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.
83 lines
3.5 KiB
C
83 lines
3.5 KiB
C
/*
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motion_control.h - high level interface for issuing motion commands
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Part of grblHAL
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Copyright (c) 2017-2025 Terje Io
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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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 _MOTION_CONTROL_H_
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#define _MOTION_CONTROL_H_
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// System motion commands must have a line number of zero.
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#define DEFAULT_HOMING_CYCLE_LINE_NUMBER 0
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#define PARKING_MOTION_LINE_NUMBER 0
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#define DEFAULT_HOMING_CYCLE_ALL 0 // Must be zero.
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#define DEFAULT_HOMING_CYCLE_X bit(X_AXIS)
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#define DEFAULT_HOMING_CYCLE_Y bit(Y_AXIS)
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#define DEFAULT_HOMING_CYCLE_Z bit(Z_AXIS)
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// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
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// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
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// (1 minute)/feed_rate time.
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bool mc_line(float *target, plan_line_data_t *pl_data);
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// Execute an arc in offset mode format. position == current xyz, target == target xyz,
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// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
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// the direction of helical travel, radius == circle radius, is_clockwise_arc boolean. Used
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// for vector transformation direction.
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void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *offset, float radius,
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plane_t plane, int32_t turns);
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// Execute canned cycle (drill)
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bool mc_canned_drill (motion_mode_t motion, float *target, plan_line_data_t *pl_data, float *position, plane_t plane, uint32_t repeats, gc_canned_t *canned);
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// Execute canned cycle (threading)
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void mc_thread (plan_line_data_t *pl_data, float *position, gc_thread_data *thread, bool feed_hold_disabled);
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// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.
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status_code_t mc_jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block, float *position);
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// Dwell for a specific number of seconds
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void mc_dwell(float seconds);
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// Perform homing cycle to locate machine zero. Requires limit switches.
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status_code_t mc_homing_cycle(axes_signals_t cycle);
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// Perform tool length probe cycle. Requires probe switch.
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gc_probe_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, gc_parser_flags_t parser_flags);
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// Handles updating the override control state.
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void mc_override_ctrl_update(gc_override_flags_t override_state);
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// Plans and executes the single special motion case for parking. Independent of main planner buffer.
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bool mc_parking_motion(float *parking_target, plan_line_data_t *pl_data);
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void mc_cubic_b_spline(float *target, plan_line_data_t *pl_data, float *position, float *offset1, float *offset2);
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// Performs system reset. If in motion state, kills all motion and sets system alarm.
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void mc_reset (void);
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#if ENABLE_BACKLASH_COMPENSATION
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void mc_backlash_init (axes_signals_t axes);
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void mc_sync_backlash_position (void);
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#endif
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#endif
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