gcode.h

00001 /*
00002   gcode.h - rs274/ngc parser.
00003   Part of Grbl
00004 
00005   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
00006   Copyright (c) 2009-2011 Simen Svale Skogsrud
00007 
00008   Grbl is free software: you can redistribute it and/or modify
00009   it under the terms of the GNU General Public License as published by
00010   the Free Software Foundation, either version 3 of the License, or
00011   (at your option) any later version.
00012 
00013   Grbl is distributed in the hope that it will be useful,
00014   but WITHOUT ANY WARRANTY; without even the implied warranty of
00015   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016   GNU General Public License for more details.
00017 
00018   You should have received a copy of the GNU General Public License
00019   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
00020 */
00021 
00022 #ifndef gcode_h
00023 #define gcode_h
00024 
00025 
00026 // Define modal group internal numbers for checking multiple command violations and tracking the
00027 // type of command that is called in the block. A modal group is a group of g-code commands that are
00028 // mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute
00029 // a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online,
00030 // and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc).
00031 // NOTE: Modal group define values must be sequential and starting from zero.
00032 #define MODAL_GROUP_G0 0 // [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal
00033 #define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G38.2,G38.3,G38.4,G38.5,G80] Motion
00034 #define MODAL_GROUP_G2 2 // [G17,G18,G19] Plane selection
00035 #define MODAL_GROUP_G3 3 // [G90,G91] Distance mode
00036 #define MODAL_GROUP_G4 4 // [G91.1] Arc IJK distance mode
00037 #define MODAL_GROUP_G5 5 // [G93,G94] Feed rate mode
00038 #define MODAL_GROUP_G6 6 // [G20,G21] Units
00039 #define MODAL_GROUP_G7 7 // [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED.
00040 #define MODAL_GROUP_G8 8 // [G43.1,G49] Tool length offset
00041 #define MODAL_GROUP_G12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
00042 #define MODAL_GROUP_G13 10 // [G61] Control mode
00043 
00044 #define MODAL_GROUP_M4 11  // [M0,M1,M2,M30] Stopping
00045 #define MODAL_GROUP_M7 12 // [M3,M4,M5] Spindle turning
00046 #define MODAL_GROUP_M8 13 // [M7,M8,M9] Coolant control
00047 #define MODAL_GROUP_M9 14 // [M56] Override control
00048 
00049 // Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
00050 // internally by the parser to know which command to execute.
00051 // NOTE: Some macro values are assigned specific values to make g-code state reporting and parsing 
00052 // compile a litte smaller. Necessary due to being completely out of flash on the 328p. Although not
00053 // ideal, just be careful with values that state 'do not alter' and check both report.c and gcode.c 
00054 // to see how they are used, if you need to alter them.
00055 
00056 // Modal Group G0: Non-modal actions
00057 #define NON_MODAL_NO_ACTION 0 // (Default: Must be zero)
00058 #define NON_MODAL_DWELL 4 // G4 (Do not alter value)
00059 #define NON_MODAL_SET_COORDINATE_DATA 10 // G10 (Do not alter value)
00060 #define NON_MODAL_GO_HOME_0 28 // G28 (Do not alter value)
00061 #define NON_MODAL_SET_HOME_0 38 // G28.1 (Do not alter value)
00062 #define NON_MODAL_GO_HOME_1 30 // G30 (Do not alter value)
00063 #define NON_MODAL_SET_HOME_1 40 // G30.1 (Do not alter value)
00064 #define NON_MODAL_ABSOLUTE_OVERRIDE 53 // G53 (Do not alter value)
00065 #define NON_MODAL_SET_COORDINATE_OFFSET 92 // G92 (Do not alter value)
00066 #define NON_MODAL_RESET_COORDINATE_OFFSET 102 //G92.1 (Do not alter value)
00067 
00068 // Modal Group G1: Motion modes
00069 #define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero)
00070 #define MOTION_MODE_LINEAR 1 // G1 (Do not alter value)
00071 #define MOTION_MODE_CW_ARC 2  // G2 (Do not alter value)
00072 #define MOTION_MODE_CCW_ARC 3  // G3 (Do not alter value)
00073 #define MOTION_MODE_PROBE_TOWARD 140 // G38.2 (Do not alter value)
00074 #define MOTION_MODE_PROBE_TOWARD_NO_ERROR 141 // G38.3 (Do not alter value)
00075 #define MOTION_MODE_PROBE_AWAY 142 // G38.4 (Do not alter value)
00076 #define MOTION_MODE_PROBE_AWAY_NO_ERROR 143 // G38.5 (Do not alter value)
00077 #define MOTION_MODE_NONE 80 // G80 (Do not alter value)
00078 
00079 // Modal Group G2: Plane select
00080 #define PLANE_SELECT_XY 0 // G17 (Default: Must be zero)
00081 #define PLANE_SELECT_ZX 1 // G18 (Do not alter value)
00082 #define PLANE_SELECT_YZ 2 // G19 (Do not alter value)
00083 
00084 // Modal Group G3: Distance mode
00085 #define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero)
00086 #define DISTANCE_MODE_INCREMENTAL 1 // G91 (Do not alter value)
00087 
00088 // Modal Group G4: Arc IJK distance mode
00089 #define DISTANCE_ARC_MODE_INCREMENTAL 0 // G91.1 (Default: Must be zero)
00090 
00091 // Modal Group M4: Program flow
00092 #define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero)
00093 #define PROGRAM_FLOW_PAUSED 3 // M0
00094 #define PROGRAM_FLOW_OPTIONAL_STOP 1 // M1 NOTE: Not supported, but valid and ignored.
00095 #define PROGRAM_FLOW_COMPLETED_M2  2 // M2 (Do not alter value)
00096 #define PROGRAM_FLOW_COMPLETED_M30 30 // M30 (Do not alter value)
00097 
00098 // Modal Group G5: Feed rate mode
00099 #define FEED_RATE_MODE_UNITS_PER_MIN  0 // G94 (Default: Must be zero)
00100 #define FEED_RATE_MODE_INVERSE_TIME   1 // G93 (Do not alter value)
00101 
00102 // Modal Group G6: Units mode
00103 #define UNITS_MODE_MM 0 // G21 (Default: Must be zero)
00104 #define UNITS_MODE_INCHES 1 // G20 (Do not alter value)
00105 
00106 // Modal Group G7: Cutter radius compensation mode
00107 #define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero)
00108 
00109 // Modal Group G13: Control mode
00110 #define CONTROL_MODE_EXACT_PATH 0 // G61 (Default: Must be zero)
00111 
00112 // Modal Group M7: Spindle control
00113 #define SPINDLE_DISABLE 0 // M5 (Default: Must be zero)
00114 #define SPINDLE_ENABLE_CW   PL_COND_FLAG_SPINDLE_CW // M3 (NOTE: Uses planner condition bit flag)
00115 #define SPINDLE_ENABLE_CCW  PL_COND_FLAG_SPINDLE_CCW // M4 (NOTE: Uses planner condition bit flag)
00116 
00117 // Modal Group M8: Coolant control
00118 #define COOLANT_DISABLE 0 // M9 (Default: Must be zero)
00119 #define COOLANT_FLOOD_ENABLE  PL_COND_FLAG_COOLANT_FLOOD // M8 (NOTE: Uses planner condition bit flag)
00120 #define COOLANT_MIST_ENABLE   PL_COND_FLAG_COOLANT_MIST  // M7 (NOTE: Uses planner condition bit flag)
00121 
00122 // Modal Group G8: Tool length offset
00123 #define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero)
00124 #define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1
00125 
00126 // Modal Group M9: Override control
00127 #ifdef DEACTIVATE_PARKING_UPON_INIT
00128     #define OVERRIDE_DISABLED  0 // (Default: Must be zero)
00129     #define OVERRIDE_PARKING_MOTION 1 // M56
00130 #else
00131     #define OVERRIDE_PARKING_MOTION 0 // M56 (Default: Must be zero)
00132     #define OVERRIDE_DISABLED  1 // Parking disabled.
00133 #endif
00134 
00135 // Modal Group G12: Active work coordinate system
00136 // N/A: Stores coordinate system value (54-59) to change to.
00137 
00138 // Define parameter word mapping.
00139 #define WORD_F  0
00140 #define WORD_I  1
00141 #define WORD_J  2
00142 #define WORD_K  3
00143 #define WORD_L  4
00144 #define WORD_N  5
00145 #define WORD_P  6
00146 #define WORD_R  7
00147 #define WORD_S  8
00148 #define WORD_T  9
00149 #define WORD_X  10
00150 #define WORD_Y  11
00151 #define WORD_Z  12
00152 
00153 // Define g-code parser position updating flags
00154 #define GC_UPDATE_POS_TARGET   0 // Must be zero
00155 #define GC_UPDATE_POS_SYSTEM   1
00156 #define GC_UPDATE_POS_NONE     2
00157 
00158 // Define probe cycle exit states and assign proper position updating.
00159 #define GC_PROBE_FOUND      GC_UPDATE_POS_SYSTEM
00160 #define GC_PROBE_ABORT      GC_UPDATE_POS_NONE
00161 #define GC_PROBE_FAIL_INIT  GC_UPDATE_POS_NONE
00162 #define GC_PROBE_FAIL_END   GC_UPDATE_POS_TARGET
00163 #ifdef SET_CHECK_MODE_PROBE_TO_START
00164   #define GC_PROBE_CHECK_MODE   GC_UPDATE_POS_NONE  
00165 #else
00166   #define GC_PROBE_CHECK_MODE   GC_UPDATE_POS_TARGET
00167 #endif
00168 
00169 // Define gcode parser flags for handling special cases.
00170 #define GC_PARSER_NONE                  0 // Must be zero.
00171 #define GC_PARSER_JOG_MOTION            bit(0)
00172 #define GC_PARSER_CHECK_MANTISSA        bit(1)
00173 #define GC_PARSER_ARC_IS_CLOCKWISE      bit(2)
00174 #define GC_PARSER_PROBE_IS_AWAY         bit(3)
00175 #define GC_PARSER_PROBE_IS_NO_ERROR     bit(4)
00176 #define GC_PARSER_LASER_FORCE_SYNC      bit(5)
00177 #define GC_PARSER_LASER_DISABLE         bit(6)
00178 #define GC_PARSER_LASER_ISMOTION        bit(7)
00179 
00180 
00181 // NOTE: When this struct is zeroed, the above defines set the defaults for the system.
00182 typedef struct {
00183   uint8_t motion;          // {G0,G1,G2,G3,G38.2,G80}
00184   uint8_t feed_rate;       // {G93,G94}
00185   uint8_t units;           // {G20,G21}
00186   uint8_t distance;        // {G90,G91}
00187   // uint8_t distance_arc; // {G91.1} NOTE: Don't track. Only default supported.
00188   uint8_t plane_select;    // {G17,G18,G19}
00189   // uint8_t cutter_comp;  // {G40} NOTE: Don't track. Only default supported.
00190   uint8_t tool_length;     // {G43.1,G49}
00191   uint8_t coord_select;    // {G54,G55,G56,G57,G58,G59}
00192   // uint8_t control;      // {G61} NOTE: Don't track. Only default supported.
00193   uint8_t program_flow;    // {M0,M1,M2,M30}
00194   uint8_t coolant;         // {M7,M8,M9}
00195   uint8_t spindle;         // {M3,M4,M5}
00196     uint8_t override;        // {M56}
00197 } gc_modal_t;
00198 
00199 typedef struct {
00200   float f;         // Feed
00201   float ijk[3];    // I,J,K Axis arc offsets
00202   uint8_t l;       // G10 or canned cycles parameters
00203   int32_t n;       // Line number
00204   float p;         // G10 or dwell parameters
00205   // float q;      // G82 peck drilling
00206   float r;         // Arc radius
00207   float s;         // Spindle speed
00208   uint8_t t;       // Tool selection
00209   float xyz[3];    // X,Y,Z Translational axes
00210 } gc_values_t;
00211 
00212 
00213 typedef struct {
00214   gc_modal_t modal;
00215 
00216   float spindle_speed;          // RPM
00217   float feed_rate;              // Millimeters/min
00218   uint8_t tool;                 // Tracks tool number. NOT USED.
00219   int32_t line_number;          // Last line number sent
00220 
00221   float position[N_AXIS];       // Where the interpreter considers the tool to be at this point in the code
00222 
00223   float coord_system[N_AXIS];    // Current work coordinate system (G54+). Stores offset from absolute machine
00224                                  // position in mm. Loaded from EEPROM when called.
00225   float coord_offset[N_AXIS];    // Retains the G92 coordinate offset (work coordinates) relative to
00226                                  // machine zero in mm. Non-persistent. Cleared upon reset and boot.
00227   float tool_length_offset;      // Tracks tool length offset value when enabled.
00228 } parser_state_t;
00229 extern parser_state_t gc_state;
00230 
00231 
00232 typedef struct {
00233   uint8_t non_modal_command;
00234   gc_modal_t modal;
00235   gc_values_t values;
00236 } parser_block_t;
00237 
00238 
00239 // Initialize the parser
00240 void gc_init();
00241 
00242 // Execute one block of rs275/ngc/g-code
00243 uint8_t gc_execute_line(char *line);
00244 
00245 // Set g-code parser position. Input in steps.
00246 void gc_sync_position();
00247 
00248 #endif