/* gcode.h - rs274/ngc parser. Part of Grbl Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. Grbl is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ #ifndef gcode_h #define gcode_h // Define modal group internal numbers for checking multiple command violations and tracking the // type of command that is called in the block. A modal group is a group of g-code commands that are // mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute // a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online, // and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc). // NOTE: Modal group define values must be sequential and starting from zero. #define MODAL_GROUP_G0 0 // [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal #define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G38.2,G38.3,G38.4,G38.5,G80] Motion #define MODAL_GROUP_G2 2 // [G17,G18,G19] Plane selection #define MODAL_GROUP_G3 3 // [G90,G91] Distance mode #define MODAL_GROUP_G4 4 // [G91.1] Arc IJK distance mode #define MODAL_GROUP_G5 5 // [G93,G94] Feed rate mode #define MODAL_GROUP_G6 6 // [G20,G21] Units #define MODAL_GROUP_G7 7 // [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED. #define MODAL_GROUP_G8 8 // [G43.1,G49] Tool length offset #define MODAL_GROUP_G12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection #define MODAL_GROUP_G13 10 // [G61] Control mode #define MODAL_GROUP_M4 11 // [M0,M1,M2,M30] Stopping #define MODAL_GROUP_M7 12 // [M3,M4,M5] Spindle turning #define MODAL_GROUP_M8 13 // [M7,M8,M9] Coolant control // #define OTHER_INPUT_F 14 // #define OTHER_INPUT_S 15 // #define OTHER_INPUT_T 16 // Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used // internally by the parser to know which command to execute. // NOTE: Some macro values are assigned specific values to make g-code state reporting and parsing // compile a litte smaller. Necessary due to being completely out of flash on the 328p. Although not // ideal, just be careful with values that state 'do not alter' and check both report.c and gcode.c // to see how they are used, if you need to alter them. // Modal Group G0: Non-modal actions #define NON_MODAL_NO_ACTION 0 // (Default: Must be zero) #define NON_MODAL_DWELL 4 // G4 (Do not alter value) #define NON_MODAL_SET_COORDINATE_DATA 10 // G10 (Do not alter value) #define NON_MODAL_GO_HOME_0 28 // G28 (Do not alter value) #define NON_MODAL_SET_HOME_0 38 // G28.1 (Do not alter value) #define NON_MODAL_GO_HOME_1 30 // G30 (Do not alter value) #define NON_MODAL_SET_HOME_1 40 // G30.1 (Do not alter value) #define NON_MODAL_ABSOLUTE_OVERRIDE 53 // G53 (Do not alter value) #define NON_MODAL_SET_COORDINATE_OFFSET 92 // G92 (Do not alter value) #define NON_MODAL_RESET_COORDINATE_OFFSET 102 //G92.1 (Do not alter value) // Modal Group G1: Motion modes #define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero) #define MOTION_MODE_LINEAR 1 // G1 (Do not alter value) #define MOTION_MODE_CW_ARC 2 // G2 (Do not alter value) #define MOTION_MODE_CCW_ARC 3 // G3 (Do not alter value) #define MOTION_MODE_PROBE_TOWARD 140 // G38.2 (Do not alter value) #define MOTION_MODE_PROBE_TOWARD_NO_ERROR 141 // G38.3 (Do not alter value) #define MOTION_MODE_PROBE_AWAY 142 // G38.4 (Do not alter value) #define MOTION_MODE_PROBE_AWAY_NO_ERROR 143 // G38.5 (Do not alter value) #define MOTION_MODE_NONE 80 // G80 (Do not alter value) // Modal Group G2: Plane select #define PLANE_SELECT_XY 0 // G17 (Default: Must be zero) #define PLANE_SELECT_ZX 1 // G18 (Do not alter value) #define PLANE_SELECT_YZ 2 // G19 (Do not alter value) // Modal Group G3: Distance mode #define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero) #define DISTANCE_MODE_INCREMENTAL 1 // G91 (Do not alter value) // Modal Group G4: Arc IJK distance mode #define DISTANCE_ARC_MODE_INCREMENTAL 0 // G91.1 (Default: Must be zero) // Modal Group M4: Program flow #define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero) #define PROGRAM_FLOW_PAUSED 3 // M0 #define PROGRAM_FLOW_OPTIONAL_STOP 1 // M1 NOTE: Not supported, but valid and ignored. #define PROGRAM_FLOW_COMPLETED_M2 2 // M2 (Do not alter value) #define PROGRAM_FLOW_COMPLETED_M30 30 // M30 (Do not alter value) // 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 (Do not alter value) // Modal Group G6: Units mode #define UNITS_MODE_MM 0 // G21 (Default: Must be zero) #define UNITS_MODE_INCHES 1 // G20 (Do not alter value) // Modal Group G7: Cutter radius compensation mode #define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero) // Modal Group G13: Control mode #define CONTROL_MODE_EXACT_PATH 0 // G61 (Default: Must be zero) // Modal Group M7: Spindle control #define SPINDLE_DISABLE 0 // M5 (Default: Must be zero) #define SPINDLE_ENABLE_CW PL_COND_FLAG_SPINDLE_CW // M3 (NOTE: Uses planner condition bit flag) #define SPINDLE_ENABLE_CCW PL_COND_FLAG_SPINDLE_CCW // M4 (NOTE: Uses planner condition bit flag) // Modal Group M8: Coolant control #define COOLANT_DISABLE 0 // M9 (Default: Must be zero) #define COOLANT_FLOOD_ENABLE PL_COND_FLAG_COOLANT_FLOOD // M8 (NOTE: Uses planner condition bit flag) #define COOLANT_MIST_ENABLE PL_COND_FLAG_COOLANT_MIST // M7 (NOTE: Uses planner condition bit flag) // 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 parameter word mapping. #define WORD_F 0 #define WORD_I 1 #define WORD_J 2 #define WORD_K 3 #define WORD_L 4 #define WORD_N 5 #define WORD_P 6 #define WORD_R 7 #define WORD_S 8 #define WORD_T 9 #define WORD_X 10 #define WORD_Y 11 #define WORD_Z 12 // Define g-code parser position updating flags #define GC_UPDATE_POS_TARGET 0 // Must be zero #define GC_UPDATE_POS_SYSTEM 1 #define GC_UPDATE_POS_NONE 2 // Define probe cycle exit states and assign proper position updating. #define GC_PROBE_FOUND GC_UPDATE_POS_SYSTEM #define GC_PROBE_ABORT GC_UPDATE_POS_NONE #define GC_PROBE_FAIL_INIT GC_UPDATE_POS_NONE #define GC_PROBE_FAIL_END GC_UPDATE_POS_TARGET #ifdef SET_CHECK_MODE_PROBE_TO_START #define GC_PROBE_CHECK_MODE GC_UPDATE_POS_NONE #else #define GC_PROBE_CHECK_MODE GC_UPDATE_POS_TARGET #endif // Define gcode parser flags for handling special cases. #define GC_PARSER_NONE 0 // Must be zero. #define GC_PARSER_JOG_MOTION bit(0) #define GC_PARSER_CHECK_MANTISSA bit(1) #define GC_PARSER_ARC_IS_CLOCKWISE bit(2) #define GC_PARSER_PROBE_IS_AWAY bit(3) #define GC_PARSER_PROBE_IS_NO_ERROR bit(4) #define GC_PARSER_LASER_FORCE_SYNC bit(5) #define GC_PARSER_LASER_DISABLE bit(6) #define GC_PARSER_LASER_ISMOTION bit(7) // NOTE: When this struct is zeroed, the above defines set the defaults for the system. typedef struct { uint8_t motion; // {G0,G1,G2,G3,G38.2,G80} uint8_t feed_rate; // {G93,G94} uint8_t units; // {G20,G21} uint8_t distance; // {G90,G91} // uint8_t distance_arc; // {G91.1} NOTE: Don't track. Only default supported. uint8_t plane_select; // {G17,G18,G19} // uint8_t cutter_comp; // {G40} NOTE: Don't track. Only default supported. uint8_t tool_length; // {G43.1,G49} uint8_t coord_select; // {G54,G55,G56,G57,G58,G59} // uint8_t control; // {G61} NOTE: Don't track. Only default supported. uint8_t program_flow; // {M0,M1,M2,M30} uint8_t coolant; // {M7,M8,M9} uint8_t spindle; // {M3,M4,M5} } gc_modal_t; typedef struct { float f; // Feed float ijk[3]; // I,J,K Axis arc offsets uint8_t l; // G10 or canned cycles parameters int32_t n; // Line number float p; // G10 or dwell parameters // float q; // G82 peck drilling float r; // Arc radius float s; // Spindle speed uint8_t t; // Tool selection float xyz[3]; // X,Y,Z Translational axes } gc_values_t; typedef struct { gc_modal_t modal; float spindle_speed; // RPM float feed_rate; // Millimeters/min uint8_t tool; // Tracks tool number. NOT USED. int32_t line_number; // Last line number sent 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 tool_length_offset; // Tracks tool length offset value when enabled. } parser_state_t; extern parser_state_t gc_state; typedef struct { uint8_t non_modal_command; gc_modal_t modal; gc_values_t values; } parser_block_t; // Initialize the parser void gc_init(); // Execute one block of rs275/ngc/g-code uint8_t gc_execute_line(char *line); // Set g-code parser position. Input in steps. void gc_sync_position(); #endif