_CPU/2000)

Definition at line 52 of file stepper.c.

DT_SEGMENT

#define DT_SEGMENT   (1.0/(ACCELERATION_TICKS_PER_SECOND*60.0))

Definition at line 26 of file stepper.c.

MAX_AMASS_LEVEL

#define MAX_AMASS_LEVEL   3

Definition at line 48 of file stepper.c.

PREP_FLAG_DECEL_OVERRIDE

#define PREP_FLAG_DECEL_OVERRIDE   bit(3)

Definition at line 36 of file stepper.c.

PREP_FLAG_HOLD_PARTIAL_BLOCK

#define PREP_FLAG_HOLD_PARTIAL_BLOCK   bit(1)

Definition at line 34 of file stepper.c.

PREP_FLAG_PARKING

#define PREP_FLAG_PARKING   bit(2)

Definition at line 35 of file stepper.c.

PREP_FLAG_RECALCULATE

#define PREP_FLAG_RECALCULATE   bit(0)

Definition at line 33 of file stepper.c.

RAMP_ACCEL

#define RAMP_ACCEL   0

Definition at line 28 of file stepper.c.

RAMP_CRUISE

#define RAMP_CRUISE   1

Definition at line 29 of file stepper.c.

RAMP_DECEL

#define RAMP_DECEL   2

Definition at line 30 of file stepper.c.

RAMP_DECEL_OVERRIDE

#define RAMP_DECEL_OVERRIDE   3

Definition at line 31 of file stepper.c.

REQ_MM_INCREMENT_SCALAR

#define REQ_MM_INCREMENT_SCALAR   1.25

Definition at line 27 of file stepper.c.

Function Documentation

ISR() [1/2]

ISR

(

TIMER0_OVF_vect

)

Definition at line 489 of file stepper.c.

ISR() [2/2]

ISR

(

TIMER1_COMPA_vect

)

Definition at line 319 of file stepper.c.

st_generate_step_dir_invert_masks()

void st_generate_step_dir_invert_masks

(

)

Definition at line 515 of file stepper.c.

st_get_realtime_rate()

float st_get_realtime_rate

(

)

Definition at line 1089 of file stepper.c.

st_go_idle()

void st_go_idle

(

)

Definition at line 250 of file stepper.c.

st_next_block_index()

static uint8_t st_next_block_index ( uint8_t  block_index )

static

Definition at line 609 of file stepper.c.

st_prep_buffer()

void st_prep_buffer

(

)

Definition at line 668 of file stepper.c.

st_reset()

void st_reset

(

)

Definition at line 535 of file stepper.c.

st_update_plan_block_parameters()

void st_update_plan_block_parameters

(

)

Definition at line 598 of file stepper.c.

st_wake_up()

void st_wake_up

(

)

Definition at line 224 of file stepper.c.

stepper_init()

void stepper_init

(

)

Definition at line 566 of file stepper.c.

Variable Documentation

busy

volatile uint8_t busy

static

Definition at line 141 of file stepper.c.

dir_port_invert_mask

uint8_t dir_port_invert_mask

static

Definition at line 134 of file stepper.c.

pl_block

plan_block_t* pl_block

static

Definition at line 145 of file stepper.c.

prep

st_prep_t prep

static

Definition at line 180 of file stepper.c.

segment_buffer

segment_t segment_buffer[SEGMENT_BUFFER_SIZE]

static

Definition at line 96 of file stepper.c.

segment_buffer_head

uint8_t segment_buffer_head

static

Definition at line 129 of file stepper.c.

segment_buffer_tail

volatile uint8_t segment_buffer_tail

static

Definition at line 128 of file stepper.c.

segment_next_head

uint8_t segment_next_head

static

Definition at line 130 of file stepper.c.

st

stepper_t st

static

Definition at line 125 of file stepper.c.

st_block_buffer

st_block_t st_block_buffer[SEGMENT_BUFFER_SIZE-1]

static

Definition at line 77 of file stepper.c.

st_prep_block

st_block_t* st_prep_block

static

Definition at line 146 of file stepper.c.

step_port_invert_mask

uint8_t step_port_invert_mask

static

Definition at line 133 of file stepper.c.