mirror of
https://github.com/grblHAL/core.git
synced 2026-02-05 08:34:01 +08:00
64c35930c7
Added experimental support for G66 (modal macro call) and G67 (end modal macro call). Made axis letter to axis/motor assignment for axes ABCUVW freely changeable at compile time. Fix for some G65 arguments being incorrectly validated for normal use (sign, range). Added repeat support to G65 macro call via the optional L parameter word. Changed default setting for ABC-axes to rotary. Changed defaults for jerk settings to 10x acceleration settings. Disabled jerk for jog, probe and spindle synchronized motion. Added _active_probe system parameter, returns -1 if no probe inputs available. Minor bug fix, G5.1 and G33.1 motion commands were not coverted to the correct string equivalent in $G output.
39 lines
1.4 KiB
C
39 lines
1.4 KiB
C
/*
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kinematics.h - kinematics interface (API)
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Part of grblHAL
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Copyright (c) 2019-2023 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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#ifndef _KINEMATICS_H_
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#define _KINEMATICS_H_
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typedef struct {
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float *(*transform_steps_to_cartesian)(float *position, int32_t *steps);
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float *(*transform_from_cartesian) (float *target, float *position);
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float *(*segment_line) (float *target, float *position, plan_line_data_t *pl_data, bool init); // target is cartesian, position transformed
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uint_fast8_t (*limits_get_axis_mask)(uint_fast8_t idx);
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void (*limits_set_target_pos)(uint_fast8_t idx);
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void (*limits_set_machine_positions)(axes_signals_t cycle);
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bool (*homing_cycle_validate)(axes_signals_t cycle);
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float (*homing_cycle_get_feedrate)(axes_signals_t axes, float rate, homing_mode_t mode);
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} kinematics_t;
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extern kinematics_t kinematics;
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#endif
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