85b0c7a8b4
- G91.1 support added. This g-code sets the arc IJK distance mode to incremental, which is the default already. This simply helps reduce parsing errors with certain CAM programs that output this command. - Max step rate checks weren’t being compiled in if the option was enabled. Fixed now. - Alarm codes were not displaying correctly when GUI reporting mode was enabled. Due to unsigned int problem. Changed codes to positive values since they aren’t shared with other codes.
207 lines
7.4 KiB
C
207 lines
7.4 KiB
C
/*
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gcode.h - rs274/ngc parser.
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Part of Grbl
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Copyright (c) 2011-2015 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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// 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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// NOTE: Modal group define values must be sequential and starting from zero.
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#define MODAL_GROUP_G0 0 // [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal
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#define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G38.2,G80] Motion
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#define MODAL_GROUP_G2 2 // [G17,G18,G19] Plane selection
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#define MODAL_GROUP_G3 3 // [G90,G91] Distance mode
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#define MODAL_GROUP_G4 4 // [G90.1,G91.1] Arc IJK distance mode
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#define MODAL_GROUP_G5 5 // [G93,G94] Feed rate mode
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#define MODAL_GROUP_G6 6 // [G20,G21] Units
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#define MODAL_GROUP_G7 7 // [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED.
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#define MODAL_GROUP_G8 8 // [G43,G43.1,G49] Tool length offset
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#define MODAL_GROUP_G12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
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#define MODAL_GROUP_M4 10 // [M0,M1,M2,M30] Stopping
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#define MODAL_GROUP_M7 11 // [M3,M4,M5] Spindle turning
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#define MODAL_GROUP_M8 12 // [M7,M8,M9] Coolant control
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#define OTHER_INPUT_F 12
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#define OTHER_INPUT_S 13
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#define OTHER_INPUT_T 14
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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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// Modal Group G0: Non-modal actions
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#define NON_MODAL_NO_ACTION 0 // (Default: Must be zero)
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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_ABSOLUTE_OVERRIDE 7 // G53
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#define NON_MODAL_SET_COORDINATE_OFFSET 8 // G92
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#define NON_MODAL_RESET_COORDINATE_OFFSET 9 //G92.1
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// Modal Group G1: Motion modes
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#define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero)
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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_TOWARD 4 // G38.2
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#define MOTION_MODE_PROBE_TOWARD_NO_ERROR 5 // G38.3
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#define MOTION_MODE_PROBE_AWAY 6 // G38.4
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#define MOTION_MODE_PROBE_AWAY_NO_ERROR 7 // G38.5
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#define MOTION_MODE_NONE 8 // G80
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// Modal Group G2: Plane select
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#define PLANE_SELECT_XY 0 // G17 (Default: Must be zero)
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#define PLANE_SELECT_ZX 1 // G18
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#define PLANE_SELECT_YZ 2 // G19
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// Modal Group G3: Distance mode
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#define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero)
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#define DISTANCE_MODE_INCREMENTAL 1 // G91
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// Modal Group G4: Arc IJK distance mode
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#define DISTANCE_ARC_MODE_INCREMENTAL 0 // G91.1 (Default: Must be zero)
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// Modal Group M4: Program flow
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#define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero)
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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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// Modal Group G5: Feed rate mode
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#define FEED_RATE_MODE_UNITS_PER_MIN 0 // G94 (Default: Must be zero)
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#define FEED_RATE_MODE_INVERSE_TIME 1 // G93
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// Modal Group G6: Units mode
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#define UNITS_MODE_MM 0 // G21 (Default: Must be zero)
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#define UNITS_MODE_INCHES 1 // G20
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// Modal Group G7: Cutter radius compensation mode
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#define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero)
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// Modal Group M7: Spindle control
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#define SPINDLE_DISABLE 0 // M5 (Default: Must be zero)
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#define SPINDLE_ENABLE_CW 1 // M3
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#define SPINDLE_ENABLE_CCW 2 // M4
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// Modal Group M8: Coolant control
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#define COOLANT_DISABLE 0 // M9 (Default: Must be zero)
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#define COOLANT_MIST_ENABLE 1 // M7
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#define COOLANT_FLOOD_ENABLE 2 // M8
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// Modal Group G8: Tool length offset
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#define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero)
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#define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1
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// Modal Group G12: Active work coordinate system
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// N/A: Stores coordinate system value (54-59) to change to.
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#define WORD_F 0
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#define WORD_I 1
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#define WORD_J 2
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#define WORD_K 3
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#define WORD_L 4
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#define WORD_N 5
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#define WORD_P 6
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#define WORD_R 7
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#define WORD_S 8
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#define WORD_T 9
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#define WORD_X 10
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#define WORD_Y 11
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#define WORD_Z 12
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// NOTE: When this struct is zeroed, the above defines set the defaults for the system.
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typedef struct {
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uint8_t motion; // {G0,G1,G2,G3,G38.2,G80}
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uint8_t feed_rate; // {G93,G94}
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uint8_t units; // {G20,G21}
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uint8_t distance; // {G90,G91}
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uint8_t plane_select; // {G17,G18,G19}
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// uint8_t cutter_comp; // {G40} NOTE: Don't need to track since it's always disabled.
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uint8_t tool_length; // {G43.1,G49}
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uint8_t coord_select; // {G54,G55,G56,G57,G58,G59}
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uint8_t program_flow; // {M0,M1,M2,M30}
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uint8_t coolant; // {M7,M8,M9}
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uint8_t spindle; // {M3,M4,M5}
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} gc_modal_t;
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typedef struct {
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float f; // Feed
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float ijk[3]; // I,J,K Axis arc offsets
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uint8_t l; // G10 or canned cycles parameters
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int32_t n; // Line number
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float p; // G10 or dwell parameters
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// float q; // G82 peck drilling
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float r; // Arc radius
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float s; // Spindle speed
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uint8_t t; // Tool selection
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float xyz[3]; // X,Y,Z Translational axes
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} gc_values_t;
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typedef struct {
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gc_modal_t modal;
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float spindle_speed; // RPM
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float feed_rate; // Millimeters/min
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uint8_t tool; // Tracks tool number. NOT USED.
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int32_t line_number; // Last line number sent
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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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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 tool_length_offset; // Tracks tool length offset value when enabled.
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} parser_state_t;
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extern parser_state_t gc_state;
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typedef struct {
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// uint16_t command_words; // NOTE: If this bitflag variable fills, G and M words can be separated.
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// uint16_t value_words;
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uint8_t non_modal_command;
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gc_modal_t modal;
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gc_values_t values;
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} parser_block_t;
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extern parser_block_t gc_block;
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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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