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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"
// Initialize and start the stepper motor subsystem
void st_init();
// Block until all buffered steps are executed
void st_synchronize();
// 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();
// if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
// for debugging purposes only, should be disabled by default
#ifdef DEBUG_STEPS
extern volatile long count_position[NUM_AXIS];
extern volatile int count_direction[NUM_AXIS];
#endif
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();
extern block_t *current_block; // A pointer to the block currently being traced
#endif