567fbf93ed
- G54 work coordinate system support. Up to 6 work coordinate systems (G54-G59) available as a compile-time option. - G10 command added to set work coordinate offsets from machine position. - G92/G92.1 position offsets and cancellation support. Properly follows NIST standard rules with other systems. - G53 absolute override now works correctly with new coordinate systems. - Revamped g-code parser with robust error checking. Providing user feedback with bad commands. Follows NIST standards. - Planner module slightly changed to only expected position movements in terms of machine coordinates only. This was to simplify coordinate system handling, which is done solely by the g-code parser. - Upon grbl system abort, machine position and work positions are retained, while G92 offsets are reset per NIST standards. - Compiler compatibility update for _delay_us(). - Updated README.
99 lines
4.2 KiB
C
99 lines
4.2 KiB
C
/*
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nuts_bolts.h - Header file for shared definitions, variables, and functions
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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 nuts_bolts_h
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#define nuts_bolts_h
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#include <config.h>
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#include <string.h>
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#include <stdint.h>
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#include <stdbool.h>
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#define false 0
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#define true 1
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#define X_AXIS 0
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#define Y_AXIS 1
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#define Z_AXIS 2
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#define MM_PER_INCH (25.4)
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// Useful macros
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#define clear_vector(a) memset(a, 0, sizeof(a))
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#define clear_vector_double(a) memset(a, 0.0, sizeof(a))
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#define max(a,b) (((a) > (b)) ? (a) : (b))
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#define min(a,b) (((a) < (b)) ? (a) : (b))
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// Bit field and masking macros
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#define bit(n) (1 << n)
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#define bit_true(x,mask) (x |= mask)
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#define bit_false(x,mask) (x &= ~mask)
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#define bit_toggle(x,mask) (x ^= mask)
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#define bit_istrue(x,mask) ((x & mask) != 0)
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#define bit_isfalse(x,mask) ((x & mask) == 0)
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// Define system executor bit map. Used internally by runtime protocol as runtime command flags,
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// which notifies the main program to execute the specified runtime command asynchronously.
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// NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default
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// flags are always false, so the runtime protocol only needs to check for a non-zero value to
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// know when there is a runtime command to execute.
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#define EXEC_STATUS_REPORT bit(0) // bitmask 00000001
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#define EXEC_CYCLE_START bit(1) // bitmask 00000010
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#define EXEC_CYCLE_STOP bit(2) // bitmask 00000100
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#define EXEC_FEED_HOLD bit(3) // bitmask 00001000
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#define EXEC_RESET bit(4) // bitmask 00010000
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// #define bit(5) // bitmask 00100000
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// #define bit(6) // bitmask 01000000
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// #define bit(7) // bitmask 10000000
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// Define global system variables
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typedef struct {
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uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
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uint8_t feed_hold; // Feed hold flag. Held true during feed hold. Released when ready to resume.
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uint8_t auto_start; // Planner auto-start flag. Toggled off during feed hold. Defaulted by settings.
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int32_t position[3]; // Real-time machine (aka home) position vector in steps.
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// NOTE: This may need to be a volatile variable, if problems arise.
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uint8_t coord_select; // Active work coordinate system number. Default: 0=G54.
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double coord_system[N_COORDINATE_SYSTEM][3]; // Work coordinate systems (G54+). Stores offset from
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// absolute machine position in mm.
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// Rows: Work system number (0=G54,1=G55,...5=G59), Columns: XYZ Offsets
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double coord_offset[3]; // Retains the G92 coordinate offset (work coordinates) relative to
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// machine zero in mm.
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volatile uint8_t cycle_start; // Cycle start flag. Set by stepper subsystem or main program.
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volatile uint8_t execute; // Global system runtime executor bitflag variable. See EXEC bitmasks.
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} system_t;
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extern system_t sys;
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// Read a floating point value from a string. Line points to the input buffer, char_counter
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// is the indexer pointing to the current character of the line, while double_ptr is
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// a pointer to the result variable. Returns true when it succeeds
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int read_double(char *line, uint8_t *char_counter, double *double_ptr);
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// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms().
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void delay_ms(uint16_t ms);
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// Delays variable-defined microseconds. Compiler compatibility fix for _delay_us().
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void delay_us(uint16_t us);
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#endif
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