From e455faaeef61b4b094d4e2b63725cb3e31a1a603 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Sat, 5 Jul 2014 09:51:22 -0600 Subject: [PATCH] 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. --- gcode.c | 21 +++++++++++++++++++-- gcode.h | 57 ++++++++++++++++++++++++++++++++------------------------- 2 files changed, 51 insertions(+), 27 deletions(-) diff --git a/gcode.c b/gcode.c index 89e9756..8ffdbcc 100644 --- a/gcode.c +++ b/gcode.c @@ -37,6 +37,7 @@ #define AXIS_COMMAND_NONE 0 #define AXIS_COMMAND_NON_MODAL 1 #define AXIS_COMMAND_MOTION_MODE 2 +#define AXIS_COMMAND_TOOL_LENGTH_OFFSET 3 // *Undefined but required // Declare gc extern struct parser_state_t gc_state; @@ -148,6 +149,7 @@ uint8_t gc_execute_line(char *line) switch(int_value) { case 10: case 28: case 30: case 92: // Check for G10/28/30/92 being called with G0/1/2/3/38 on same block. + // * G43.1 is also an axis command but is not explicitly defined this way. if (mantissa == 0) { // Ignore G28.1, G30.1, and G92.1 if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict] axis_command = AXIS_COMMAND_NON_MODAL; @@ -187,6 +189,7 @@ uint8_t gc_execute_line(char *line) break; case 0: case 1: case 2: case 3: case 38: // Check for G0/1/2/3/38 being called with G10/28/30/92 on same block. + // * G43.1 is also an axis command but is not explicitly defined this way. if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict] axis_command = AXIS_COMMAND_MOTION_MODE; // No break. Continues to next line. @@ -234,6 +237,18 @@ uint8_t gc_execute_line(char *line) if (int_value == 20) { gc_block.modal.units = UNITS_MODE_INCHES; } // G20 else { gc_block.modal.units = UNITS_MODE_MM; } // G21 break; + case 43: case 49: + word_bit = MODAL_GROUP_G8; + if (int_value == 49) { + gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_CANCEL; + // Else command is G43. Only G43.1 is supported. G43 is NOT. + } else if (mantissa == 1) { + // * G43.1 is requires an axis word to operate and cannot exist with other axis + // commands in the same line. However, it's not explicitly defined this way. + if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict] } + axis_command = AXIS_COMMAND_TOOL_LENGTH_OFFSET; + gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC; + } else { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [Unsupported G43.x command] case 54: case 55: case 56: case 57: case 58: case 59: // NOTE: G59.x are not supported. (But their int_values would be 60, 61, and 62.) word_bit = MODAL_GROUP_G12; @@ -422,7 +437,7 @@ uint8_t gc_execute_line(char *line) if (bit_isfalse(value_words,bit(WORD_S))) { gc_block.values.s = gc_state.spindle_speed; } // bit_false(value_words,bit(WORD_S)); // NOTE: Single-meaning value word. Set at end of error-checking. - // [5. Select tool ]: NOT SUPPORTED. T is negative (done.) Not an integer. Greater than max tool value. + // [5. Select tool ]: NOT SUPPORTED. Only tracks value. T is negative (done.) Not an integer. Greater than max tool value. // bit_false(value_words,bit(WORD_T)); // NOTE: Single-meaning value word. Set at end of error-checking. // [6. Change tool ]: N/A @@ -466,7 +481,9 @@ uint8_t gc_execute_line(char *line) } // [13. Cutter radius compensation ]: NOT SUPPORTED. Error, if G53 is active. - // [14. Cutter length compensation ]: NOT SUPPORTED. + + // [14. Cutter length compensation ]: G43 NOT SUPPORTED, but G43.1 and G49 are. + // G43.1 Error with motion command in same line. (Already done by axis command checks in parser.) // [15. Coordinate system selection ]: *N/A. Error, if cutter radius comp is active. // TODO: An EEPROM read of the coordinate data may require a buffer sync when the cycle diff --git a/gcode.h b/gcode.h index 3acba8f..b39e1f6 100644 --- a/gcode.h +++ b/gcode.h @@ -36,20 +36,21 @@ #define MODAL_GROUP_G3 3 // [G90,G91] Distance mode #define MODAL_GROUP_G5 4 // [G93,G94] Feed rate mode #define MODAL_GROUP_G6 5 // [G20,G21] Units -#define MODAL_GROUP_G12 6 // [G54,G55,G56,G57,G58,G59] Coordinate system selection +#define MODAL_GROUP_G8 6 // [G43,G43.1,G49] Tool length offset +#define MODAL_GROUP_G12 7 // [G54,G55,G56,G57,G58,G59] Coordinate system selection -#define MODAL_GROUP_M4 7 // [M0,M1,M2,M30] Stopping -#define MODAL_GROUP_M7 8 // [M3,M4,M5] Spindle turning -#define MODAL_GROUP_M8 9 // [M7,M8,M9] Coolant control +#define MODAL_GROUP_M4 8 // [M0,M1,M2,M30] Stopping +#define MODAL_GROUP_M7 9 // [M3,M4,M5] Spindle turning +#define MODAL_GROUP_M8 10 // [M7,M8,M9] Coolant control -#define OTHER_INPUT_F 10 -#define OTHER_INPUT_S 11 -#define OTHER_INPUT_T 12 +#define OTHER_INPUT_F 11 +#define OTHER_INPUT_S 12 +#define OTHER_INPUT_T 13 // Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used // internally by the parser to know which command to execute. -// Modal Group 0: Non-modal actions +// Modal Group G0: Non-modal actions #define NON_MODAL_NO_ACTION 0 // (Default: Must be zero) #define NON_MODAL_DWELL 1 // G4 #define NON_MODAL_SET_COORDINATE_DATA 2 // G10 @@ -61,7 +62,7 @@ #define NON_MODAL_SET_COORDINATE_OFFSET 8 // G92 #define NON_MODAL_RESET_COORDINATE_OFFSET 9 //G92.1 -// Modal Group 1: Motion modes +// Modal Group G1: Motion modes #define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero) #define MOTION_MODE_LINEAR 1 // G1 #define MOTION_MODE_CW_ARC 2 // G2 @@ -69,39 +70,43 @@ #define MOTION_MODE_PROBE 4 // G38.2 #define MOTION_MODE_NONE 5 // G80 -// Modal Group 2: Plane select +// Modal Group G2: Plane select #define PLANE_SELECT_XY 0 // G17 (Default: Must be zero) #define PLANE_SELECT_ZX 1 // G18 #define PLANE_SELECT_YZ 2 // G19 -// Modal Group 3: Distance mode +// Modal Group G3: Distance mode #define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero) #define DISTANCE_MODE_INCREMENTAL 1 // G91 -// Modal Group 4: Program flow +// Modal Group M4: Program flow #define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero) #define PROGRAM_FLOW_PAUSED 1 // M0, M1 #define PROGRAM_FLOW_COMPLETED 2 // M2, M30 -// Modal Group 5: Feed rate mode +// Modal Group G5: Feed rate mode #define FEED_RATE_MODE_UNITS_PER_MIN 0 // G94 (Default: Must be zero) #define FEED_RATE_MODE_INVERSE_TIME 1 // G93 -// Modal Group 6: Units mode +// Modal Group G6: Units mode #define UNITS_MODE_MM 0 // G21 (Default: Must be zero) #define UNITS_MODE_INCHES 1 // G20 -// Modal Group 7: Spindle control +// Modal Group M7: Spindle control #define SPINDLE_DISABLE 0 // M5 (Default: Must be zero) #define SPINDLE_ENABLE_CW 1 // M3 #define SPINDLE_ENABLE_CCW 2 // M4 -// Modal Group 8: Coolant control +// Modal Group M8: Coolant control #define COOLANT_DISABLE 0 // M9 (Default: Must be zero) #define COOLANT_MIST_ENABLE 1 // M7 #define COOLANT_FLOOD_ENABLE 2 // M8 -// Modal Group 12: Active work coordinate system +// Modal Group G8: Tool length offset +#define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero) +#define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1 + +// Modal Group G12: Active work coordinate system // N/A: Stores coordinate system value (54-59) to change to. #define WORD_F 0 @@ -128,6 +133,7 @@ typedef struct { uint8_t units; // {G20,G21} uint8_t distance; // {G90,G91} uint8_t plane_select; // {G17,G18,G19} + uint8_t tool_length; // {G43.1,G49} uint8_t coord_select; // {G54,G55,G56,G57,G58,G59} uint8_t program_flow; // {M0,M1,M2,M30} uint8_t coolant; // {M7,M8,M9} @@ -151,16 +157,17 @@ typedef struct { typedef struct { gc_modal_t modal; - float spindle_speed; // RPM - float feed_rate; // Millimeters/min - uint8_t tool; + float spindle_speed; // RPM + float feed_rate; // Millimeters/min + uint8_t tool; // Tracks tool number. NOT USED. - float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code + float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code - float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine - // position in mm. Loaded from EEPROM when called. - float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to - // machine zero in mm. Non-persistent. Cleared upon reset and boot. + float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine + // position in mm. Loaded from EEPROM when called. + float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to + // machine zero in mm. Non-persistent. Cleared upon reset and boot. + float tool_length_offset; // Tracks tool length offset value when enabled. } parser_state_t; extern parser_state_t gc_state;