76ab1b6a42
- G38.2 straight probe now supported. Rough draft. May be tweaked more as testing ramps up. - G38.2 requires at least one axis word. Multiple axis words work too. When commanded, the probe cycle will move at the last ‘F’ feed rate specified in a straight line. - During a probe cycle: If the probe pin goes low (normal high), Grbl will record that immediate position and engage a feed hold. Meaning that the CNC machine will move a little past the probe switch point, so keep federates low to stop sooner. Once stopped, Grbl will issue a move to go back to the recorded probe trigger point. - During a probe cycle: If the probe switch does not engage by the time the machine has traveled to its target coordinates, Grbl will issue an ALARM and the user will be forced to reset Grbl. (Currently G38.3 probe without error isn’t supported, but would be easy to implement later.) - After a successful probe, Grbl will send a feedback message containing the recorded probe coordinates in the machine coordinate system. This is as the g-code standard on probe parameters specifies. - The recorded probe parameters are retained in Grbl memory and can be viewed with the ‘$#’ print parameters command. Upon a power-cycle, not a soft-reset, Grbl will re-zero these values. - Moved ‘$#’ command to require IDLE or ALARM mode, because it accesses EEPROM to fetch the coordinate system offsets. - Updated the Grbl version to v0.9d. - The probe cycle is subject to change upon testing or user-feedback.
105 lines
4.5 KiB
C
105 lines
4.5 KiB
C
/*
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gcode.h - rs274/ngc parser.
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Part of Grbl
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Copyright (c) 2011-2014 Sungeun K. Jeon
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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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 "system.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,G38.2,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_8 9 // [M7,M8,M9] Coolant control
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#define MODAL_GROUP_12 10 // [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_PROBE 4 // G38.x
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#define MOTION_MODE_CANCEL 5 // 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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uint8_t coolant_mode; // 0 = Disable, 1 = Flood Enable, 2 = Mist Enable {M8, M9}
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uint8_t spindle_direction; // 1 = CW, 2 = CCW, 0 = Stop {M3, M4, M5}
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float spindle_speed; // RPM
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float feed_rate; // Millimeters/min
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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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uint8_t tool;
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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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float arc_radius;
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float arc_offset[N_AXIS];
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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_sync_position();
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#endif
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