*/
/// check alignment with messages in config.c / msg_stat strings
-enum cmCombinedState {
+typedef enum {
COMBINED_INITIALIZING, // machine is initializing
COMBINED_READY, // machine is ready for use. Also null move STOP state
COMBINED_ALARM, // machine in soft alarm state
COMBINED_CYCLE, // machine is running (cycling)
COMBINED_HOMING, // homing is treated as a cycle
COMBINED_SHUTDOWN, // machine in hard alarm state (shutdown)
-};
+} cmCombinedState_t;
-enum cmMachineState {
+typedef enum {
MACHINE_INITIALIZING, // machine is initializing
MACHINE_READY, // machine is ready for use
MACHINE_ALARM, // machine in soft alarm state
MACHINE_PROGRAM_END, // program end
MACHINE_CYCLE, // machine is running (cycling)
MACHINE_SHUTDOWN, // machine in hard alarm state (shutdown)
-};
+} cmMachineState_t;
-enum cmCycleState {
+typedef enum {
CYCLE_OFF, // machine is idle
CYCLE_MACHINING, // in normal machining cycle
CYCLE_PROBE, // in probe cycle
CYCLE_HOMING, // homing is treated as a specialized cycle
-};
+} cmCycleState_t;
-enum cmMotionState {
+typedef enum {
MOTION_STOP, // motion has stopped
MOTION_RUN, // machine is in motion
MOTION_HOLD // feedhold in progress
-};
+} cmMotionState_t;
-enum cmFeedholdState { // feedhold_state machine
+typedef enum { // feedhold_state machine
FEEDHOLD_OFF, // no feedhold in effect
FEEDHOLD_SYNC, // start hold - sync to latest aline segment
FEEDHOLD_PLAN, // replan blocks for feedhold
FEEDHOLD_DECEL, // decelerate to hold point
FEEDHOLD_HOLD, // holding
FEEDHOLD_END_HOLD // end hold (transient state to OFF)
-};
+} cmFeedholdState_t;
-enum cmHomingState { // applies to cm.homing_state
+typedef enum { // applies to cm.homing_state
HOMING_NOT_HOMED, // machine is not homed (0=false)
HOMING_HOMED, // machine is homed (1=true)
HOMING_WAITING // machine waiting to be homed
-};
+} cmHomingState_t;
-enum cmProbeState { // applies to cm.probe_state
+typedef enum { // applies to cm.probe_state
PROBE_FAILED, // probe reached endpoint without triggering
PROBE_SUCCEEDED, // probe was triggered, cm.probe_results has position
PROBE_WAITING // probe is waiting to be started
-};
+} cmProbeState_t;
/* The difference between NextAction and MotionMode is that NextAction is
* MotionMode persists across blocks (as G modal group 1)
*/
/// these are in order to optimized CASE statement
-enum cmNextAction {
+typedef enum {
NEXT_ACTION_DEFAULT, // Must be zero (invokes motion modes)
NEXT_ACTION_SEARCH_HOME, // G28.2 homing cycle
NEXT_ACTION_SET_ABSOLUTE_ORIGIN, // G28.3 origin set
NEXT_ACTION_RESUME_ORIGIN_OFFSETS, // G92.3
NEXT_ACTION_DWELL, // G4
NEXT_ACTION_STRAIGHT_PROBE // G38.2
-};
+} cmNextAction_t;
-enum cmMotionMode { // G Modal Group 1
+typedef enum { // G Modal Group 1
MOTION_MODE_STRAIGHT_TRAVERSE, // G0 - straight traverse
MOTION_MODE_STRAIGHT_FEED, // G1 - straight feed
MOTION_MODE_CW_ARC, // G2 - clockwise arc feed
MOTION_MODE_CANNED_CYCLE_87, // G87 - back boring
MOTION_MODE_CANNED_CYCLE_88, // G88 - boring, spindle stop, manual out
MOTION_MODE_CANNED_CYCLE_89, // G89 - boring, dwell, feed out
-};
+} cmMotionMode_t;
-enum cmModalGroup { // Used for detecting gcode errors. See NIST section 3.4
+typedef enum { // Used for detecting gcode errors. See NIST section 3.4
MODAL_GROUP_G0, // {G10,G28,G28.1,G92} non-modal axis commands
MODAL_GROUP_G1, // {G0,G1,G2,G3,G80} motion
MODAL_GROUP_G2, // {G17,G18,G19} plane selection
MODAL_GROUP_M7, // {M3,M4,M5} spindle turning
MODAL_GROUP_M8, // {M7,M8,M9} coolant
MODAL_GROUP_M9 // {M48,M49} speed/feed override switches
-};
+} cmModalGroup_t;
#define MODAL_GROUP_COUNT (MODAL_GROUP_M9 + 1)
// Note 1: Our G0 omits G4,G30,G53,G92.1,G92.2,G92.3 as these have no axis
// components to error check
-enum cmCanonicalPlane { // canonical plane - translates to:
+typedef enum { // canonical plane - translates to:
// axis_0 axis_1 axis_2
CANON_PLANE_XY, // G17 X Y Z
CANON_PLANE_XZ, // G18 X Z Y
CANON_PLANE_YZ // G19 Y Z X
-};
+} cmCanonicalPlane_t;
-enum cmUnitsMode {
+typedef enum {
INCHES, // G20
MILLIMETERS, // G21
DEGREES // ABC axes (this value used for displays only)
-};
+} cmUnitsMode_t;
-enum cmCoordSystem {
+typedef enum {
ABSOLUTE_COORDS, // machine coordinate system
G54, // G54 coordinate system
G55, // G55 coordinate system
G57, // G57 coordinate system
G58, // G58 coordinate system
G59 // G59 coordinate system
-};
+} cmCoordSystem_t;
#define COORD_SYSTEM_MAX G59 // set this manually to the last one
/// G Modal Group 13
-enum cmPathControlMode {
+typedef enum {
/// G61 - hits corners but does not stop if it does not need to.
PATH_EXACT_PATH,
PATH_EXACT_STOP, // G61.1 - stops at all corners
PATH_CONTINUOUS // G64 and typically the default mode
-};
+} cmPathControlMode_t;
-enum cmDistanceMode {
+typedef enum {
ABSOLUTE_MODE, // G90
INCREMENTAL_MODE // G91
-};
+} cmDistanceMode_t;
-enum cmFeedRateMode {
+typedef enum {
INVERSE_TIME_MODE, // G93
UNITS_PER_MINUTE_MODE, // G94
UNITS_PER_REVOLUTION_MODE // G95 (unimplemented)
-};
+} cmFeedRateMode_t;
-enum cmOriginOffset {
+typedef enum {
ORIGIN_OFFSET_SET, // G92 - set origin offsets
ORIGIN_OFFSET_CANCEL, // G92.1 - zero out origin offsets
ORIGIN_OFFSET_SUSPEND, // G92.2 - do not apply offsets, but preserve values
ORIGIN_OFFSET_RESUME // G92.3 - resume application of the suspended offsets
-};
+} cmOriginOffset_t;
-enum cmProgramFlow {
+typedef enum {
PROGRAM_STOP,
PROGRAM_END
-};
+} cmProgramFlow_t;
/// spindle state settings (See hardware.h for bit settings)
-enum cmSpindleState {
+typedef enum {
SPINDLE_OFF,
SPINDLE_CW,
SPINDLE_CCW
-};
+} cmSpindleState_t;
/// mist and flood coolant states
-enum cmCoolantState {
+typedef enum {
COOLANT_OFF, // all coolant off
COOLANT_ON, // request coolant on or indicate both coolants are on
COOLANT_MIST, // indicates mist coolant on
COOLANT_FLOOD // indicates flood coolant on
-};
+} cmCoolantState_t;
/// used for spindle and arc dir
-enum cmDirection {
+typedef enum {
DIRECTION_CW,
DIRECTION_CCW
-};
+} cmDirection_t;
/// axis modes (ordered: see _cm_get_feed_time())
-enum cmAxisMode {
+typedef enum {
AXIS_DISABLED, // kill axis
AXIS_STANDARD, // axis in coordinated motion w/standard behaviors
AXIS_INHIBITED, // axis is computed but not activated
AXIS_RADIUS, // rotary axis calibrated to circumference
AXIS_MODE_MAX
-}; // ordering must be preserved.
+} cmAxisMode_t; // ordering must be preserved.
#define AXIS_MODE_MAX_LINEAR AXIS_INHIBITED
#define AXIS_MODE_MAX_ROTARY AXIS_RADIUS
#include "util.h"
#include "config.h"
-enum moveType { // bf->move_type values
+typedef enum { // bf->move_type values
MOVE_TYPE_0, // null move - does a no-op
MOVE_TYPE_ALINE, // acceleration planned line
MOVE_TYPE_DWELL, // delay with no movement
MOVE_TYPE_COMMAND, // general command
MOVE_TYPE_JOG, // interactive jogging
-};
+} moveType_t;
-enum moveState {
+typedef enum {
MOVE_OFF, // move inactive (MUST BE ZERO)
MOVE_NEW, // general value if you need an initialization
MOVE_RUN, // general run state (for non-acceleration moves)
MOVE_SKIP_BLOCK // mark a skipped block
-};
+} moveState_t;
-enum moveSection {
+typedef enum {
SECTION_HEAD, // acceleration
SECTION_BODY, // cruise
SECTION_TAIL // deceleration
-};
+} moveSection_t;
#define SECTIONS 3
-enum sectionState {
+typedef enum {
SECTION_OFF, // section inactive
SECTION_NEW, // uninitialized section
SECTION_1st_HALF, // first half of S curve
SECTION_2nd_HALF // second half of S curve or running a BODY (cruise)
-};
+} sectionState_t;
// Most of these factors are the result of a lot of tweaking.
// Change with caution.
// All the enums that equal zero must be zero. Don't change this
-enum mpBufferState { // bf->buffer_state values
+typedef enum { // bf->buffer_state values
MP_BUFFER_EMPTY, // struct is available for use (MUST BE 0)
MP_BUFFER_LOADING, // being written ("checked out")
MP_BUFFER_QUEUED, // in queue
MP_BUFFER_PENDING, // marked as the next buffer to run
MP_BUFFER_RUNNING // current running buffer
-};
+} mpBufferState_t;
typedef struct mpBuffer { // See Planning Velocity Notes
// command.c functions
void mp_queue_command(cm_exec_t cm_exec, float *value, float *flag);
void mp_runtime_command(mpBuf_t *bf);
-
-
#include "config.h"
#include "status.h"
+#include "canonical_machine.h"
+#include "plan/planner.h"
#include <stdbool.h>
-enum prepBufferState {
+typedef enum {
PREP_BUFFER_OWNED_BY_LOADER, // staging buffer is ready for load
PREP_BUFFER_OWNED_BY_EXEC // staging buffer is being loaded
-};
+} prepBufferState_t;
// Currently there is no distinction between IDLE and OFF (DEENERGIZED)
// In the future IDLE will be powered at a low, torque-maintaining current
// Used w/start and stop flags to sequence motor power
-enum motorPowerState {
+typedef enum {
MOTOR_OFF, // motor stopped and deenergized
MOTOR_IDLE, // motor stopped and may be partially energized
MOTOR_RUNNING, // motor is running (and fully energized)
MOTOR_POWER_TIMEOUT_START, // transition state to start power-down timeout
MOTOR_POWER_TIMEOUT_COUNTDOWN // count down the time to de-energizing motors
-};
+} motorPowerState_t;
-enum cmMotorPowerMode {
+typedef enum {
MOTOR_DISABLED, // motor enable is deactivated
MOTOR_ALWAYS_POWERED, // motor is always powered while machine is ON
MOTOR_POWERED_IN_CYCLE, // motor fully powered during cycles,
// de-powered out of cycle
MOTOR_POWERED_ONLY_WHEN_MOVING, // idles shortly after stopped, even in cycle
MOTOR_POWER_MODE_MAX_VALUE // for input range checking
-};
+} cmMotorPowerMode_t;
-enum {
+typedef enum {
MOTOR_POLARITY_NORMAL,
MOTOR_POLARITY_REVERSED
-};
+} cmMotorPolarity_t;
/// Min/Max timeouts allowed for motor disable. Allow for inertial stop.
*/
// Per motor config structure
-typedef struct cfgMotor {
+typedef struct {
uint8_t motor_map; // map motor to axis
uint16_t microsteps; // microsteps to apply for each axis (ex: 8)
- uint8_t polarity; // 0=normal polarity, 1=reverse motor direction
- uint8_t power_mode; // See cmMotorPowerMode for enum
+ cmMotorPolarity_t polarity;
+ cmMotorPowerMode_t power_mode;
float step_angle; // degrees per whole step (ex: 1.8)
float travel_rev; // mm or deg of travel per motor revolution
float steps_per_unit; // microsteps per mm (or degree) of travel
/// stepper configs
-typedef struct stConfig {
+typedef struct {
float motor_power_timeout; // seconds before idle current
cfgMotor_t mot[MOTORS]; // settings for motors 1-N
} stConfig_t;
/// Motor runtime structure. Used by step generation ISR (HI)
-typedef struct stRunMotor { // one per controlled motor
- uint8_t power_state; // state machine for managing motor power
+typedef struct { // one per controlled motor
+ motorPowerState_t power_state; // state machine for managing motor power
uint32_t power_systick; // for next motor power state transition
} stRunMotor_t;
/// Stepper static values and axis parameters
-typedef struct stRunSingleton {
- uint8_t move_type;
+typedef struct {
+ moveType_t move_type;
bool busy;
uint16_t dwell;
stRunMotor_t mot[MOTORS]; // runtime motor structures
/// Motor prep structure. Used by exec/prep ISR (LO) and read-only during load
/// Must be careful about volatiles in this one
-typedef struct stPrepMotor {
+typedef struct {
uint8_t timer_clock; // clock divisor setting or zero for off
uint16_t timer_period; // clock period counter
uint32_t steps; // expected steps
// direction and direction change
- int8_t direction; // travel direction corrected for polarity
- uint8_t prev_direction; // travel direction from previous segment run
+ cmDirection_t direction; // travel direction corrected for polarity
+ cmDirection_t prev_direction; // travel direction from previous segment run
int8_t step_sign; // set to +1 or -1 for encoders
// step error correction
} stPrepMotor_t;
-typedef struct stPrepSingleton {
- volatile uint8_t buffer_state; // prep buffer state - owned by exec or loader
- uint8_t move_type; // move type
- struct mpBuffer *bf; // used for command moves
+typedef struct {
+ volatile prepBufferState_t buffer_state; // owned by exec or loader
+ moveType_t move_type;
+ struct mpBuffer *bf; // used for command moves
uint16_t seg_period;
uint32_t dwell;
- stPrepMotor_t mot[MOTORS]; // prep time motor structs
+ stPrepMotor_t mot[MOTORS]; // prep time motor structs
} stPrepSingleton_t;
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