Luigi Santivetti | 69972f9 | 2019-11-12 22:55:40 +0000 | [diff] [blame^] | 1 | /* |
| 2 | gcode.h - rs274/ngc parser. |
| 3 | Part of Grbl |
| 4 | |
| 5 | Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC |
| 6 | Copyright (c) 2009-2011 Simen Svale Skogsrud |
| 7 | |
| 8 | Grbl is free software: you can redistribute it and/or modify |
| 9 | it under the terms of the GNU General Public License as published by |
| 10 | the Free Software Foundation, either version 3 of the License, or |
| 11 | (at your option) any later version. |
| 12 | |
| 13 | Grbl is distributed in the hope that it will be useful, |
| 14 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
| 15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 16 | GNU General Public License for more details. |
| 17 | |
| 18 | You should have received a copy of the GNU General Public License |
| 19 | along with Grbl. If not, see <http://www.gnu.org/licenses/>. |
| 20 | */ |
| 21 | |
| 22 | #ifndef gcode_h |
| 23 | #define gcode_h |
| 24 | |
| 25 | |
| 26 | // Define modal group internal numbers for checking multiple command violations and tracking the |
| 27 | // type of command that is called in the block. A modal group is a group of g-code commands that are |
| 28 | // mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute |
| 29 | // a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online, |
| 30 | // and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc). |
| 31 | // NOTE: Modal group define values must be sequential and starting from zero. |
| 32 | #define MODAL_GROUP_G0 0 // [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal |
| 33 | #define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G38.2,G38.3,G38.4,G38.5,G80] Motion |
| 34 | #define MODAL_GROUP_G2 2 // [G17,G18,G19] Plane selection |
| 35 | #define MODAL_GROUP_G3 3 // [G90,G91] Distance mode |
| 36 | #define MODAL_GROUP_G4 4 // [G91.1] Arc IJK distance mode |
| 37 | #define MODAL_GROUP_G5 5 // [G93,G94] Feed rate mode |
| 38 | #define MODAL_GROUP_G6 6 // [G20,G21] Units |
| 39 | #define MODAL_GROUP_G7 7 // [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED. |
| 40 | #define MODAL_GROUP_G8 8 // [G43.1,G49] Tool length offset |
| 41 | #define MODAL_GROUP_G12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection |
| 42 | #define MODAL_GROUP_G13 10 // [G61] Control mode |
| 43 | |
| 44 | #define MODAL_GROUP_M4 11 // [M0,M1,M2,M30] Stopping |
| 45 | #define MODAL_GROUP_M7 12 // [M3,M4,M5] Spindle turning |
| 46 | #define MODAL_GROUP_M8 13 // [M7,M8,M9] Coolant control |
| 47 | #define MODAL_GROUP_M9 14 // [M56] Override control |
| 48 | |
| 49 | // Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used |
| 50 | // internally by the parser to know which command to execute. |
| 51 | // NOTE: Some macro values are assigned specific values to make g-code state reporting and parsing |
| 52 | // compile a litte smaller. Necessary due to being completely out of flash on the 328p. Although not |
| 53 | // ideal, just be careful with values that state 'do not alter' and check both report.c and gcode.c |
| 54 | // to see how they are used, if you need to alter them. |
| 55 | |
| 56 | // Modal Group G0: Non-modal actions |
| 57 | #define NON_MODAL_NO_ACTION 0 // (Default: Must be zero) |
| 58 | #define NON_MODAL_DWELL 4 // G4 (Do not alter value) |
| 59 | #define NON_MODAL_SET_COORDINATE_DATA 10 // G10 (Do not alter value) |
| 60 | #define NON_MODAL_GO_HOME_0 28 // G28 (Do not alter value) |
| 61 | #define NON_MODAL_SET_HOME_0 38 // G28.1 (Do not alter value) |
| 62 | #define NON_MODAL_GO_HOME_1 30 // G30 (Do not alter value) |
| 63 | #define NON_MODAL_SET_HOME_1 40 // G30.1 (Do not alter value) |
| 64 | #define NON_MODAL_ABSOLUTE_OVERRIDE 53 // G53 (Do not alter value) |
| 65 | #define NON_MODAL_SET_COORDINATE_OFFSET 92 // G92 (Do not alter value) |
| 66 | #define NON_MODAL_RESET_COORDINATE_OFFSET 102 //G92.1 (Do not alter value) |
| 67 | |
| 68 | // Modal Group G1: Motion modes |
| 69 | #define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero) |
| 70 | #define MOTION_MODE_LINEAR 1 // G1 (Do not alter value) |
| 71 | #define MOTION_MODE_CW_ARC 2 // G2 (Do not alter value) |
| 72 | #define MOTION_MODE_CCW_ARC 3 // G3 (Do not alter value) |
| 73 | #define MOTION_MODE_PROBE_TOWARD 140 // G38.2 (Do not alter value) |
| 74 | #define MOTION_MODE_PROBE_TOWARD_NO_ERROR 141 // G38.3 (Do not alter value) |
| 75 | #define MOTION_MODE_PROBE_AWAY 142 // G38.4 (Do not alter value) |
| 76 | #define MOTION_MODE_PROBE_AWAY_NO_ERROR 143 // G38.5 (Do not alter value) |
| 77 | #define MOTION_MODE_NONE 80 // G80 (Do not alter value) |
| 78 | |
| 79 | // Modal Group G2: Plane select |
| 80 | #define PLANE_SELECT_XY 0 // G17 (Default: Must be zero) |
| 81 | #define PLANE_SELECT_ZX 1 // G18 (Do not alter value) |
| 82 | #define PLANE_SELECT_YZ 2 // G19 (Do not alter value) |
| 83 | |
| 84 | // Modal Group G3: Distance mode |
| 85 | #define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero) |
| 86 | #define DISTANCE_MODE_INCREMENTAL 1 // G91 (Do not alter value) |
| 87 | |
| 88 | // Modal Group G4: Arc IJK distance mode |
| 89 | #define DISTANCE_ARC_MODE_INCREMENTAL 0 // G91.1 (Default: Must be zero) |
| 90 | |
| 91 | // Modal Group M4: Program flow |
| 92 | #define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero) |
| 93 | #define PROGRAM_FLOW_PAUSED 3 // M0 |
| 94 | #define PROGRAM_FLOW_OPTIONAL_STOP 1 // M1 NOTE: Not supported, but valid and ignored. |
| 95 | #define PROGRAM_FLOW_COMPLETED_M2 2 // M2 (Do not alter value) |
| 96 | #define PROGRAM_FLOW_COMPLETED_M30 30 // M30 (Do not alter value) |
| 97 | |
| 98 | // Modal Group G5: Feed rate mode |
| 99 | #define FEED_RATE_MODE_UNITS_PER_MIN 0 // G94 (Default: Must be zero) |
| 100 | #define FEED_RATE_MODE_INVERSE_TIME 1 // G93 (Do not alter value) |
| 101 | |
| 102 | // Modal Group G6: Units mode |
| 103 | #define UNITS_MODE_MM 0 // G21 (Default: Must be zero) |
| 104 | #define UNITS_MODE_INCHES 1 // G20 (Do not alter value) |
| 105 | |
| 106 | // Modal Group G7: Cutter radius compensation mode |
| 107 | #define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero) |
| 108 | |
| 109 | // Modal Group G13: Control mode |
| 110 | #define CONTROL_MODE_EXACT_PATH 0 // G61 (Default: Must be zero) |
| 111 | |
| 112 | // Modal Group M7: Spindle control |
| 113 | #define SPINDLE_DISABLE 0 // M5 (Default: Must be zero) |
| 114 | #define SPINDLE_ENABLE_CW PL_COND_FLAG_SPINDLE_CW // M3 (NOTE: Uses planner condition bit flag) |
| 115 | #define SPINDLE_ENABLE_CCW PL_COND_FLAG_SPINDLE_CCW // M4 (NOTE: Uses planner condition bit flag) |
| 116 | |
| 117 | // Modal Group M8: Coolant control |
| 118 | #define COOLANT_DISABLE 0 // M9 (Default: Must be zero) |
| 119 | #define COOLANT_FLOOD_ENABLE PL_COND_FLAG_COOLANT_FLOOD // M8 (NOTE: Uses planner condition bit flag) |
| 120 | #define COOLANT_MIST_ENABLE PL_COND_FLAG_COOLANT_MIST // M7 (NOTE: Uses planner condition bit flag) |
| 121 | |
| 122 | // Modal Group G8: Tool length offset |
| 123 | #define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero) |
| 124 | #define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1 |
| 125 | |
| 126 | // Modal Group M9: Override control |
| 127 | #ifdef DEACTIVATE_PARKING_UPON_INIT |
| 128 | #define OVERRIDE_DISABLED 0 // (Default: Must be zero) |
| 129 | #define OVERRIDE_PARKING_MOTION 1 // M56 |
| 130 | #else |
| 131 | #define OVERRIDE_PARKING_MOTION 0 // M56 (Default: Must be zero) |
| 132 | #define OVERRIDE_DISABLED 1 // Parking disabled. |
| 133 | #endif |
| 134 | |
| 135 | // Modal Group G12: Active work coordinate system |
| 136 | // N/A: Stores coordinate system value (54-59) to change to. |
| 137 | |
| 138 | // Define parameter word mapping. |
| 139 | #define WORD_F 0 |
| 140 | #define WORD_I 1 |
| 141 | #define WORD_J 2 |
| 142 | #define WORD_K 3 |
| 143 | #define WORD_L 4 |
| 144 | #define WORD_N 5 |
| 145 | #define WORD_P 6 |
| 146 | #define WORD_R 7 |
| 147 | #define WORD_S 8 |
| 148 | #define WORD_T 9 |
| 149 | #define WORD_X 10 |
| 150 | #define WORD_Y 11 |
| 151 | #define WORD_Z 12 |
| 152 | |
| 153 | // Define g-code parser position updating flags |
| 154 | #define GC_UPDATE_POS_TARGET 0 // Must be zero |
| 155 | #define GC_UPDATE_POS_SYSTEM 1 |
| 156 | #define GC_UPDATE_POS_NONE 2 |
| 157 | |
| 158 | // Define probe cycle exit states and assign proper position updating. |
| 159 | #define GC_PROBE_FOUND GC_UPDATE_POS_SYSTEM |
| 160 | #define GC_PROBE_ABORT GC_UPDATE_POS_NONE |
| 161 | #define GC_PROBE_FAIL_INIT GC_UPDATE_POS_NONE |
| 162 | #define GC_PROBE_FAIL_END GC_UPDATE_POS_TARGET |
| 163 | #ifdef SET_CHECK_MODE_PROBE_TO_START |
| 164 | #define GC_PROBE_CHECK_MODE GC_UPDATE_POS_NONE |
| 165 | #else |
| 166 | #define GC_PROBE_CHECK_MODE GC_UPDATE_POS_TARGET |
| 167 | #endif |
| 168 | |
| 169 | // Define gcode parser flags for handling special cases. |
| 170 | #define GC_PARSER_NONE 0 // Must be zero. |
| 171 | #define GC_PARSER_JOG_MOTION bit(0) |
| 172 | #define GC_PARSER_CHECK_MANTISSA bit(1) |
| 173 | #define GC_PARSER_ARC_IS_CLOCKWISE bit(2) |
| 174 | #define GC_PARSER_PROBE_IS_AWAY bit(3) |
| 175 | #define GC_PARSER_PROBE_IS_NO_ERROR bit(4) |
| 176 | #define GC_PARSER_LASER_FORCE_SYNC bit(5) |
| 177 | #define GC_PARSER_LASER_DISABLE bit(6) |
| 178 | #define GC_PARSER_LASER_ISMOTION bit(7) |
| 179 | |
| 180 | |
| 181 | // NOTE: When this struct is zeroed, the above defines set the defaults for the system. |
| 182 | typedef struct { |
| 183 | uint8_t motion; // {G0,G1,G2,G3,G38.2,G80} |
| 184 | uint8_t feed_rate; // {G93,G94} |
| 185 | uint8_t units; // {G20,G21} |
| 186 | uint8_t distance; // {G90,G91} |
| 187 | // uint8_t distance_arc; // {G91.1} NOTE: Don't track. Only default supported. |
| 188 | uint8_t plane_select; // {G17,G18,G19} |
| 189 | // uint8_t cutter_comp; // {G40} NOTE: Don't track. Only default supported. |
| 190 | uint8_t tool_length; // {G43.1,G49} |
| 191 | uint8_t coord_select; // {G54,G55,G56,G57,G58,G59} |
| 192 | // uint8_t control; // {G61} NOTE: Don't track. Only default supported. |
| 193 | uint8_t program_flow; // {M0,M1,M2,M30} |
| 194 | uint8_t coolant; // {M7,M8,M9} |
| 195 | uint8_t spindle; // {M3,M4,M5} |
| 196 | uint8_t override; // {M56} |
| 197 | } gc_modal_t; |
| 198 | |
| 199 | typedef struct { |
| 200 | float f; // Feed |
| 201 | float ijk[3]; // I,J,K Axis arc offsets |
| 202 | uint8_t l; // G10 or canned cycles parameters |
| 203 | int32_t n; // Line number |
| 204 | float p; // G10 or dwell parameters |
| 205 | // float q; // G82 peck drilling |
| 206 | float r; // Arc radius |
| 207 | float s; // Spindle speed |
| 208 | uint8_t t; // Tool selection |
| 209 | float xyz[3]; // X,Y,Z Translational axes |
| 210 | } gc_values_t; |
| 211 | |
| 212 | |
| 213 | typedef struct { |
| 214 | gc_modal_t modal; |
| 215 | |
| 216 | float spindle_speed; // RPM |
| 217 | float feed_rate; // Millimeters/min |
| 218 | uint8_t tool; // Tracks tool number. NOT USED. |
| 219 | int32_t line_number; // Last line number sent |
| 220 | |
| 221 | float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code |
| 222 | |
| 223 | float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine |
| 224 | // position in mm. Loaded from EEPROM when called. |
| 225 | float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to |
| 226 | // machine zero in mm. Non-persistent. Cleared upon reset and boot. |
| 227 | float tool_length_offset; // Tracks tool length offset value when enabled. |
| 228 | } parser_state_t; |
| 229 | extern parser_state_t gc_state; |
| 230 | |
| 231 | |
| 232 | typedef struct { |
| 233 | uint8_t non_modal_command; |
| 234 | gc_modal_t modal; |
| 235 | gc_values_t values; |
| 236 | } parser_block_t; |
| 237 | |
| 238 | |
| 239 | // Initialize the parser |
| 240 | void gc_init(); |
| 241 | |
| 242 | // Execute one block of rs275/ngc/g-code |
| 243 | uint8_t gc_execute_line(char *line); |
| 244 | |
| 245 | // Set g-code parser position. Input in steps. |
| 246 | void gc_sync_position(); |
| 247 | |
| 248 | #endif |