mirror of
https://github.com/grblHAL/core.git
synced 2026-02-06 00:52:35 +08:00
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
/*
|
|
stepper2.h - secondary stepper motor driver
|
|
|
|
Part of grblHAL
|
|
|
|
Copyright (c) 2023 - 2024 Terje Io
|
|
|
|
grblHAL 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.
|
|
|
|
grblHAL 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 grblHAL. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
|
|
#include "task.h"
|
|
|
|
typedef enum {
|
|
Stepper2_Steps = 0, //!< 0
|
|
Stepper2_InfiniteSteps, //!< 1
|
|
Stepper2_mm //!< 2
|
|
} position_t;
|
|
|
|
struct st2_motor; // members defined in stepper2.c
|
|
typedef struct st2_motor st2_motor_t;
|
|
|
|
st2_motor_t *st2_motor_init (uint_fast8_t axis_idx, bool is_spindle);
|
|
bool st2_motor_poll (st2_motor_t *motor);
|
|
bool st2_motor_bind_spindle (uint_fast8_t axis_idx);
|
|
float st2_get_speed (st2_motor_t *motor);
|
|
float st2_motor_set_speed (st2_motor_t *motor, float speed);
|
|
bool st2_motor_move (st2_motor_t *motor, const float move, const float speed, position_t type);
|
|
bool st2_motor_run (st2_motor_t *motor);
|
|
bool st2_motor_running (st2_motor_t *motor);
|
|
bool st2_motor_cruising (st2_motor_t *motor);
|
|
bool st2_motor_stop (st2_motor_t *motor);
|
|
int64_t st2_get_position (st2_motor_t *motor);
|
|
bool st2_set_position (st2_motor_t *motor, int64_t position);
|
|
void st2_motor_register_stopped_callback (st2_motor_t *motor, foreground_task_ptr callback);
|