a1397f61c4
- Maximum velocity for each axis is now configurable in settings. All rapids/seek move at these maximums. All feed rates(including rapids) may be limited and scaled down so that no axis does not exceed their limits. - Moved around auto-cycle start. May change later, but mainly to ensure the planner buffer is completely full before cycle starting a streaming program. Otherwise it should auto-start when there is a break in the serial stream. - Reverted old block->max_entry_speed_sqr calculations. Feedrate overrides not close to ready at all. - Fixed intermittent slow trailing steps for some triangle velocity profile moves. The acceleration tick counter updating was corrected to be exact for that particular transition. Should be ok for normal trapezoidal profiles. - Fixed the Timer0 disable after a step pulse falling edge. Thanks @blinkenlight!
99 lines
4.3 KiB
C
99 lines
4.3 KiB
C
/*
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gcode.h - rs274/ngc parser.
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011-2012 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef gcode_h
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#define gcode_h
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#include <avr/io.h>
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#include "nuts_bolts.h"
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// Define modal group internal numbers for checking multiple command violations and tracking the
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// type of command that is called in the block. A modal group is a group of g-code commands that are
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// mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute
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// a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online,
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// and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc).
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#define MODAL_GROUP_NONE 0
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#define MODAL_GROUP_0 1 // [G4,G10,G28,G30,G53,G92,G92.1] Non-modal
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#define MODAL_GROUP_1 2 // [G0,G1,G2,G3,G80] Motion
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#define MODAL_GROUP_2 3 // [G17,G18,G19] Plane selection
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#define MODAL_GROUP_3 4 // [G90,G91] Distance mode
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#define MODAL_GROUP_4 5 // [M0,M1,M2,M30] Stopping
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#define MODAL_GROUP_5 6 // [G93,G94] Feed rate mode
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#define MODAL_GROUP_6 7 // [G20,G21] Units
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#define MODAL_GROUP_7 8 // [M3,M4,M5] Spindle turning
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#define MODAL_GROUP_12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
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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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#define MOTION_MODE_SEEK 0 // G0
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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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#define MOTION_MODE_CCW_ARC 3 // G3
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#define MOTION_MODE_CANCEL 4 // G80
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#define PROGRAM_FLOW_RUNNING 0
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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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#define NON_MODAL_NONE 0
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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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#define NON_MODAL_GO_HOME_0 3 // G28
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#define NON_MODAL_SET_HOME_0 4 // G28.1
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#define NON_MODAL_GO_HOME_1 5 // G30
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#define NON_MODAL_SET_HOME_1 6 // G30.1
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#define NON_MODAL_SET_COORDINATE_OFFSET 7 // G92
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#define NON_MODAL_RESET_COORDINATE_OFFSET 8 //G92.1
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typedef struct {
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uint8_t status_code; // Parser status for current block
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uint8_t motion_mode; // {G0, G1, G2, G3, G80}
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uint8_t inverse_feed_rate_mode; // {G93, G94}
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uint8_t inches_mode; // 0 = millimeter mode, 1 = inches mode {G20, G21}
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uint8_t absolute_mode; // 0 = relative motion, 1 = absolute motion {G90, G91}
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uint8_t program_flow; // {M0, M1, M2, M30}
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int8_t spindle_direction; // 1 = CW, -1 = CCW, 0 = Stop {M3, M4, M5}
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uint8_t coolant_mode; // 0 = Disable, 1 = Flood Enable {M8, M9}
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float feed_rate; // Millimeters/min
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float position[3]; // Where the interpreter considers the tool to be at this point in the code
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uint8_t tool;
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// uint16_t spindle_speed; // RPM/100
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uint8_t plane_axis_0,
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plane_axis_1,
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plane_axis_2; // The axes of the selected plane
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uint8_t coord_select; // Active work coordinate system number. Default: 0=G54.
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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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} parser_state_t;
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extern parser_state_t gc;
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// Initialize the parser
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void gc_init();
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// Execute one block of rs275/ngc/g-code
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uint8_t gc_execute_line(char *line);
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// Set g-code parser position. Input in steps.
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void gc_set_current_position(int32_t x, int32_t y, int32_t z);
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#endif
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