stepper.c file

config.h

/*
  config.h - compile time configuration
  Part of Grbl

  Copyright (c) 2009-2011 Simen Svale Skogsrud
  Copyright (c) 2011 Sungeun K. Jeon

  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 config_h
#define config_h

// IMPORTANT: Any changes here requires a full re-compiling of the source code to propagate them.

#define BAUD_RATE 9600

// Updated default pin-assignments from 0.6 onwards 
// (see bottom of file for a copy of the old config)

#define STEPPERS_DISABLE_DDR     DDRB
#define STEPPERS_DISABLE_PORT    PORTB
#define STEPPERS_DISABLE_BIT         0

//#define STEPPING_DDR       DDRD
//#define STEPPING_PORT      PORTD
#define X_STEP_BIT           2
#define Y_STEP_BIT           3
#define Z_STEP_BIT           4
#define X_DIRECTION_BIT      5
#define Y_DIRECTION_BIT      6
#define Z_DIRECTION_BIT      7

#define LIMIT_DDR      DDRB
#define LIMIT_PIN     PINB
#define X_LIMIT_BIT          1
#define Y_LIMIT_BIT          2
#define Z_LIMIT_BIT          3

#define SPINDLE_ENABLE_DDR DDRB
#define SPINDLE_ENABLE_PORT PORTB
#define SPINDLE_ENABLE_BIT 4

#define SPINDLE_DIRECTION_DDR DDRB
#define SPINDLE_DIRECTION_PORT PORTB
#define SPINDLE_DIRECTION_BIT 5

// This parameter sets the delay time before disabling the steppers after the final block of movement.
// A short delay ensures the steppers come to a complete stop and the residual inertial force in the 
// CNC axes don't cause the axes to drift off position. This is particularly important when manually 
// entering g-code into grbl, i.e. locating part zero or simple manual machining. If the axes drift,
// grbl has no way to know this has happened, since stepper motors are open-loop control. Depending
// on the machine, this parameter may need to be larger or smaller than the default time.
// NOTE: If defined 0, the delay will not be compiled.
#define STEPPER_IDLE_LOCK_TIME 25 // (milliseconds) - Integer >= 0

// The temporal resolution of the acceleration management subsystem. Higher number give smoother
// acceleration but may impact performance.
// NOTE: Increasing this parameter will help any resolution related issues, especially with machines 
// requiring very high accelerations and/or very fast feedrates. In general, this will reduce the 
// error between how the planner plans the motions and how the stepper program actually performs them.
// However, at some point, the resolution can be high enough, where the errors related to numerical 
// round-off can be great enough to cause problems and/or it's too fast for the Arduino. The correct
// value for this parameter is machine dependent, so it's advised to set this only as high as needed.
// Approximate successful values can range from 30L to 100L or more.
#define ACCELERATION_TICKS_PER_SECOND 50L

// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
// of the buffer and all stops. This should not be much greater than zero and should only be changed
// if unwanted behavior is observed on a user's machine when running at very slow speeds.
#define MINIMUM_PLANNER_SPEED 0.0 // (mm/min)

// Minimum stepper rate. Sets the absolute minimum stepper rate in the stepper program and never runs
// slower than this value, except when sleeping. This parameter overrides the minimum planner speed.
// This is primarily used to guarantee that the end of a movement is always reached and not stop to
// never reach its target. This parameter should always be greater than zero.
#define MINIMUM_STEPS_PER_MINUTE 800 // (steps/min) - Integer value only

// Number of arc generation iterations by small angle approximation before exact arc trajectory 
// correction. This parameter maybe decreased if there are issues with the accuracy of the arc
// generations. In general, the default value is more than enough for the intended CNC applications
// of grbl, and should be on the order or greater than the size of the buffer to help with the 
// computational efficiency of generating arcs.
#define N_ARC_CORRECTION 25 // Integer (1-255)

#endif

// Pin-assignments from Grbl 0.5

// #define STEPPERS_DISABLE_DDR     DDRD
// #define STEPPERS_DISABLE_PORT    PORTD
// #define STEPPERS_DISABLE_BIT         2
// 
// #define STEPPING_DDR       DDRC
// #define STEPPING_PORT      PORTC 
// #define X_STEP_BIT           0
// #define Y_STEP_BIT           1
// #define Z_STEP_BIT           2
// #define X_DIRECTION_BIT            3
// #define Y_DIRECTION_BIT            4
// #define Z_DIRECTION_BIT            5
// 
// #define LIMIT_DDR      DDRD
// #define LIMIT_PORT     PORTD
// #define X_LIMIT_BIT          3
// #define Y_LIMIT_BIT          4
// #define Z_LIMIT_BIT          5
// 
// #define SPINDLE_ENABLE_DDR DDRD
// #define SPINDLE_ENABLE_PORT PORTD
// #define SPINDLE_ENABLE_BIT 6
// 
// #define SPINDLE_DIRECTION_DDR DDRD
// #define SPINDLE_DIRECTION_PORT PORTD
// #define SPINDLE_DIRECTION_BIT 7

limits.c

/*
  limits.h - code pertaining to limit-switches and performing the homing cycle
  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/>.
*/
  
#include <util/delay.h>
#include <avr/io.h>
#include "stepper.h"
#include "settings.h"
#include "nuts_bolts.h"
#include "config.h"

void limits_init() {
  //LIMIT_DDR &= ~(LIMIT_MASK);
}

static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, bool reverse_direction, uint32_t microseconds_per_pulse) { 
  // First home the Z axis
/* NOT SUPPORTED
 * uint32_t step_delay = microseconds_per_pulse - settings.pulse_microseconds;
  uint8_t out_bits = DIRECTION_MASK;
  uint8_t limit_bits;
  
  if (x_axis) { out_bits |= (1<<X_STEP_BIT); }
  if (y_axis) { out_bits |= (1<<Y_STEP_BIT); }
  if (z_axis) { out_bits |= (1<<Z_STEP_BIT); }
  
  // Invert direction bits if this is a reverse homing_cycle
  if (reverse_direction) {
    out_bits ^= DIRECTION_MASK;
  }
  
  // Apply the global invert mask
  out_bits ^= settings.invert_mask;
  
  // Set direction pins
  STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK);
  
  for(;;) {
    limit_bits = LIMIT_PIN;
    if (reverse_direction) {         
      // Invert limit_bits if this is a reverse homing_cycle
      limit_bits ^= LIMIT_MASK;
    }
    if (x_axis && !(LIMIT_PIN & (1<<X_LIMIT_BIT))) {
      x_axis = false;
      out_bits ^= (1<<X_STEP_BIT);      
    }    
    if (y_axis && !(LIMIT_PIN & (1<<Y_LIMIT_BIT))) {
      y_axis = false;
      out_bits ^= (1<<Y_STEP_BIT);
    }    
    if (z_axis && !(LIMIT_PIN & (1<<Z_LIMIT_BIT))) {
      z_axis = false;
      out_bits ^= (1<<Z_STEP_BIT);
    }
    // Check if we are done
    if(!(x_axis || y_axis || z_axis)) { return; }
    STEPPING_PORT |= out_bits & STEP_MASK;
    delay_us(settings.pulse_microseconds);
    STEPPING_PORT ^= out_bits & STEP_MASK;
    delay_us(step_delay);
  }*/
  return;
}

static void approach_limit_switch(bool x, bool y, bool z) {
  homing_cycle(x, y, z, false, 100000);
}

static void leave_limit_switch(bool x, bool y, bool z) {
  homing_cycle(x, y, z, true, 500000);
}

void limits_go_home() {
  st_synchronize();
  // Store the current limit switch state
  uint8_t original_limit_state = LIMIT_PIN;
  approach_limit_switch(false, false, true); // First home the z axis
  approach_limit_switch(true, true, false);  // Then home the x and y axis
  // Xor previous and current limit switch state to determine which were high then but have become 
  // low now. These are the actual installed limit switches.
  uint8_t limit_switches_present = (original_limit_state ^ LIMIT_PIN) & LIMIT_MASK;
  // Now carefully leave the limit switches
  leave_limit_switch(
    limit_switches_present & (1<<X_LIMIT_BIT), 
    limit_switches_present & (1<<Y_LIMIT_BIT),
    limit_switches_present & (1<<Z_LIMIT_BIT));
}

stepper.c

/*
  stepper.c - stepper motor driver: executes motion plans using stepper motors
  Part of Grbl

  Copyright (c) 2009-2011 Simen Svale Skogsrud
  Copyright (c) 2011 Sungeun K. Jeon
  
  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/>.
*/

/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
   and Philipp Tiefenbacher. */

#include "stepper.h"
#include "config.h"
#include "settings.h"
#include <math.h>
#include <stdlib.h>
#include <util/delay.h>
#include "nuts_bolts.h"
#include <avr/interrupt.h>
#include "planner.h"
#include "limits.h"

// Some useful constants
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
#define STEPPING_MASK (STEP_MASK | DIRECTION_MASK) // All stepping-related bits (step/direction)

#define TICKS_PER_MICROSECOND (F_CPU/1000000)
#define CYCLES_PER_ACCELERATION_TICK ((TICKS_PER_MICROSECOND*1000000)/ACCELERATION_TICKS_PER_SECOND)

static block_t *current_block;  // A pointer to the block currently being traced

// Variables used by The Stepper Driver Interrupt
static uint8_t out_bits;        // The next stepping-bits to be output
static int32_t counter_x,       // Counter variables for the bresenham line tracer
               counter_y, 
               counter_z;       
static uint32_t step_events_completed; // The number of step events executed in the current block
static volatile uint8_t busy; // true when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.

// Variables used by the trapezoid generation
static uint32_t cycles_per_step_event;        // The number of machine cycles between each step event
static uint32_t trapezoid_tick_cycle_counter; // The cycles since last trapezoid_tick. Used to generate ticks at a steady
                                              // pace without allocating a separate timer
static uint32_t trapezoid_adjusted_rate;      // The current rate of step_events according to the trapezoid generator
static uint32_t min_safe_rate;  // Minimum safe rate for full deceleration rate reduction step. Otherwise halves step_rate.
static uint8_t cycle_start;     // Cycle start flag to indicate program start and block processing.

//         __________________________
//        /|                        |\     _________________         ^
//       / |                        | \   /|               |\        |
//      /  |                        |  \ / |               | \       s
//     /   |                        |   |  |               |  \      p
//    /    |                        |   |  |               |   \     e
//   +-----+------------------------+---+--+---------------+----+    e
//   |               BLOCK 1            |      BLOCK 2          |    d
//
//                           time ----->
// 
//  The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates by block->rate_delta
//  during the first block->accelerate_until step_events_completed, then keeps going at constant speed until 
//  step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
//  The slope of acceleration is always +/- block->rate_delta and is applied at a constant rate following the midpoint rule
//  by the trapezoid generator, which is called ACCELERATION_TICKS_PER_SECOND times per second.

static void set_step_events_per_minute(uint32_t steps_per_minute);

// Stepper state initialization
static void st_wake_up() 
{
  // Enable stepper driver interrupt
  TIMSK1 |= (1<<OCIE1A);
}

// Stepper shutdown
static void st_go_idle() 
{
  // Cycle finished. Set flag to false.
  cycle_start = false; 
  // Disable stepper driver interrupt
  TIMSK1 &= ~(1<<OCIE1A); 
  // Force stepper dwell to lock axes for a defined amount of time to ensure the axes come to a complete
  // stop and not drift from residual inertial forces at the end of the last movement.
}

// Initializes the trapezoid generator from the current block. Called whenever a new 
// block begins.
static void trapezoid_generator_reset() 
{
  trapezoid_adjusted_rate = current_block->initial_rate;
  min_safe_rate = current_block->rate_delta + (current_block->rate_delta >> 1); // 1.5 x rate_delta
  trapezoid_tick_cycle_counter = CYCLES_PER_ACCELERATION_TICK/2; // Start halfway for midpoint rule.
  set_step_events_per_minute(trapezoid_adjusted_rate); // Initialize cycles_per_step_event
}

// This function determines an acceleration velocity change every CYCLES_PER_ACCELERATION_TICK by
// keeping track of the number of elapsed cycles during a de/ac-celeration. The code assumes that 
// step_events occur significantly more often than the acceleration velocity iterations.
static uint8_t iterate_trapezoid_cycle_counter() 
{
  trapezoid_tick_cycle_counter += cycles_per_step_event;  
  if(trapezoid_tick_cycle_counter > CYCLES_PER_ACCELERATION_TICK) {
    trapezoid_tick_cycle_counter -= CYCLES_PER_ACCELERATION_TICK;
    return(true);
  } else {
    return(false);
  }
}          

#define DIR_FORWARD 	(0)
#define DIR_BACKWARD	(1)

#define STEPPER_X_A1 	(0x01<<PINB0)	
#define STEPPER_X_A2 	(0x01<<PINB1)	
#define STEPPER_X_B1 	(0x01<<PINB2)	
#define STEPPER_X_B2 	(0x01<<PINB3)	

#define STEPPER_Y_A1 	(0x01<<PIND4)	
#define STEPPER_Y_A2 	(0x01<<PIND5)	
#define STEPPER_Y_B1 	(0x01<<PIND6)	
#define STEPPER_Y_B2 	(0x01<<PIND7)

#define STEPPER_Z_A1 	(0x01<<PINC0)	
#define STEPPER_Z_A2 	(0x01<<PINC1)	
#define STEPPER_Z_B1 	(0x01<<PINC2)	
#define STEPPER_Z_B2 	(0x01<<PINC3)

#define STEPPING_PORT_Z		PORTC
#define STEPPING_PORT_Y		PORTD
#define STEPPING_PORT_X		PORTB

#define STEPPING_DDR_Z		DDRC
#define STEPPING_DDR_Y		DDRD
#define STEPPING_DDR_X		DDRB

//#define STEPPER_X_ENABLE (0x01<<25)
//#define STEPPER_Y_ENABLE (0x01<<26)

#define ALL_STEPPER_PINS_X (STEPPER_X_A1|STEPPER_X_A2|STEPPER_X_B1|STEPPER_X_B2)
#define ALL_STEPPER_PINS_Y (STEPPER_Y_A1|STEPPER_Y_A2|STEPPER_Y_B1|STEPPER_Y_B2)
#define ALL_STEPPER_PINS_Z (STEPPER_Z_A1 |STEPPER_Z_A2|STEPPER_Z_B1|STEPPER_Z_B2)

const int stepper_pins[3][4] = {
		{STEPPER_X_A1, STEPPER_X_A2, STEPPER_X_B1, STEPPER_X_B2},
		{STEPPER_Y_A1, STEPPER_Y_A2, STEPPER_Y_B1, STEPPER_Y_B2},
		{STEPPER_Z_A1, STEPPER_Z_A2, STEPPER_Z_B1, STEPPER_Z_B2},
		};

void do_full_step(int direction, int axis) 
{
	static unsigned int crrnt_step[3] = {0,0,0};
	
	if(direction == DIR_FORWARD) {
		crrnt_step[axis] ++;
		if (crrnt_step[axis] >= 4)
			crrnt_step[axis] = 0;
	}
	else{
		if(crrnt_step[axis] == 0)
			crrnt_step[axis] = 4;
		crrnt_step[axis] --;			
	}
	
	if(axis == X_AXIS) { // Z_AXIS is on a different I/O port
		switch(crrnt_step[axis]) {
			case 0:
				STEPPING_PORT_X &= ~(stepper_pins[axis][0]|stepper_pins[axis][2]);
				STEPPING_PORT_X |= stepper_pins[axis][3] | stepper_pins[axis][1];
				break;
			case 1:			
				STEPPING_PORT_X &= ~(stepper_pins[axis][1] | stepper_pins[axis][2]);
				STEPPING_PORT_X |= stepper_pins[axis][0] | stepper_pins[axis][3];
				break;
			case 2:				
				STEPPING_PORT_X &= ~(stepper_pins[axis][1] | stepper_pins[axis][3]);
				STEPPING_PORT_X |= stepper_pins[axis][2] | stepper_pins[axis][0];
				break;
			case 3:	
				STEPPING_PORT_X &= ~(stepper_pins[axis][0] | stepper_pins[axis][3]);
				STEPPING_PORT_X |= (stepper_pins[axis][1] | stepper_pins[axis][2]);
				break;
			return;
		}
	}
	if(axis == Y_AXIS) { 
		switch(crrnt_step[axis]) {
			case 0:
				STEPPING_PORT_Y &= ~(stepper_pins[axis][0]|stepper_pins[axis][2]);
				STEPPING_PORT_Y |= stepper_pins[axis][3] | stepper_pins[axis][1];
				break;
			case 1:			
				STEPPING_PORT_Y &= ~(stepper_pins[axis][1] | stepper_pins[axis][2]);
				STEPPING_PORT_Y |= stepper_pins[axis][0] | stepper_pins[axis][3];
				break;
			case 2:				
				STEPPING_PORT_Y &= ~(stepper_pins[axis][1] | stepper_pins[axis][3]);
				STEPPING_PORT_Y |= stepper_pins[axis][2] | stepper_pins[axis][0];
				break;
			case 3:	
				STEPPING_PORT_Y &= ~(stepper_pins[axis][0] | stepper_pins[axis][3]);
				STEPPING_PORT_Y |= (stepper_pins[axis][1] | stepper_pins[axis][2]);
				break;
			return;
		}
	}
	if(axis == Z_AXIS) { // Z_AXIS is on a different I/O port
		switch(crrnt_step[axis]) {
			case 0:
				STEPPING_PORT_Z &= ~(stepper_pins[axis][0]|stepper_pins[axis][2]);
				STEPPING_PORT_Z |= stepper_pins[axis][3] | stepper_pins[axis][1];
				break;
			case 1:			
				STEPPING_PORT_Z &= ~(stepper_pins[axis][1] | stepper_pins[axis][2]);
				STEPPING_PORT_Z |= stepper_pins[axis][0] | stepper_pins[axis][3];
				break;
			case 2:				
				STEPPING_PORT_Z &= ~(stepper_pins[axis][1] | stepper_pins[axis][3]);
				STEPPING_PORT_Z |= stepper_pins[axis][2] | stepper_pins[axis][0];
				break;
			case 3:	
				STEPPING_PORT_Z &= ~(stepper_pins[axis][0] | stepper_pins[axis][3]);
				STEPPING_PORT_Z |= (stepper_pins[axis][1] | stepper_pins[axis][2]);
				break;
			return;
		}
	}

}

// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. It is executed at the rate set with
// config_step_timer. It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. 
// It is supported by The Stepper Port Reset Interrupt which it uses to reset the stepper port after each pulse. 
// The bresenham line tracer algorithm controls all three stepper outputs simultaneously with these two interrupts.
ISR(TIMER1_COMPA_vect)
{        
  if (busy) { return; } // The busy-flag is used to avoid reentering this interrupt
  
/* 
 // Set the direction pins a couple of nanoseconds before we step the steppers
  STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK);
  // Then pulse the stepping pins
  STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | out_bits;
  // Enable step pulse reset timer so that The Stepper Port Reset Interrupt can reset the signal after
  // exactly settings.pulse_microseconds microseconds, independent of the main Timer1 prescaler.
  TCNT2 = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND) >> 3); // Reload timer counter
  TCCR2B = (1<<CS21); // Begin timer2. Full speed, 1/8 prescaler
*/

	if(out_bits & (1<<X_STEP_BIT)) {
		if(out_bits & (1<<X_DIRECTION_BIT)) {
			//do_half_step(DIR_FORWARD, X_AXIS);
			do_full_step(DIR_FORWARD, X_AXIS);
		} else {
//			do_half_step(DIR_BACKWARD, X_AXIS);
			do_full_step(DIR_BACKWARD, X_AXIS);
		}
	}	
	if(out_bits & (1<<Y_STEP_BIT)) {
		if(out_bits & (1<<Y_DIRECTION_BIT)) {
//			do_half_step(DIR_FORWARD, Y_AXIS);
			do_full_step(DIR_FORWARD, Y_AXIS);
		} else {
	//		do_half_step(DIR_BACKWARD, Y_AXIS);
			do_full_step(DIR_BACKWARD, Y_AXIS);
		}	
	}
	if(out_bits & (1<<Z_STEP_BIT)) {
		if(out_bits & (1<<Z_DIRECTION_BIT)) {
//			do_half_step(DIR_FORWARD, Z_AXIS);
			do_full_step(DIR_FORWARD, Z_AXIS);
		} else {
//			do_half_step(DIR_BACKWARD, Z_AXIS);
			do_full_step(DIR_BACKWARD, Z_AXIS);
		}	
	}


  busy = true;
  // Re-enable interrupts to allow ISR_TIMER2_OVERFLOW to trigger on-time and allow serial communications
  // regardless of time in this handler. The following code prepares the stepper driver for the next
  // step interrupt compare and will always finish before returning to the main program.
  sei();
  
  // If there is no current block, attempt to pop one from the buffer
  if (current_block == NULL) {
    // Anything in the buffer? If so, initialize next motion.
    current_block = plan_get_current_block();
    if (current_block != NULL) {
      trapezoid_generator_reset();
      counter_x = -(current_block->step_event_count >> 1);
      counter_y = counter_x;
      counter_z = counter_x;
      step_events_completed = 0;     
    } else {
      st_go_idle();
    }    
  } 

  if (current_block != NULL) {
    // Execute step displacement profile by bresenham line algorithm
    out_bits = current_block->direction_bits;
    counter_x += current_block->steps_x;
    if (counter_x > 0) {
      out_bits |= (1<<X_STEP_BIT);
      counter_x -= current_block->step_event_count;
    }
    counter_y += current_block->steps_y;
    if (counter_y > 0) {
      out_bits |= (1<<Y_STEP_BIT);
      counter_y -= current_block->step_event_count;
    }
    counter_z += current_block->steps_z;
    if (counter_z > 0) {
      out_bits |= (1<<Z_STEP_BIT);
      counter_z -= current_block->step_event_count;
    }
    
    step_events_completed++; // Iterate step events

    // While in block steps, check for de/ac-celeration events and execute them accordingly.
    if (step_events_completed < current_block->step_event_count) {
      // The trapezoid generator always checks step event location to ensure de/ac-celerations are 
      // executed and terminated at exactly the right time. This helps prevent over/under-shooting
      // the target position and speed. 
      // NOTE: By increasing the ACCELERATION_TICKS_PER_SECOND in config.h, the resolution of the 
      // discrete velocity changes increase and accuracy can increase as well to a point. Numerical 
      // round-off errors can effect this, if set too high. This is important to note if a user has 
      // very high acceleration and/or feedrate requirements for their machine.
      if (step_events_completed < current_block->accelerate_until) {
        // Iterate cycle counter and check if speeds need to be increased.
        if ( iterate_trapezoid_cycle_counter() ) {
          trapezoid_adjusted_rate += current_block->rate_delta;
          if (trapezoid_adjusted_rate >= current_block->nominal_rate) {
            // Reached nominal rate a little early. Cruise at nominal rate until decelerate_after.
            trapezoid_adjusted_rate = current_block->nominal_rate;
          }
          set_step_events_per_minute(trapezoid_adjusted_rate);
        }
      } else if (step_events_completed >= current_block->decelerate_after) {
        // Reset trapezoid tick cycle counter to make sure that the deceleration is performed the
        // same every time. Reset to CYCLES_PER_ACCELERATION_TICK/2 to follow the midpoint rule for
        // an accurate approximation of the deceleration curve.
        if (step_events_completed == current_block-> decelerate_after) {
          trapezoid_tick_cycle_counter = CYCLES_PER_ACCELERATION_TICK/2;
        } else {
          // Iterate cycle counter and check if speeds need to be reduced.
          if ( iterate_trapezoid_cycle_counter() ) {  
            // NOTE: We will only do a full speed reduction if the result is more than the minimum safe 
            // rate, initialized in trapezoid reset as 1.5 x rate_delta. Otherwise, reduce the speed by
            // half increments until finished. The half increments are guaranteed not to exceed the 
            // CNC acceleration limits, because they will never be greater than rate_delta. This catches
            // small errors that might leave steps hanging after the last trapezoid tick or a very slow
            // step rate at the end of a full stop deceleration in certain situations. The half rate 
            // reductions should only be called once or twice per block and create a nice smooth 
            // end deceleration.
            if (trapezoid_adjusted_rate > min_safe_rate) {
              trapezoid_adjusted_rate -= current_block->rate_delta;
            } else {
              trapezoid_adjusted_rate >>= 1; // Bit shift divide by 2
            }
            if (trapezoid_adjusted_rate < current_block->final_rate) {
              // Reached final rate a little early. Cruise to end of block at final rate.
              trapezoid_adjusted_rate = current_block->final_rate;
            }
            set_step_events_per_minute(trapezoid_adjusted_rate);
          }
        }
      } else {
        // No accelerations. Make sure we cruise exactly at the nominal rate.
        if (trapezoid_adjusted_rate != current_block->nominal_rate) {
          trapezoid_adjusted_rate = current_block->nominal_rate;
          set_step_events_per_minute(trapezoid_adjusted_rate);
        }
      }
            
    } else {   
      // If current block is finished, reset pointer 
      current_block = NULL;
      plan_discard_current_block();
    }
  }
 // out_bits ^= settings.invert_mask;  // Apply stepper invert mask    
  busy=false;
}

// This interrupt is set up by ISR_TIMER1_COMPAREA when it sets the motor port bits. It resets
// the motor port after a short period (settings.pulse_microseconds) completing one step cycle.
// TODO: It is possible for the serial interrupts to delay this interrupt by a few microseconds, if
// they execute right before this interrupt. Not a big deal, but could use some TLC at some point.
ISR(TIMER2_OVF_vect)
{
  // Reset stepping pins (leave the direction pins)
//  STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | (settings.invert_mask & STEP_MASK); 
  TCCR2B = 0; // Disable Timer2 to prevent re-entering this interrupt when it's not needed. 
}

// Initialize and start the stepper motor subsystem
void st_init()
{
  // Configure directions of interface pins
 // STEPPING_DDR |= STEPPING_MASK;
//  STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | settings.invert_mask;
//  STEPPERS_DISABLE_DDR |= 1<<STEPPERS_DISABLE_BIT;
  
  STEPPING_DDR_X  |= ALL_STEPPER_PINS_X;
  STEPPING_PORT_X |= ALL_STEPPER_PINS_X;
  STEPPING_DDR_Y  |= ALL_STEPPER_PINS_Y;
  STEPPING_PORT_Y |= ALL_STEPPER_PINS_Y;
  STEPPING_DDR_Z  |= ALL_STEPPER_PINS_Z;
  STEPPING_PORT_Z |= ALL_STEPPER_PINS_Z;


  // waveform generation = 0100 = CTC
  TCCR1B &= ~(1<<WGM13);
  TCCR1B |=  (1<<WGM12);
  TCCR1A &= ~(1<<WGM11); 
  TCCR1A &= ~(1<<WGM10);

  // output mode = 00 (disconnected)
  TCCR1A &= ~(3<<COM1A0); 
  TCCR1A &= ~(3<<COM1B0); 
	
  // Configure Timer 2
  TCCR2A = 0; // Normal operation
  TCCR2B = 0; // Disable timer until needed.
  TIMSK2 |= (1<<TOIE2); // Enable Timer2 interrupt flag
  
  set_step_events_per_minute(MINIMUM_STEPS_PER_MINUTE);
  trapezoid_tick_cycle_counter = 0;
  current_block = NULL;
  busy = false;
  
  // Start in the idle state
  st_go_idle();
}

// Block until all buffered steps are executed
void st_synchronize()
{
  while(plan_get_current_block()) { sleep_mode(); }    
}

// Configures the prescaler and ceiling of timer 1 to produce the given rate as accurately as possible.
// Returns the actual number of cycles per interrupt
static uint32_t config_step_timer(uint32_t cycles)
{
  uint16_t ceiling;
  uint16_t prescaler;
  uint32_t actual_cycles;
  if (cycles <= 0xffffL) {
    ceiling = cycles;
    prescaler = 0; // prescaler: 0
    actual_cycles = ceiling;
  } else if (cycles <= 0x7ffffL) {
    ceiling = cycles >> 3;
    prescaler = 1; // prescaler: 8
    actual_cycles = ceiling * 8L;
  } else if (cycles <= 0x3fffffL) {
    ceiling =  cycles >> 6;
    prescaler = 2; // prescaler: 64
    actual_cycles = ceiling * 64L;
  } else if (cycles <= 0xffffffL) {
    ceiling =  (cycles >> 8);
    prescaler = 3; // prescaler: 256
    actual_cycles = ceiling * 256L;
  } else if (cycles <= 0x3ffffffL) {
    ceiling = (cycles >> 10);
    prescaler = 4; // prescaler: 1024
    actual_cycles = ceiling * 1024L;    
  } else {
    // Okay, that was slower than we actually go. Just set the slowest speed
    ceiling = 0xffff;
    prescaler = 4;
    actual_cycles = 0xffff * 1024;
  }
  // Set prescaler
  TCCR1B = (TCCR1B & ~(0x07<<CS10)) | ((prescaler+1)<<CS10);
  // Set ceiling
  OCR1A = ceiling;
  return(actual_cycles);
}

static void set_step_events_per_minute(uint32_t steps_per_minute) 
{
  if (steps_per_minute < MINIMUM_STEPS_PER_MINUTE) { steps_per_minute = MINIMUM_STEPS_PER_MINUTE; }
  cycles_per_step_event = config_step_timer((TICKS_PER_MICROSECOND*1000000*60)/steps_per_minute);
}

void st_go_home()
{
  limits_go_home();  
  plan_set_current_position(0,0,0);
}

// Planner external interface to start stepper interrupt and execute the blocks in queue.
void st_cycle_start() 
{
  if (!cycle_start) {
    cycle_start = true;
    st_wake_up();
  }
}

Have problem whe try to make file:

"make.exe" all
avr-gcc -Wall -Os -DF_CPU=16000000 -mmcu=atmega2560 -I. -ffunction-sections -c stepper.c -o stepper.o
stepper.c:37:1: warning: "STEP_MASK" redefined
In file included from stepper.c:25:
stepper.h:29:1: warning: this is the location of the previous definition
stepper.c:38:1: warning: "DIRECTION_MASK" redefined
stepper.h:30:1: warning: this is the location of the previous definition
stepper.c:89: error: static declaration of 'st_go_idle' follows non-static declaration
stepper.h:38: error: previous declaration of 'st_go_idle' was here
stepper.c: In function 'st_go_home':
stepper.c:505: error: too few arguments to function 'plan_set_current_position'
make.exe: *** [stepper.o] Error 1

Process Exit Code: 2
Time Taken: 00:00

Can you help me?