New G43.1/G49 gcodes. Not working yet!!
- Pushed this uncompleted code to merge a conflicting pull request. - New G43.1 and G49 g-codes to be installed. The beginnings of it are in place. These g-codes are intended to be used in conjunction with probing and allow GUIs to set tool length offsets without Grbl needing to store a tool table. - G43.1 is defined as a dynamic tool length offset that is not stored in memory. Rather, when commanded, these are applied to the work coordinates until a reset or disabled by G49. This works much like G92.
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Sonny Jeon
parent
ed417220e1
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e455faaeef
21
gcode.c
21
gcode.c
@ -37,6 +37,7 @@
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#define AXIS_COMMAND_NONE 0
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#define AXIS_COMMAND_NON_MODAL 1
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#define AXIS_COMMAND_MOTION_MODE 2
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#define AXIS_COMMAND_TOOL_LENGTH_OFFSET 3 // *Undefined but required
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// Declare gc extern struct
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parser_state_t gc_state;
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@ -148,6 +149,7 @@ uint8_t gc_execute_line(char *line)
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switch(int_value) {
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case 10: case 28: case 30: case 92:
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// Check for G10/28/30/92 being called with G0/1/2/3/38 on same block.
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// * G43.1 is also an axis command but is not explicitly defined this way.
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if (mantissa == 0) { // Ignore G28.1, G30.1, and G92.1
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if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict]
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axis_command = AXIS_COMMAND_NON_MODAL;
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@ -187,6 +189,7 @@ uint8_t gc_execute_line(char *line)
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break;
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case 0: case 1: case 2: case 3: case 38:
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// Check for G0/1/2/3/38 being called with G10/28/30/92 on same block.
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// * G43.1 is also an axis command but is not explicitly defined this way.
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if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict]
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axis_command = AXIS_COMMAND_MOTION_MODE;
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// No break. Continues to next line.
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@ -234,6 +237,18 @@ uint8_t gc_execute_line(char *line)
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if (int_value == 20) { gc_block.modal.units = UNITS_MODE_INCHES; } // G20
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else { gc_block.modal.units = UNITS_MODE_MM; } // G21
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break;
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case 43: case 49:
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word_bit = MODAL_GROUP_G8;
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if (int_value == 49) {
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gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_CANCEL;
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// Else command is G43. Only G43.1 is supported. G43 is NOT.
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} else if (mantissa == 1) {
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// * G43.1 is requires an axis word to operate and cannot exist with other axis
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// commands in the same line. However, it's not explicitly defined this way.
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if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict] }
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axis_command = AXIS_COMMAND_TOOL_LENGTH_OFFSET;
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gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC;
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} else { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [Unsupported G43.x command]
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case 54: case 55: case 56: case 57: case 58: case 59:
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// NOTE: G59.x are not supported. (But their int_values would be 60, 61, and 62.)
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word_bit = MODAL_GROUP_G12;
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@ -422,7 +437,7 @@ uint8_t gc_execute_line(char *line)
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if (bit_isfalse(value_words,bit(WORD_S))) { gc_block.values.s = gc_state.spindle_speed; }
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// bit_false(value_words,bit(WORD_S)); // NOTE: Single-meaning value word. Set at end of error-checking.
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// [5. Select tool ]: NOT SUPPORTED. T is negative (done.) Not an integer. Greater than max tool value.
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// [5. Select tool ]: NOT SUPPORTED. Only tracks value. T is negative (done.) Not an integer. Greater than max tool value.
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// bit_false(value_words,bit(WORD_T)); // NOTE: Single-meaning value word. Set at end of error-checking.
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// [6. Change tool ]: N/A
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@ -466,7 +481,9 @@ uint8_t gc_execute_line(char *line)
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}
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// [13. Cutter radius compensation ]: NOT SUPPORTED. Error, if G53 is active.
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// [14. Cutter length compensation ]: NOT SUPPORTED.
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// [14. Cutter length compensation ]: G43 NOT SUPPORTED, but G43.1 and G49 are.
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// G43.1 Error with motion command in same line. (Already done by axis command checks in parser.)
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// [15. Coordinate system selection ]: *N/A. Error, if cutter radius comp is active.
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// TODO: An EEPROM read of the coordinate data may require a buffer sync when the cycle
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57
gcode.h
57
gcode.h
@ -36,20 +36,21 @@
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#define MODAL_GROUP_G3 3 // [G90,G91] Distance mode
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#define MODAL_GROUP_G5 4 // [G93,G94] Feed rate mode
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#define MODAL_GROUP_G6 5 // [G20,G21] Units
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#define MODAL_GROUP_G12 6 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
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#define MODAL_GROUP_G8 6 // [G43,G43.1,G49] Tool length offset
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#define MODAL_GROUP_G12 7 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
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#define MODAL_GROUP_M4 7 // [M0,M1,M2,M30] Stopping
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#define MODAL_GROUP_M7 8 // [M3,M4,M5] Spindle turning
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#define MODAL_GROUP_M8 9 // [M7,M8,M9] Coolant control
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#define MODAL_GROUP_M4 8 // [M0,M1,M2,M30] Stopping
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#define MODAL_GROUP_M7 9 // [M3,M4,M5] Spindle turning
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#define MODAL_GROUP_M8 10 // [M7,M8,M9] Coolant control
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#define OTHER_INPUT_F 10
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#define OTHER_INPUT_S 11
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#define OTHER_INPUT_T 12
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#define OTHER_INPUT_F 11
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#define OTHER_INPUT_S 12
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#define OTHER_INPUT_T 13
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// Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
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// internally by the parser to know which command to execute.
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// Modal Group 0: Non-modal actions
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// Modal Group G0: Non-modal actions
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#define NON_MODAL_NO_ACTION 0 // (Default: Must be zero)
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#define NON_MODAL_DWELL 1 // G4
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#define NON_MODAL_SET_COORDINATE_DATA 2 // G10
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@ -61,7 +62,7 @@
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#define NON_MODAL_SET_COORDINATE_OFFSET 8 // G92
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#define NON_MODAL_RESET_COORDINATE_OFFSET 9 //G92.1
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// Modal Group 1: Motion modes
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// Modal Group G1: Motion modes
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#define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero)
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#define MOTION_MODE_LINEAR 1 // G1
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#define MOTION_MODE_CW_ARC 2 // G2
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@ -69,39 +70,43 @@
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#define MOTION_MODE_PROBE 4 // G38.2
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#define MOTION_MODE_NONE 5 // G80
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// Modal Group 2: Plane select
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// Modal Group G2: Plane select
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#define PLANE_SELECT_XY 0 // G17 (Default: Must be zero)
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#define PLANE_SELECT_ZX 1 // G18
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#define PLANE_SELECT_YZ 2 // G19
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// Modal Group 3: Distance mode
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// Modal Group G3: Distance mode
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#define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero)
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#define DISTANCE_MODE_INCREMENTAL 1 // G91
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// Modal Group 4: Program flow
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// Modal Group M4: Program flow
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#define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero)
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#define PROGRAM_FLOW_PAUSED 1 // M0, M1
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#define PROGRAM_FLOW_COMPLETED 2 // M2, M30
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// Modal Group 5: Feed rate mode
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// Modal Group G5: Feed rate mode
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#define FEED_RATE_MODE_UNITS_PER_MIN 0 // G94 (Default: Must be zero)
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#define FEED_RATE_MODE_INVERSE_TIME 1 // G93
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// Modal Group 6: Units mode
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// Modal Group G6: Units mode
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#define UNITS_MODE_MM 0 // G21 (Default: Must be zero)
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#define UNITS_MODE_INCHES 1 // G20
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// Modal Group 7: Spindle control
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// Modal Group M7: Spindle control
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#define SPINDLE_DISABLE 0 // M5 (Default: Must be zero)
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#define SPINDLE_ENABLE_CW 1 // M3
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#define SPINDLE_ENABLE_CCW 2 // M4
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// Modal Group 8: Coolant control
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// Modal Group M8: Coolant control
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#define COOLANT_DISABLE 0 // M9 (Default: Must be zero)
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#define COOLANT_MIST_ENABLE 1 // M7
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#define COOLANT_FLOOD_ENABLE 2 // M8
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// Modal Group 12: Active work coordinate system
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// Modal Group G8: Tool length offset
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#define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero)
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#define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1
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// Modal Group G12: Active work coordinate system
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// N/A: Stores coordinate system value (54-59) to change to.
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#define WORD_F 0
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@ -128,6 +133,7 @@ typedef struct {
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uint8_t units; // {G20,G21}
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uint8_t distance; // {G90,G91}
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uint8_t plane_select; // {G17,G18,G19}
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uint8_t tool_length; // {G43.1,G49}
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uint8_t coord_select; // {G54,G55,G56,G57,G58,G59}
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uint8_t program_flow; // {M0,M1,M2,M30}
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uint8_t coolant; // {M7,M8,M9}
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@ -151,16 +157,17 @@ typedef struct {
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typedef struct {
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gc_modal_t modal;
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float spindle_speed; // RPM
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float feed_rate; // Millimeters/min
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uint8_t tool;
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float spindle_speed; // RPM
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float feed_rate; // Millimeters/min
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uint8_t tool; // Tracks tool number. NOT USED.
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float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code
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float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code
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float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine
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// position in mm. Loaded from EEPROM when called.
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float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to
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// machine zero in mm. Non-persistent. Cleared upon reset and boot.
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float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine
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// position in mm. Loaded from EEPROM when called.
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float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to
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// machine zero in mm. Non-persistent. Cleared upon reset and boot.
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float tool_length_offset; // Tracks tool length offset value when enabled.
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} parser_state_t;
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extern parser_state_t gc_state;
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