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43691fca19
Some drivers will now only disable hard limits (if enabled) for axes that are homing, this includes max/min limit switches. HAL entry points and core handlers/events has been added and some have changed signatures in order to better support kinematics implementations. More work on delta kinematics: new and changed settings, some improved functionality. Still in progress.
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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Grbl 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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Grbl 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 Grbl. 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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