mirror of
https://github.com/grblHAL/core.git
synced 2026-08-17 16:41:45 +08:00
Terje Io
35431d1bd3
Improved handling of some VFS file system actions (unlink, mkdirv and rmdir), added support for truncate. Changed some kinematics API function signatures for readability/debugability. The ioports implementation has been changed to allow for consecutive pin numbers for external (expander based) I/O. See changelog for details.
50 lines
2.1 KiB
C
50 lines
2.1 KiB
C
/*
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kinematics.h - kinematics interface (API)
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Part of grblHAL
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Copyright (c) 2019-2026 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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#include "../nuts_bolts.h"
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typedef coord_data_t *(*transform_steps_to_cartesian_ptr)(coord_data_t *position, mpos_t *steps);
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typedef coord_data_t *(*transform_from_cartesian_ptr) (coord_data_t *target, coord_data_t *position);
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typedef coord_data_t *(*segment_line_ptr) (coord_data_t *target, coord_data_t *position, plan_line_data_t *pl_data, bool init); // target is cartesian, position transformed
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typedef uint_fast8_t (*limits_get_axis_mask_ptr)(uint_fast8_t idx);
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typedef void (*limits_set_target_pos_ptr)(uint_fast8_t idx);
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typedef void (*limits_set_machine_positions_ptr)(axes_signals_t cycle);
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typedef bool (*homing_cycle_validate_ptr)(axes_signals_t cycle);
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typedef float (*homing_cycle_get_feedrate_ptr)(axes_signals_t axes, float rate, homing_mode_t mode);
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typedef struct {
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transform_steps_to_cartesian_ptr transform_steps_to_cartesian;
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transform_from_cartesian_ptr transform_from_cartesian;
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segment_line_ptr segment_line; // target is cartesian, position transformed
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limits_get_axis_mask_ptr limits_get_axis_mask;
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limits_set_target_pos_ptr limits_set_target_pos;
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limits_set_machine_positions_ptr limits_set_machine_positions;
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homing_cycle_validate_ptr homing_cycle_validate;
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homing_cycle_get_feedrate_ptr homing_cycle_get_feedrate;
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} kinematics_t;
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extern kinematics_t kinematics;
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#endif
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