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-
-
- #ifndef stepper_h
- #define stepper_h
-
- #include "planner.h"
- #include "stepper_indirection.h"
-
- #if EXTRUDERS > 3
- #define E_STEP_WRITE(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
- #define NORM_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}}
- #define REV_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE(INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}}
- #elif EXTRUDERS > 2
- #define E_STEP_WRITE(v) { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}
- #define NORM_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}
- #define REV_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}
- #elif EXTRUDERS > 1
- #ifndef DUAL_X_CARRIAGE
- #define E_STEP_WRITE(v) { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
- #define NORM_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
- #define REV_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
- #else
- extern bool extruder_duplication_enabled;
- #define E_STEP_WRITE(v) { if(extruder_duplication_enabled) { E0_STEP_WRITE(v); E1_STEP_WRITE(v); } else if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
- #define NORM_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(!INVERT_E0_DIR); E1_DIR_WRITE(!INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
- #define REV_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(INVERT_E0_DIR); E1_DIR_WRITE(INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
- #endif
- #else
- #define E_STEP_WRITE(v) E0_STEP_WRITE(v)
- #define NORM_E_DIR() E0_DIR_WRITE(!INVERT_E0_DIR)
- #define REV_E_DIR() E0_DIR_WRITE(INVERT_E0_DIR)
- #endif
-
- #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
- extern bool abort_on_endstop_hit;
- #endif
-
-
- void st_init();
-
-
- void st_synchronize();
-
-
- void st_set_position(const long &x, const long &y, const long &z, const long &e);
- void st_set_e_position(const long &e);
-
-
- long st_get_position(uint8_t axis);
-
- #ifdef ENABLE_AUTO_BED_LEVELING
-
- float st_get_position_mm(uint8_t axis);
- #endif
-
-
-
- void st_wake_up();
-
-
- void checkHitEndstops();
- void endstops_hit_on_purpose();
-
- void enable_endstops(bool check);
-
- void checkStepperErrors();
-
- void finishAndDisableSteppers();
-
- extern block_t *current_block;
-
- void quickStop();
-
- void digitalPotWrite(int address, int value);
- void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
- void microstep_mode(uint8_t driver, uint8_t stepping);
- void digipot_init();
- void digipot_current(uint8_t driver, int current);
- void microstep_init();
- void microstep_readings();
-
- #ifdef Z_DUAL_ENDSTOPS
- void In_Homing_Process(bool state);
- void Lock_z_motor(bool state);
- void Lock_z2_motor(bool state);
- #endif
-
- #ifdef BABYSTEPPING
- void babystep(const uint8_t axis,const bool direction);
- #endif
-
- #endif
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