kopia lustrzana https://github.com/Schildkroet/GRBL-Advanced
294 wiersze
12 KiB
C
294 wiersze
12 KiB
C
/*
|
|
GCode.h - rs274/ngc parser.
|
|
Part of Grbl-Advanced
|
|
|
|
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
|
|
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
Copyright (c) 2017-2020 Patrick F.
|
|
|
|
Grbl-Advanced is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
Grbl-Advanced is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with Grbl-Advanced. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#ifndef GCODE_H
|
|
#define GCODE_H
|
|
|
|
#include <stdint.h>
|
|
#include "util.h"
|
|
#include "Planner.h"
|
|
|
|
|
|
// Define modal group internal numbers for checking multiple command violations and tracking the
|
|
// type of command that is called in the block. A modal group is a group of g-code commands that are
|
|
// mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute
|
|
// a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online,
|
|
// and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc).
|
|
// NOTE: Modal group define values must be sequential and starting from zero.
|
|
#define MODAL_GROUP_G0 0 // [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal
|
|
#define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G33,G38.2,G38.3,G38.4,G38.5,G76,G80,G81,G82,G83] Motion
|
|
#define MODAL_GROUP_G2 2 // [G17,G18,G19] Plane selection
|
|
#define MODAL_GROUP_G3 3 // [G90,G91] Distance mode
|
|
#define MODAL_GROUP_G4 4 // [G91.1] Arc IJK distance mode
|
|
#define MODAL_GROUP_G5 5 // [G93,G94] Feed rate mode
|
|
#define MODAL_GROUP_G6 6 // [G20,G21] Units
|
|
#define MODAL_GROUP_G7 7 // [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED.
|
|
#define MODAL_GROUP_G8 8 // [G43.1,G49] Tool length offset
|
|
#define MODAL_GROUP_G12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
|
|
#define MODAL_GROUP_G13 10 // [G61] Control mode
|
|
|
|
#define MODAL_GROUP_G10 11 // [G98, G99] Canned Cycles Return Mode
|
|
#define MODAL_GROUP_G14 12 // [G96, G97] Spindle Speed Mode
|
|
#define MODAL_GROUP_G15 13 // [G7, G8] Lathe Diameter Mode
|
|
|
|
#define MODAL_GROUP_M4 11 // [M0,M1,M2,M30] Stopping
|
|
#define MODAL_GROUP_M5 15 // [M62-M65]
|
|
#define MODAL_GROUP_M7 12 // [M3,M4,M5] Spindle turning
|
|
#define MODAL_GROUP_M8 13 // [M7,M8,M9] Coolant control
|
|
#define MODAL_GROUP_M9 14 // [M56] Override control
|
|
|
|
|
|
// Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
|
|
// internally by the parser to know which command to execute.
|
|
// NOTE: Some macro values are assigned specific values to make g-code state reporting and parsing
|
|
// compile a litte smaller. Necessary due to being completely out of flash on the 328p. Although not
|
|
// ideal, just be careful with values that state 'do not alter' and check both report.c and gcode.c
|
|
// to see how they are used, if you need to alter them.
|
|
|
|
// Modal Group G0: Non-modal actions
|
|
#define NON_MODAL_NO_ACTION 0 // (Default: Must be zero)
|
|
#define NON_MODAL_DWELL 4 // G4 (Do not alter value)
|
|
#define NON_MODAL_SET_COORDINATE_DATA 10 // G10 (Do not alter value)
|
|
#define NON_MODAL_GO_HOME_0 28 // G28 (Do not alter value)
|
|
#define NON_MODAL_SET_HOME_0 38 // G28.1 (Do not alter value)
|
|
#define NON_MODAL_GO_HOME_1 30 // G30 (Do not alter value)
|
|
#define NON_MODAL_SET_HOME_1 40 // G30.1 (Do not alter value)
|
|
#define NON_MODAL_ABSOLUTE_OVERRIDE 53 // G53 (Do not alter value)
|
|
#define NON_MODAL_SET_COORDINATE_OFFSET 92 // G92 (Do not alter value)
|
|
#define NON_MODAL_RESET_COORDINATE_OFFSET 102 //G92.1 (Do not alter value)
|
|
|
|
|
|
// Modal Group G1: Motion modes
|
|
#define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero)
|
|
#define MOTION_MODE_LINEAR 1 // G1 (Do not alter value)
|
|
#define MOTION_MODE_CW_ARC 2 // G2 (Do not alter value)
|
|
#define MOTION_MODE_CCW_ARC 3 // G3 (Do not alter value)
|
|
#define MOTION_MODE_PROBE_TOWARD 140 // G38.2 (Do not alter value)
|
|
#define MOTION_MODE_PROBE_TOWARD_NO_ERROR 141 // G38.3 (Do not alter value)
|
|
#define MOTION_MODE_PROBE_AWAY 142 // G38.4 (Do not alter value)
|
|
#define MOTION_MODE_PROBE_AWAY_NO_ERROR 143 // G38.5 (Do not alter value)
|
|
#define MOTION_MODE_NONE 80 // G80 (Do not alter value)
|
|
#define MOTION_MODE_DRILL 81 // G81
|
|
#define MOTION_MODE_DRILL_DWELL 82 // G82
|
|
#define MOTION_MODE_DRILL_PECK 83 // G83
|
|
#define MOTION_MODE_DRILL_BREAK 73 // G73
|
|
#define MOTION_MODE_SPINDLE_SYNC 33 // G33
|
|
#define MOTION_MODE_THREADING 76 // G76
|
|
|
|
// Modal Group G2: Plane select
|
|
#define PLANE_SELECT_XY 0 // G17 (Default: Must be zero)
|
|
#define PLANE_SELECT_ZX 1 // G18 (Do not alter value)
|
|
#define PLANE_SELECT_YZ 2 // G19 (Do not alter value)
|
|
|
|
// Modal Group G3: Distance mode
|
|
#define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero)
|
|
#define DISTANCE_MODE_INCREMENTAL 1 // G91 (Do not alter value)
|
|
|
|
// Modal Group G4: Arc IJK distance mode
|
|
#define DISTANCE_ARC_MODE_INCREMENTAL 0 // G91.1 (Default: Must be zero)
|
|
|
|
// Modal Group M4: Program flow
|
|
#define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero)
|
|
#define PROGRAM_FLOW_PAUSED 3 // M0
|
|
#define PROGRAM_FLOW_OPTIONAL_STOP 1 // M1 NOTE: Not supported, but valid and ignored.
|
|
#define PROGRAM_FLOW_COMPLETED_M2 2 // M2 (Do not alter value)
|
|
#define PROGRAM_FLOW_COMPLETED_M30 30 // M30 (Do not alter value)
|
|
|
|
// Modal Group G5: Feed rate mode
|
|
#define FEED_RATE_MODE_UNITS_PER_MIN 0 // G94 (Default: Must be zero)
|
|
#define FEED_RATE_MODE_INVERSE_TIME 1 // G93 (Do not alter value)
|
|
|
|
// Modal Group G6: Units mode
|
|
#define UNITS_MODE_MM 0 // G21 (Default: Must be zero)
|
|
#define UNITS_MODE_INCHES 1 // G20 (Do not alter value)
|
|
|
|
// Modal Group G7: Cutter radius compensation mode
|
|
#define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero)
|
|
|
|
// Modal Group G10: Canned Cycle Return Level
|
|
#define RETRACT_OLD_Z 0 // G98 (Default: Must be zero)
|
|
#define RETRACT_SPECIFIED_R 1
|
|
|
|
// Modal Group G13: Control mode
|
|
#define CONTROL_MODE_EXACT_PATH 0 // G61 (Default: Must be zero)
|
|
|
|
// Modal Group M7: Spindle control
|
|
#define SPINDLE_DISABLE 0 // M5 (Default: Must be zero)
|
|
#define SPINDLE_ENABLE_CW PL_COND_FLAG_SPINDLE_CW // M3 (NOTE: Uses planner condition bit flag)
|
|
#define SPINDLE_ENABLE_CCW PL_COND_FLAG_SPINDLE_CCW // M4 (NOTE: Uses planner condition bit flag)
|
|
|
|
// Modal Group M8: Coolant control
|
|
#define COOLANT_DISABLE 0 // M9 (Default: Must be zero)
|
|
#define COOLANT_FLOOD_ENABLE PL_COND_FLAG_COOLANT_FLOOD // M8 (NOTE: Uses planner condition bit flag)
|
|
#define COOLANT_MIST_ENABLE PL_COND_FLAG_COOLANT_MIST // M7 (NOTE: Uses planner condition bit flag)
|
|
|
|
// Modal Group G8: Tool length offset
|
|
#define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero)
|
|
#define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1
|
|
#define TOOL_LENGTH_OFFSET_ENABLE 2 // G43
|
|
|
|
// Modal Group G12: Active work coordinate system
|
|
// N/A: Stores coordinate system value (54-59) to change to.
|
|
|
|
// Modal Group G12: Lathe Mode
|
|
#define LATHE_RADIUS_MODE 0 // G8 (Default: Must be zero)
|
|
#define LATHE_DIAMETER_MODE 1 // G7
|
|
|
|
// Modal Group G14: Spindle Control Mode
|
|
#define SPINDLE_RPM_MODE 0 // G97 RPM (Default: Must be zero)
|
|
#define SPINDLE_SURFACE_MODE 1 // G96 CSS
|
|
|
|
|
|
// Define parameter word mapping.
|
|
#define WORD_F 0
|
|
#define WORD_I 1
|
|
#define WORD_J 2
|
|
#define WORD_K 3
|
|
#define WORD_L 4
|
|
#define WORD_N 5
|
|
#define WORD_P 6
|
|
#define WORD_R 7
|
|
#define WORD_S 8
|
|
#define WORD_T 9
|
|
#define WORD_X 10
|
|
#define WORD_Y 11
|
|
#define WORD_Z 12
|
|
#define WORD_Q 13
|
|
#define WORD_A 14
|
|
#define WORD_B 15
|
|
#define WORD_D 16
|
|
#define WORD_H 17
|
|
#define WORD_E 18
|
|
|
|
// Define g-code parser position updating flags
|
|
#define GC_UPDATE_POS_TARGET 0 // Must be zero
|
|
#define GC_UPDATE_POS_SYSTEM 1
|
|
#define GC_UPDATE_POS_NONE 2
|
|
|
|
// Define probe cycle exit states and assign proper position updating.
|
|
#define GC_PROBE_FOUND GC_UPDATE_POS_SYSTEM
|
|
#define GC_PROBE_ABORT GC_UPDATE_POS_NONE
|
|
#define GC_PROBE_FAIL_INIT GC_UPDATE_POS_NONE
|
|
#define GC_PROBE_FAIL_END GC_UPDATE_POS_TARGET
|
|
|
|
#ifdef SET_CHECK_MODE_PROBE_TO_START
|
|
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_NONE
|
|
#else
|
|
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_TARGET
|
|
#endif
|
|
|
|
|
|
// Define gcode parser flags for handling special cases.
|
|
#define GC_PARSER_NONE 0 // Must be zero.
|
|
#define GC_PARSER_JOG_MOTION BIT(0)
|
|
#define GC_PARSER_CHECK_MANTISSA BIT(1)
|
|
#define GC_PARSER_ARC_IS_CLOCKWISE BIT(2)
|
|
#define GC_PARSER_PROBE_IS_AWAY BIT(3)
|
|
#define GC_PARSER_PROBE_IS_NO_ERROR BIT(4)
|
|
#define GC_PARSER_LASER_FORCE_SYNC BIT(5)
|
|
#define GC_PARSER_LASER_DISABLE BIT(6)
|
|
#define GC_PARSER_LASER_ISMOTION BIT(7)
|
|
|
|
|
|
// NOTE: When this struct is zeroed, the above defines set the defaults for the system.
|
|
typedef struct
|
|
{
|
|
uint8_t motion; // {G0,G1,G2,G3,G38.2,G80}
|
|
uint8_t feed_rate; // {G93,G94}
|
|
uint8_t units; // {G20,G21}
|
|
uint8_t distance; // {G90,G91}
|
|
uint8_t retract; // {G98,G99}
|
|
// uint8_t distance_arc; // {G91.1} NOTE: Don't track. Only default supported.
|
|
uint8_t plane_select; // {G17,G18,G19}
|
|
// uint8_t cutter_comp; // {G40} NOTE: Don't track. Only default supported.
|
|
uint8_t tool_length; // {G43.1,G49}
|
|
uint8_t coord_select; // {G54,G55,G56,G57,G58,G59}
|
|
// uint8_t control; // {G61} NOTE: Don't track. Only default supported.
|
|
uint8_t program_flow; // {M0,M1,M2,M30}
|
|
uint8_t coolant; // {M7,M8,M9}
|
|
uint8_t spindle; // {M3,M4,M5}
|
|
uint8_t override; // {M56}
|
|
uint8_t lathe_mode; // {G7,G8}
|
|
uint8_t spindle_mode; // {G96,G97}
|
|
} GC_Modal_t;
|
|
|
|
|
|
typedef struct
|
|
{
|
|
uint16_t d;
|
|
uint8_t h;
|
|
float e;
|
|
float f; // Feed
|
|
float ijk[N_AXIS]; // I,J,K Axis arc offsets
|
|
uint8_t l; // G10 or canned cycles parameters
|
|
int32_t n; // Line number
|
|
float p; // G10 or dwell parameters
|
|
float q; // G82 peck drilling
|
|
float r; // Arc radius
|
|
float s; // Spindle speed
|
|
uint8_t t; // Tool selection
|
|
float xyz[N_AXIS]; // X,Y,Z Translational axes
|
|
} GC_Values_t;
|
|
|
|
|
|
typedef struct
|
|
{
|
|
GC_Modal_t modal;
|
|
|
|
float spindle_speed; // RPM
|
|
float feed_rate; // Millimeters/min
|
|
uint8_t tool; // Tracks tool number.
|
|
int32_t line_number; // Last line number sent
|
|
float spindle_limit; // Max RPM for G96
|
|
|
|
float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code
|
|
float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine
|
|
|
|
// Position in mm. Loaded from EEPROM when called.
|
|
float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to
|
|
|
|
// Machine zero in mm. Non-persistent. Cleared upon reset and boot.
|
|
float tool_length_offset_dynamic[N_AXIS]; // Tracks tool length offset value when enabled.
|
|
float tool_length_offset[N_AXIS];
|
|
} Parser_State_t;
|
|
|
|
|
|
typedef struct
|
|
{
|
|
uint8_t non_modal_command;
|
|
GC_Modal_t modal;
|
|
GC_Values_t values;
|
|
} Parser_Block_t;
|
|
|
|
extern Parser_State_t gc_state;
|
|
|
|
|
|
// Initialize the parser
|
|
void GC_Init(void);
|
|
|
|
// Set g-code parser position. Input in steps.
|
|
void GC_SyncPosition(void);
|
|
|
|
// Execute one block of rs274/ngc/g-code
|
|
uint8_t GC_ExecuteLine(const char *line);
|
|
|
|
#endif // GCODE_H
|