250 lines
10 KiB
C
250 lines
10 KiB
C
/*
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gcode.h - rs274/ngc parser.
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Part of Grbl
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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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,G38.3,G38.4,G38.5,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 // [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 // [G43.1,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_G13 10 // [G61] Control mode
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#define MODAL_GROUP_M4 11 // [M0,M1,M2,M30] Stopping
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#define MODAL_GROUP_M7 12 // [M3,M4,M5] Spindle turning
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#define MODAL_GROUP_M8 13 // [M7,M8,M9] Coolant control
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#define MODAL_GROUP_M9 14 // [M56] Override control
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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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// NOTE: Some macro values are assigned specific values to make g-code state reporting and parsing
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// compile a litte smaller. Necessary due to being completely out of flash on the 328p. Although not
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// ideal, just be careful with values that state 'do not alter' and check both report.c and gcode.c
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// to see how they are used, if you need to alter them.
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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 4 // G4 (Do not alter value)
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#define NON_MODAL_SET_COORDINATE_DATA 10 // G10 (Do not alter value)
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#define NON_MODAL_GO_HOME_0 28 // G28 (Do not alter value)
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#define NON_MODAL_SET_HOME_0 38 // G28.1 (Do not alter value)
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#define NON_MODAL_GO_HOME_1 30 // G30 (Do not alter value)
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#define NON_MODAL_SET_HOME_1 40 // G30.1 (Do not alter value)
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#define NON_MODAL_ABSOLUTE_OVERRIDE 53 // G53 (Do not alter value)
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#define NON_MODAL_SET_COORDINATE_OFFSET 92 // G92 (Do not alter value)
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#define NON_MODAL_RESET_COORDINATE_OFFSET 102 //G92.1 (Do not alter value)
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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 (Do not alter value)
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#define MOTION_MODE_CW_ARC 2 // G2 (Do not alter value)
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#define MOTION_MODE_CCW_ARC 3 // G3 (Do not alter value)
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#define MOTION_MODE_PROBE_TOWARD 140 // G38.2 (Do not alter value)
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#define MOTION_MODE_PROBE_TOWARD_NO_ERROR 141 // G38.3 (Do not alter value)
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#define MOTION_MODE_PROBE_AWAY 142 // G38.4 (Do not alter value)
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#define MOTION_MODE_PROBE_AWAY_NO_ERROR 143 // G38.5 (Do not alter value)
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#define MOTION_MODE_NONE 80 // G80 (Do not alter value)
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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 (Do not alter value)
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#define PLANE_SELECT_YZ 2 // G19 (Do not alter value)
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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 (Do not alter value)
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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 3 // M0
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#define PROGRAM_FLOW_OPTIONAL_STOP 1 // M1 NOTE: Not supported, but valid and ignored.
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#define PROGRAM_FLOW_COMPLETED_M2 2 // M2 (Do not alter value)
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#define PROGRAM_FLOW_COMPLETED_M30 30 // M30 (Do not alter value)
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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 (Do not alter value)
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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 (Do not alter value)
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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 G13: Control mode
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#define CONTROL_MODE_EXACT_PATH 0 // G61 (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 PL_COND_FLAG_SPINDLE_CW // M3 (NOTE: Uses planner condition bit flag)
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#define SPINDLE_ENABLE_CCW PL_COND_FLAG_SPINDLE_CCW // M4 (NOTE: Uses planner condition bit flag)
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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_FLOOD_ENABLE PL_COND_FLAG_COOLANT_FLOOD // M8 (NOTE: Uses planner condition bit flag)
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#define COOLANT_MIST_ENABLE PL_COND_FLAG_COOLANT_MIST // M7 (NOTE: Uses planner condition bit flag)
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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 M9: Override control
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#ifdef DEACTIVATE_PARKING_UPON_INIT
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#define OVERRIDE_DISABLED 0 // (Default: Must be zero)
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#define OVERRIDE_PARKING_MOTION 1 // M56
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#else
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#define OVERRIDE_PARKING_MOTION 0 // M56 (Default: Must be zero)
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#define OVERRIDE_DISABLED 1 // Parking disabled.
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#endif
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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 parameter word mapping.
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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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#define WORD_A 13
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// Define g-code parser position updating flags
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#define GC_UPDATE_POS_TARGET 0 // Must be zero
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#define GC_UPDATE_POS_SYSTEM 1
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#define GC_UPDATE_POS_NONE 2
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// Define probe cycle exit states and assign proper position updating.
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#define GC_PROBE_FOUND GC_UPDATE_POS_SYSTEM
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#define GC_PROBE_ABORT GC_UPDATE_POS_NONE
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#define GC_PROBE_FAIL_INIT GC_UPDATE_POS_NONE
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#define GC_PROBE_FAIL_END GC_UPDATE_POS_TARGET
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#ifdef SET_CHECK_MODE_PROBE_TO_START
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#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_NONE
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#else
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#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_TARGET
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#endif
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// Define gcode parser flags for handling special cases.
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#define GC_PARSER_NONE 0 // Must be zero.
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#define GC_PARSER_JOG_MOTION bit(0)
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#define GC_PARSER_CHECK_MANTISSA bit(1)
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#define GC_PARSER_ARC_IS_CLOCKWISE bit(2)
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#define GC_PARSER_PROBE_IS_AWAY bit(3)
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#define GC_PARSER_PROBE_IS_NO_ERROR bit(4)
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#define GC_PARSER_LASER_FORCE_SYNC bit(5)
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#define GC_PARSER_LASER_DISABLE bit(6)
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#define GC_PARSER_LASER_ISMOTION bit(7)
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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 distance_arc; // {G91.1} NOTE: Don't track. Only default supported.
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uint8_t plane_select; // {G17,G18,G19}
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// uint8_t cutter_comp; // {G40} NOTE: Don't track. Only default supported.
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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 control; // {G61} NOTE: Don't track. Only default supported.
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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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uint8_t override; // {M56}
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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[N_AXIS]; // 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 xyza[N_AXIS]; // X,Y,Z,A 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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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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// 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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