mirror of
https://github.com/grblHAL/core.git
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3ef6763cec
Added generic HAL timer API and function for getting which G65 parameter words were supplied.
49 lines
1.7 KiB
C
49 lines
1.7 KiB
C
/*
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stepper2.h - secondary stepper motor driver
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Part of grblHAL
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Copyright (c) 2023 - 2024 Terje Io
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grblHAL 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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grblHAL 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 grblHAL. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <stdbool.h>
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#include "task.h"
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typedef enum {
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Stepper2_Steps = 0, //!< 0
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Stepper2_InfiniteSteps, //!< 1
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Stepper2_mm //!< 2
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} position_t;
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struct st2_motor; // members defined in stepper2.c
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typedef struct st2_motor st2_motor_t;
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st2_motor_t *st2_motor_init (uint_fast8_t axis_idx, bool is_spindle);
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bool st2_motor_poll (st2_motor_t *motor);
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bool st2_motor_bind_spindle (uint_fast8_t axis_idx);
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float st2_get_speed (st2_motor_t *motor);
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float st2_motor_set_speed (st2_motor_t *motor, float speed);
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bool st2_motor_move (st2_motor_t *motor, const float move, const float speed, position_t type);
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bool st2_motor_run (st2_motor_t *motor);
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bool st2_motor_running (st2_motor_t *motor);
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bool st2_motor_cruising (st2_motor_t *motor);
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bool st2_motor_stop (st2_motor_t *motor);
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int64_t st2_get_position (st2_motor_t *motor);
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bool st2_set_position (st2_motor_t *motor, int64_t position);
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void st2_motor_register_stopped_callback (st2_motor_t *motor, foreground_task_ptr callback);
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