gcode-machine.h

/*
 ============================================================================
 Name        : gcode-machine.h
 Author      : Radu - Eosif Mihailescu
 Version     : 1.0 (2012-08-11)
 Copyright   : (C) 2012 Radu - Eosif Mihailescu <radu.mihailescu@linux360.ro>
 Description : G-Code Machine API Header
 ============================================================================
 */

#ifndef GCODE_MACHINE_H_
#define GCODE_MACHINE_H_


#include <stdbool.h>

#include "gcode-commons.h"
#include "gcode-state.h"
#include "gcode-debugcon.h"


/* 1 revolution per second, fast enough to catch attention and slow enough to be safe */
#define GCODE_MACHINE_LOWEST_RPM 60UL
#define GCODE_MACHINE_NO_TOOL 0
// TODO: magic values within the valid range are an accident waiting to happen!
/* 1050mm/sec, none of the hardware we're targeting is that fast so safe to use as flag */
#define GCODE_MACHINE_FEED_TRAVERSE 0xF618U
#define GCODE_MACHINE_POSITION(pos) GCODE_DEBUG_RAW("MPOS,%4.2f,%4.2f,%4.2f", pos.X, pos.Y, pos.Z)
#define GCODE_MACHINE_PF_EXACTSTOP 0x04
#define GCODE_MACHINE_PF_OVERRIDES 0x02
#define GCODE_MACHINE_PF_FEEDHOLD 0x01
#define GCODE_MACHINE_PF_MIRROR_Y 0x02
#define GCODE_MACHINE_PF_MIRROR_X 0x01


typedef union {
  uint8_t flags;
  struct {
    uint8_t probeSource:1;
    uint8_t probeMode:1;
    uint8_t mirrorX:1;
    uint8_t mirrorY:1;
    uint8_t overridesEnabled:1;
    uint8_t spindleCW:1;
    uint8_t spindleCCW:1;
    uint8_t exactStopCheck:1;
  };
} TGCodeMachineState;

bool init_machine(void *data);
/* Examine the movement queue and perform the next scheduled move, if any, as
 * appropriate. Returns false if the movement queue was empty. */
bool move_machine_queue(void);
/* Move to X,Y,Z-A,B,C at speed F. All axes move simultaneously for linear
 * interpolation */
bool move_machine_line(double X, double Y, double Z, TGCodeFeedMode feedMode,
    double F, TGCodeCompSpec radComp, TGCodeCornerMode corner);
/* Move to X,Y,Z following an arc with the center at I,J,K, radius R and
 * running CCW if ccw is true, CW otherwise. Usually, one of I,J,K or R will be
 * NaN so the other will be extrapolated. CW/CCW is decided looking towards the
 * negative end of the axis perpendicular on plane */
bool move_machine_arc(double X, double Y, double Z, double I, double J,
    double K, double R, bool ccw, TGCodePlaneMode plane,
    TGCodeFeedMode feedMode, double F, TGCodeCompSpec radComp,
    TGCodeCornerMode corner);
/* Executes either home & recalibrate, go to zero or return from zero going
 * through the point specified if any */
bool move_machine_home(TGCodeCycleMode mode, double X, double Y, double Z);
/* Executes auxiliary movements (spindle orientation, indexer and Z retract) */
bool move_machine_aux(TGCodeAuxiliaryMachine mode, uint32_t P);
/* Start the spindle in the indicated direction or stop it. If there was no
 * previous call to set_spindle_speed_machine(), spindle will run at the lowest
 * achievable speed. Returns false if spindle is already started. */
bool start_spindle_machine(TGCodeSpindleMode direction);
/* Run the spindle at speed rpm */
bool set_spindle_speed_machine(uint32_t speed);
/* Position the spindle oriented at orientation degrees */
bool orient_spindle_machine(uint16_t orientation);
/* Display operator messages */
void display_machine_message(char *message);
/* Returns true if the "Skip Deleted Blocks" switch is on */
bool block_delete_machine(void);
/* Returns true if the "Optional Stop" switch is on */
bool optional_stop_machine(void);
/* Returns feed reduced by the amount set on the Feed Rate Override control or
 * feed if same is disabled */
uint16_t override_feed_machine(uint16_t feed);
/* Returns speed reduced by the amount set on the Spindle Speed Override
 * control or speed if same is disabled */
uint32_t override_speed_machine(uint32_t speed);
/* Turns the carousel/scrolls the magazine to given tool slot in preparation
 * for ATC. On machines with a fixed tool store, opens the given compartment/
 * slot in preparation for ATC. On machines without any tool store movement,
 * does nothing */
bool preselect_tool_machine(uint8_t tool);
/* Performs ATC to given tool. If called with zero, unloads current tool in
 * spindle if any */
bool change_tool_machine(uint8_t tool);
/* Starts or stops various kinds of coolant based on mode */
bool start_coolant_machine(TGCodeCoolantMode mode);
/* Enables or disables the feed & speed overrides */
bool enable_override_machine(TGCodeOverrideMode mode);
/* Selects probe signal input from either the tool height sensor on the machine
 * bed or the spindle-mounted probe */
bool select_probeinput_machine(TGCodeProbeInput input);
/* Selects probe cycle type: single or double touch */
bool select_probemode_machine(TGCodeProbeMode mode);
/* Enables full axis-mirroring (inversion) */
bool enable_mirror_machine(TGCodeMirrorMachine mode);
/* Selects path control mode (exact stop check) */
bool select_pathmode_machine(TGCodePathControl mode);
/* Performs machine stop (which means a pause of some sort) */
bool do_stop_machine(TGCodeStopMode mode);
/* Returns true if the machine is (or should still be) running, false if we
 * should abort */
bool machine_running(void);
/* Enables or disables power to the machine movement */
bool enable_power_machine(TGCodeStopMode mode);
bool done_machine(void);


#endif /* GCODE_MACHINE_H_ */