I'm trying to port GRBL 1.1 to the STM32F746 chip. Tell me the solution, thanks.
Diff: grbl/gcode.c.bak
- Revision:
- 0:9dcf85d9b2f3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/grbl/gcode.c.bak Mon Sep 04 12:05:05 2017 +0000 @@ -0,0 +1,1165 @@ +/* + gcode.c - rs274/ngc parser. + Part of Grbl + + Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC + Copyright (c) 2009-2011 Simen Svale Skogsrud + + Grbl 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 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. If not, see <http://www.gnu.org/licenses/>. +*/ + +#include "grbl.h" + +// NOTE: Max line number is defined by the g-code standard to be 99999. It seems to be an +// arbitrary value, and some GUIs may require more. So we increased it based on a max safe +// value when converting a float (7.2 digit precision)s to an integer. +#define MAX_LINE_NUMBER 10000000 +#define MAX_TOOL_NUMBER 255 // Limited by max unsigned 8-bit value + +#define AXIS_COMMAND_NONE 0 +#define AXIS_COMMAND_NON_MODAL 1 +#define AXIS_COMMAND_MOTION_MODE 2 +#define AXIS_COMMAND_TOOL_LENGTH_OFFSET 3 // *Undefined but required + +// Declare gc extern struct +parser_state_t gc_state; +parser_block_t gc_block; + +#define FAIL(status) return(status); + + +void gc_init() +{ + memset(&gc_state, 0, sizeof(parser_state_t)); + + // Load default G54 coordinate system. + if (!(settings_read_coord_data(gc_state.modal.coord_select,gc_state.coord_system))) { + report_status_message(STATUS_SETTING_READ_FAIL); + } +} + + +// Sets g-code parser position in mm. Input in steps. Called by the system abort and hard +// limit pull-off routines. +void gc_sync_position() +{ + system_convert_array_steps_to_mpos(gc_state.position,sys_position); +} + + +// Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase +// characters and signed floating point values (no whitespace). Comments and block delete +// characters have been removed. In this function, all units and positions are converted and +// exported to grbl's internal functions in terms of (mm, mm/min) and absolute machine +// coordinates, respectively. +uint8_t gc_execute_line(char *line) +{ + /* ------------------------------------------------------------------------------------- + STEP 1: Initialize parser block struct and copy current g-code state modes. The parser + updates these modes and commands as the block line is parser and will only be used and + executed after successful error-checking. The parser block struct also contains a block + values struct, word tracking variables, and a non-modal commands tracker for the new + block. This struct contains all of the necessary information to execute the block. */ + + memset(&gc_block, 0, sizeof(parser_block_t)); // Initialize the parser block struct. + memcpy(&gc_block.modal,&gc_state.modal,sizeof(gc_modal_t)); // Copy current modes + + uint8_t axis_command = AXIS_COMMAND_NONE; + uint8_t axis_0, axis_1, axis_linear; + uint8_t coord_select = 0; // Tracks G10 P coordinate selection for execution + + // Initialize bitflag tracking variables for axis indices compatible operations. + uint8_t axis_words = 0; // XYZ tracking + uint8_t ijk_words = 0; // IJK tracking + + // Initialize command and value words and parser flags variables. + uint16_t command_words = 0; // Tracks G and M command words. Also used for modal group violations. + uint16_t value_words = 0; // Tracks value words. + uint8_t gc_parser_flags = GC_PARSER_NONE; + + // Determine if the line is a jogging motion or a normal g-code block. + if (line[0] == '$') { // NOTE: `$J=` already parsed when passed to this function. + // Set G1 and G94 enforced modes to ensure accurate error checks. + gc_parser_flags |= GC_PARSER_JOG_MOTION; + gc_block.modal.motion = MOTION_MODE_LINEAR; + gc_block.modal.feed_rate = FEED_RATE_MODE_UNITS_PER_MIN; +#ifdef USE_LINE_NUMBERS + gc_block.values.n = JOG_LINE_NUMBER; // Initialize default line number reported during jog. +#endif + } + + /* ------------------------------------------------------------------------------------- + STEP 2: Import all g-code words in the block line. A g-code word is a letter followed by + a number, which can either be a 'G'/'M' command or sets/assigns a command value. Also, + perform initial error-checks for command word modal group violations, for any repeated + words, and for negative values set for the value words F, N, P, T, and S. */ + + uint8_t word_bit; // Bit-value for assigning tracking variables + uint8_t char_counter; + char letter; + float value; + uint8_t int_value = 0; + uint16_t mantissa = 0; + if (gc_parser_flags & GC_PARSER_JOG_MOTION) { char_counter = 3; } // Start parsing after `$J=` + else { char_counter = 0; } + + while (line[char_counter] != 0) { // Loop until no more g-code words in line. + + // Import the next g-code word, expecting a letter followed by a value. Otherwise, error out. + letter = line[char_counter]; + if((letter < 'A') || (letter > 'Z')) { FAIL(STATUS_EXPECTED_COMMAND_LETTER); } // [Expected word letter] + char_counter++; + if (!read_float(line, &char_counter, &value)) { FAIL(STATUS_BAD_NUMBER_FORMAT); } // [Expected word value] + + // Convert values to smaller uint8 significand and mantissa values for parsing this word. + // NOTE: Mantissa is multiplied by 100 to catch non-integer command values. This is more + // accurate than the NIST gcode requirement of x10 when used for commands, but not quite + // accurate enough for value words that require integers to within 0.0001. This should be + // a good enough comprimise and catch most all non-integer errors. To make it compliant, + // we would simply need to change the mantissa to int16, but this add compiled flash space. + // Maybe update this later. + int_value = truncf(value); + mantissa = (uint16_t)lroundf(100 * (value - int_value)); // Compute mantissa for Gxx.x commands. + // NOTE: Rounding must be used to catch small floating point errors. + + // Check if the g-code word is supported or errors due to modal group violations or has + // been repeated in the g-code block. If ok, update the command or record its value. + switch(letter) { + + /* 'G' and 'M' Command Words: Parse commands and check for modal group violations. + NOTE: Modal group numbers are defined in Table 4 of NIST RS274-NGC v3, pg.20 */ + + case 'G': + // Determine 'G' command and its modal group + switch(int_value) { + case 10: case 28: case 30: case 92: + // Check for G10/28/30/92 being called with G0/1/2/3/38 on same block. + // * G43.1 is also an axis command but is not explicitly defined this way. + if (mantissa == 0) { // Ignore G28.1, G30.1, and G92.1 + if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict] + axis_command = AXIS_COMMAND_NON_MODAL; + } + // No break. Continues to next line. + case 4: case 53: + word_bit = MODAL_GROUP_G0; + gc_block.non_modal_command = int_value; + if ((int_value == 28) || (int_value == 30) || (int_value == 92)) { + if (!((mantissa == 0) || (mantissa == 10))) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } + gc_block.non_modal_command += mantissa; + mantissa = 0; // Set to zero to indicate valid non-integer G command. + } + break; + case 0: case 1: case 2: case 3: case 38: + // Check for G0/1/2/3/38 being called with G10/28/30/92 on same block. + // * G43.1 is also an axis command but is not explicitly defined this way. + if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict] + axis_command = AXIS_COMMAND_MOTION_MODE; + // No break. Continues to next line. + case 80: + word_bit = MODAL_GROUP_G1; + gc_block.modal.motion = int_value; + if (int_value == 38){ + if (!((mantissa == 20) || (mantissa == 30) || (mantissa == 40) || (mantissa == 50))) { + FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G38.x command] + } + gc_block.modal.motion += (mantissa/10)+100; + mantissa = 0; // Set to zero to indicate valid non-integer G command. + } + break; + case 17: case 18: case 19: + word_bit = MODAL_GROUP_G2; + gc_block.modal.plane_select = int_value - 17; + break; + case 90: case 91: + if (mantissa == 0) { + word_bit = MODAL_GROUP_G3; + gc_block.modal.distance = int_value - 90; + } else { + word_bit = MODAL_GROUP_G4; + if ((mantissa != 10) || (int_value == 90)) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G90.1 not supported] + mantissa = 0; // Set to zero to indicate valid non-integer G command. + // Otherwise, arc IJK incremental mode is default. G91.1 does nothing. + } + break; + case 93: case 94: + word_bit = MODAL_GROUP_G5; + gc_block.modal.feed_rate = 94 - int_value; + break; + case 20: case 21: + word_bit = MODAL_GROUP_G6; + gc_block.modal.units = 21 - int_value; + break; + case 40: + word_bit = MODAL_GROUP_G7; + // NOTE: Not required since cutter radius compensation is always disabled. Only here + // to support G40 commands that often appear in g-code program headers to setup defaults. + // gc_block.modal.cutter_comp = CUTTER_COMP_DISABLE; // G40 + break; + case 43: case 49: + word_bit = MODAL_GROUP_G8; + // NOTE: The NIST g-code standard vaguely states that when a tool length offset is changed, + // there cannot be any axis motion or coordinate offsets updated. Meaning G43, G43.1, and G49 + // all are explicit axis commands, regardless if they require axis words or not. + if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict] } + axis_command = AXIS_COMMAND_TOOL_LENGTH_OFFSET; + if (int_value == 49) { // G49 + gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_CANCEL; + } else if (mantissa == 10) { // G43.1 + gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC; + } else { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [Unsupported G43.x command] + mantissa = 0; // Set to zero to indicate valid non-integer G command. + break; + case 54: case 55: case 56: case 57: case 58: case 59: + // NOTE: G59.x are not supported. (But their int_values would be 60, 61, and 62.) + word_bit = MODAL_GROUP_G12; + gc_block.modal.coord_select = int_value - 54; // Shift to array indexing. + break; + case 61: + word_bit = MODAL_GROUP_G13; + if (mantissa != 0) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G61.1 not supported] + // gc_block.modal.control = CONTROL_MODE_EXACT_PATH; // G61 + break; + default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G command] + } + if (mantissa > 0) { FAIL(STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER); } // [Unsupported or invalid Gxx.x command] + // Check for more than one command per modal group violations in the current block + // NOTE: Variable 'word_bit' is always assigned, if the command is valid. + if ( bit_istrue(command_words,bit(word_bit)) ) { FAIL(STATUS_GCODE_MODAL_GROUP_VIOLATION); } + command_words |= bit(word_bit); + break; + + case 'M': + + // Determine 'M' command and its modal group + if (mantissa > 0) { FAIL(STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER); } // [No Mxx.x commands] + switch(int_value) { + case 0: case 1: case 2: case 30: + word_bit = MODAL_GROUP_M4; + switch(int_value) { + case 0: gc_block.modal.program_flow = PROGRAM_FLOW_PAUSED; break; // Program pause + case 1: break; // Optional stop not supported. Ignore. + default: gc_block.modal.program_flow = int_value; // Program end and reset + } + break; + case 3: case 4: case 5: + word_bit = MODAL_GROUP_M7; + switch(int_value) { + case 3: gc_block.modal.spindle = SPINDLE_ENABLE_CW; break; + case 4: gc_block.modal.spindle = SPINDLE_ENABLE_CCW; break; + case 5: gc_block.modal.spindle = SPINDLE_DISABLE; break; + } + break; + #ifdef ENABLE_M7 + case 7: case 8: case 9: + #else + case 8: case 9: + #endif + word_bit = MODAL_GROUP_M8; + switch(int_value) { + #ifdef ENABLE_M7 + case 7: gc_block.modal.coolant = COOLANT_MIST_ENABLE; break; + #endif + case 8: gc_block.modal.coolant = COOLANT_FLOOD_ENABLE; break; + case 9: gc_block.modal.coolant = COOLANT_DISABLE; break; + } + break; + #ifdef ENABLE_PARKING_OVERRIDE_CONTROL + case 56: + word_bit = MODAL_GROUP_M9; + gc_block.modal.override = OVERRIDE_PARKING_MOTION; + break; + #endif + default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported M command] + } + + // Check for more than one command per modal group violations in the current block + // NOTE: Variable 'word_bit' is always assigned, if the command is valid. + if ( bit_istrue(command_words,bit(word_bit)) ) { FAIL(STATUS_GCODE_MODAL_GROUP_VIOLATION); } + command_words |= bit(word_bit); + break; + + // NOTE: All remaining letters assign values. + default: + + /* Non-Command Words: This initial parsing phase only checks for repeats of the remaining + legal g-code words and stores their value. Error-checking is performed later since some + words (I,J,K,L,P,R) have multiple connotations and/or depend on the issued commands. */ + switch(letter){ + // case 'A': // Not supported + // case 'B': // Not supported + // case 'C': // Not supported + // case 'D': // Not supported + case 'F': word_bit = WORD_F; gc_block.values.f = value; break; + // case 'H': // Not supported + case 'I': word_bit = WORD_I; gc_block.values.ijk[X_AXIS] = value; ijk_words |= (1<<X_AXIS); break; + case 'J': word_bit = WORD_J; gc_block.values.ijk[Y_AXIS] = value; ijk_words |= (1<<Y_AXIS); break; + case 'K': word_bit = WORD_K; gc_block.values.ijk[Z_AXIS] = value; ijk_words |= (1<<Z_AXIS); break; + case 'L': word_bit = WORD_L; gc_block.values.l = int_value; break; + case 'N': word_bit = WORD_N; gc_block.values.n = truncf(value); break; + case 'P': word_bit = WORD_P; gc_block.values.p = value; break; + // NOTE: For certain commands, P value must be an integer, but none of these commands are supported. + // case 'Q': // Not supported + case 'R': word_bit = WORD_R; gc_block.values.r = value; break; + case 'S': word_bit = WORD_S; gc_block.values.s = value; break; + case 'T': word_bit = WORD_T; + if (value > MAX_TOOL_NUMBER) { FAIL(STATUS_GCODE_MAX_VALUE_EXCEEDED); } + gc_block.values.t = int_value; + break; + case 'X': word_bit = WORD_X; gc_block.values.xyz[X_AXIS] = value; axis_words |= (1<<X_AXIS); break; + case 'Y': word_bit = WORD_Y; gc_block.values.xyz[Y_AXIS] = value; axis_words |= (1<<Y_AXIS); break; + case 'Z': word_bit = WORD_Z; gc_block.values.xyz[Z_AXIS] = value; axis_words |= (1<<Z_AXIS); break; + default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); + } + + // NOTE: Variable 'word_bit' is always assigned, if the non-command letter is valid. + if (bit_istrue(value_words,bit(word_bit))) { FAIL(STATUS_GCODE_WORD_REPEATED); } // [Word repeated] + // Check for invalid negative values for words F, N, P, T, and S. + // NOTE: Negative value check is done here simply for code-efficiency. + if ( bit(word_bit) & (bit(WORD_F)|bit(WORD_N)|bit(WORD_P)|bit(WORD_T)|bit(WORD_S)) ) { + if (value < 0.0) { FAIL(STATUS_NEGATIVE_VALUE); } // [Word value cannot be negative] + } + value_words |= bit(word_bit); // Flag to indicate parameter assigned. + + } + } + // Parsing complete! + + + /* ------------------------------------------------------------------------------------- + STEP 3: Error-check all commands and values passed in this block. This step ensures all of + the commands are valid for execution and follows the NIST standard as closely as possible. + If an error is found, all commands and values in this block are dumped and will not update + the active system g-code modes. If the block is ok, the active system g-code modes will be + updated based on the commands of this block, and signal for it to be executed. + + Also, we have to pre-convert all of the values passed based on the modes set by the parsed + block. There are a number of error-checks that require target information that can only be + accurately calculated if we convert these values in conjunction with the error-checking. + This relegates the next execution step as only updating the system g-code modes and + performing the programmed actions in order. The execution step should not require any + conversion calculations and would only require minimal checks necessary to execute. + */ + + /* NOTE: At this point, the g-code block has been parsed and the block line can be freed. + NOTE: It's also possible, at some future point, to break up STEP 2, to allow piece-wise + parsing of the block on a per-word basis, rather than the entire block. This could remove + the need for maintaining a large string variable for the entire block and free up some memory. + To do this, this would simply need to retain all of the data in STEP 1, such as the new block + data struct, the modal group and value bitflag tracking variables, and axis array indices + compatible variables. This data contains all of the information necessary to error-check the + new g-code block when the EOL character is received. However, this would break Grbl's startup + lines in how it currently works and would require some refactoring to make it compatible. + */ + + // [0. Non-specific/common error-checks and miscellaneous setup]: + + // Determine implicit axis command conditions. Axis words have been passed, but no explicit axis + // command has been sent. If so, set axis command to current motion mode. + if (axis_words) { + if (!axis_command) { axis_command = AXIS_COMMAND_MOTION_MODE; } // Assign implicit motion-mode + } + + // Check for valid line number N value. + if (bit_istrue(value_words,bit(WORD_N))) { + // Line number value cannot be less than zero (done) or greater than max line number. + if (gc_block.values.n > MAX_LINE_NUMBER) { FAIL(STATUS_GCODE_INVALID_LINE_NUMBER); } // [Exceeds max line number] + } + // bit_false(value_words,bit(WORD_N)); // NOTE: Single-meaning value word. Set at end of error-checking. + + // Track for unused words at the end of error-checking. + // NOTE: Single-meaning value words are removed all at once at the end of error-checking, because + // they are always used when present. This was done to save a few bytes of flash. For clarity, the + // single-meaning value words may be removed as they are used. Also, axis words are treated in the + // same way. If there is an explicit/implicit axis command, XYZ words are always used and are + // are removed at the end of error-checking. + + // [1. Comments ]: MSG's NOT SUPPORTED. Comment handling performed by protocol. + + // [2. Set feed rate mode ]: G93 F word missing with G1,G2/3 active, implicitly or explicitly. Feed rate + // is not defined after switching to G94 from G93. + // NOTE: For jogging, ignore prior feed rate mode. Enforce G94 and check for required F word. + if (gc_parser_flags & GC_PARSER_JOG_MOTION) { + if (bit_isfalse(value_words,bit(WORD_F))) { FAIL(STATUS_GCODE_UNDEFINED_FEED_RATE); } + if (gc_block.modal.units == UNITS_MODE_INCHES) { gc_block.values.f *= MM_PER_INCH; } + } else { + if (gc_block.modal.feed_rate == FEED_RATE_MODE_INVERSE_TIME) { // = G93 + // NOTE: G38 can also operate in inverse time, but is undefined as an error. Missing F word check added here. + if (axis_command == AXIS_COMMAND_MOTION_MODE) { + if ((gc_block.modal.motion != MOTION_MODE_NONE) && (gc_block.modal.motion != MOTION_MODE_SEEK)) { + if (bit_isfalse(value_words,bit(WORD_F))) { FAIL(STATUS_GCODE_UNDEFINED_FEED_RATE); } // [F word missing] + } + } + // NOTE: It seems redundant to check for an F word to be passed after switching from G94 to G93. We would + // accomplish the exact same thing if the feed rate value is always reset to zero and undefined after each + // inverse time block, since the commands that use this value already perform undefined checks. This would + // also allow other commands, following this switch, to execute and not error out needlessly. This code is + // combined with the above feed rate mode and the below set feed rate error-checking. + + // [3. Set feed rate ]: F is negative (done.) + // - In inverse time mode: Always implicitly zero the feed rate value before and after block completion. + // NOTE: If in G93 mode or switched into it from G94, just keep F value as initialized zero or passed F word + // value in the block. If no F word is passed with a motion command that requires a feed rate, this will error + // out in the motion modes error-checking. However, if no F word is passed with NO motion command that requires + // a feed rate, we simply move on and the state feed rate value gets updated to zero and remains undefined. + } else { // = G94 + // - In units per mm mode: If F word passed, ensure value is in mm/min, otherwise push last state value. + if (gc_state.modal.feed_rate == FEED_RATE_MODE_UNITS_PER_MIN) { // Last state is also G94 + if (bit_istrue(value_words,bit(WORD_F))) { + if (gc_block.modal.units == UNITS_MODE_INCHES) { gc_block.values.f *= MM_PER_INCH; } + } else { + gc_block.values.f = gc_state.feed_rate; // Push last state feed rate + } + } // Else, switching to G94 from G93, so don't push last state feed rate. Its undefined or the passed F word value. + } + } + // bit_false(value_words,bit(WORD_F)); // NOTE: Single-meaning value word. Set at end of error-checking. + + // [4. Set spindle speed ]: S is negative (done.) + if (bit_isfalse(value_words,bit(WORD_S))) { gc_block.values.s = gc_state.spindle_speed; } + // bit_false(value_words,bit(WORD_S)); // NOTE: Single-meaning value word. Set at end of error-checking. + + // [5. Select tool ]: NOT SUPPORTED. Only tracks value. T is negative (done.) Not an integer. Greater than max tool value. + // bit_false(value_words,bit(WORD_T)); // NOTE: Single-meaning value word. Set at end of error-checking. + + // [6. Change tool ]: N/A + // [7. Spindle control ]: N/A + // [8. Coolant control ]: N/A + // [9. Override control ]: Not supported except for a Grbl-only parking motion override control. + #ifdef ENABLE_PARKING_OVERRIDE_CONTROL + if (bit_istrue(command_words, bit(MODAL_GROUP_M9))) { // Already set as enabled in parser. + if (bit_istrue(value_words, bit(WORD_P))) { + if (gc_block.values.p == 0.0) { gc_block.modal.override = OVERRIDE_DISABLED; } + bit_false(value_words, bit(WORD_P)); + } + } + #endif + + // [10. Dwell ]: P value missing. P is negative (done.) NOTE: See below. + if (gc_block.non_modal_command == NON_MODAL_DWELL) { + if (bit_isfalse(value_words,bit(WORD_P))) { FAIL(STATUS_GCODE_VALUE_WORD_MISSING); } // [P word missing] + bit_false(value_words,bit(WORD_P)); + } + + // [11. Set active plane ]: N/A + switch (gc_block.modal.plane_select) { + case PLANE_SELECT_XY: + axis_0 = X_AXIS; + axis_1 = Y_AXIS; + axis_linear = Z_AXIS; + break; + case PLANE_SELECT_ZX: + axis_0 = Z_AXIS; + axis_1 = X_AXIS; + axis_linear = Y_AXIS; + break; + default: // case PLANE_SELECT_YZ: + axis_0 = Y_AXIS; + axis_1 = Z_AXIS; + axis_linear = X_AXIS; + } + + // [12. Set length units ]: N/A + // Pre-convert XYZ coordinate values to millimeters, if applicable. + uint8_t idx; + if (gc_block.modal.units == UNITS_MODE_INCHES) { + for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used. + if (bit_istrue(axis_words,bit(idx)) ) { + gc_block.values.xyz[idx] *= MM_PER_INCH; + } + } + } + + // [13. Cutter radius compensation ]: G41/42 NOT SUPPORTED. Error, if enabled while G53 is active. + // [G40 Errors]: G2/3 arc is programmed after a G40. The linear move after disabling is less than tool diameter. + // NOTE: Since cutter radius compensation is never enabled, these G40 errors don't apply. Grbl supports G40 + // only for the purpose to not error when G40 is sent with a g-code program header to setup the default modes. + + // [14. Cutter length compensation ]: G43 NOT SUPPORTED, but G43.1 and G49 are. + // [G43.1 Errors]: Motion command in same line. + // NOTE: Although not explicitly stated so, G43.1 should be applied to only one valid + // axis that is configured (in config.h). There should be an error if the configured axis + // is absent or if any of the other axis words are present. + if (axis_command == AXIS_COMMAND_TOOL_LENGTH_OFFSET ) { // Indicates called in block. + if (gc_block.modal.tool_length == TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC) { + if (axis_words ^ (1<<TOOL_LENGTH_OFFSET_AXIS)) { FAIL(STATUS_GCODE_G43_DYNAMIC_AXIS_ERROR); } + } + } + + // [15. Coordinate system selection ]: *N/A. Error, if cutter radius comp is active. + // TODO: An EEPROM read of the coordinate data may require a buffer sync when the cycle + // is active. The read pauses the processor temporarily and may cause a rare crash. For + // future versions on processors with enough memory, all coordinate data should be stored + // in memory and written to EEPROM only when there is not a cycle active. + float block_coord_system[N_AXIS]; + memcpy(block_coord_system,gc_state.coord_system,sizeof(gc_state.coord_system)); + if ( bit_istrue(command_words,bit(MODAL_GROUP_G12)) ) { // Check if called in block + if (gc_block.modal.coord_select > N_COORDINATE_SYSTEM) { FAIL(STATUS_GCODE_UNSUPPORTED_COORD_SYS); } // [Greater than N sys] + if (gc_state.modal.coord_select != gc_block.modal.coord_select) { + if (!(settings_read_coord_data(gc_block.modal.coord_select,block_coord_system))) { FAIL(STATUS_SETTING_READ_FAIL); } + } + } + + // [16. Set path control mode ]: N/A. Only G61. G61.1 and G64 NOT SUPPORTED. + // [17. Set distance mode ]: N/A. Only G91.1. G90.1 NOT SUPPORTED. + // [18. Set retract mode ]: NOT SUPPORTED. + + // [19. Remaining non-modal actions ]: Check go to predefined position, set G10, or set axis offsets. + // NOTE: We need to separate the non-modal commands that are axis word-using (G10/G28/G30/G92), as these + // commands all treat axis words differently. G10 as absolute offsets or computes current position as + // the axis value, G92 similarly to G10 L20, and G28/30 as an intermediate target position that observes + // all the current coordinate system and G92 offsets. + switch (gc_block.non_modal_command) { + case NON_MODAL_SET_COORDINATE_DATA: + // [G10 Errors]: L missing and is not 2 or 20. P word missing. (Negative P value done.) + // [G10 L2 Errors]: R word NOT SUPPORTED. P value not 0 to nCoordSys(max 9). Axis words missing. + // [G10 L20 Errors]: P must be 0 to nCoordSys(max 9). Axis words missing. + if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS) }; // [No axis words] + if (bit_isfalse(value_words,((1<<WORD_P)|(1<<WORD_L)))) { FAIL(STATUS_GCODE_VALUE_WORD_MISSING); } // [P/L word missing] + coord_select = truncf(gc_block.values.p); // Convert p value to int. + if (coord_select > N_COORDINATE_SYSTEM) { FAIL(STATUS_GCODE_UNSUPPORTED_COORD_SYS); } // [Greater than N sys] + if (gc_block.values.l != 20) { + if (gc_block.values.l == 2) { + if (bit_istrue(value_words,bit(WORD_R))) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G10 L2 R not supported] + } else { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [Unsupported L] + } + bit_false(value_words,(bit(WORD_L)|bit(WORD_P))); + + // Determine coordinate system to change and try to load from EEPROM. + if (coord_select > 0) { coord_select--; } // Adjust P1-P6 index to EEPROM coordinate data indexing. + else { coord_select = gc_block.modal.coord_select; } // Index P0 as the active coordinate system + + // NOTE: Store parameter data in IJK values. By rule, they are not in use with this command. + if (!settings_read_coord_data(coord_select,gc_block.values.ijk)) { FAIL(STATUS_SETTING_READ_FAIL); } // [EEPROM read fail] + + // Pre-calculate the coordinate data changes. + for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used. + // Update axes defined only in block. Always in machine coordinates. Can change non-active system. + if (bit_istrue(axis_words,bit(idx)) ) { + if (gc_block.values.l == 20) { + // L20: Update coordinate system axis at current position (with modifiers) with programmed value + // WPos = MPos - WCS - G92 - TLO -> WCS = MPos - G92 - TLO - WPos + gc_block.values.ijk[idx] = gc_state.position[idx]-gc_state.coord_offset[idx]-gc_block.values.xyz[idx]; + if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.ijk[idx] -= gc_state.tool_length_offset; } + } else { + // L2: Update coordinate system axis to programmed value. + gc_block.values.ijk[idx] = gc_block.values.xyz[idx]; + } + } // Else, keep current stored value. + } + break; + case NON_MODAL_SET_COORDINATE_OFFSET: + // [G92 Errors]: No axis words. + if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS); } // [No axis words] + + // Update axes defined only in block. Offsets current system to defined value. Does not update when + // active coordinate system is selected, but is still active unless G92.1 disables it. + for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used. + if (bit_istrue(axis_words,bit(idx)) ) { + // WPos = MPos - WCS - G92 - TLO -> G92 = MPos - WCS - TLO - WPos + gc_block.values.xyz[idx] = gc_state.position[idx]-block_coord_system[idx]-gc_block.values.xyz[idx]; + if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] -= gc_state.tool_length_offset; } + } else { + gc_block.values.xyz[idx] = gc_state.coord_offset[idx]; + } + } + break; + + default: + + // At this point, the rest of the explicit axis commands treat the axis values as the traditional + // target position with the coordinate system offsets, G92 offsets, absolute override, and distance + // modes applied. This includes the motion mode commands. We can now pre-compute the target position. + // NOTE: Tool offsets may be appended to these conversions when/if this feature is added. + if (axis_command != AXIS_COMMAND_TOOL_LENGTH_OFFSET ) { // TLO block any axis command. + if (axis_words) { + for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used to save flash space. + if ( bit_isfalse(axis_words,bit(idx)) ) { + gc_block.values.xyz[idx] = gc_state.position[idx]; // No axis word in block. Keep same axis position. + } else { + // Update specified value according to distance mode or ignore if absolute override is active. + // NOTE: G53 is never active with G28/30 since they are in the same modal group. + if (gc_block.non_modal_command != NON_MODAL_ABSOLUTE_OVERRIDE) { + // Apply coordinate offsets based on distance mode. + if (gc_block.modal.distance == DISTANCE_MODE_ABSOLUTE) { + gc_block.values.xyz[idx] += block_coord_system[idx] + gc_state.coord_offset[idx]; + if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] += gc_state.tool_length_offset; } + } else { // Incremental mode + gc_block.values.xyz[idx] += gc_state.position[idx]; + } + } + } + } + } + } + + // Check remaining non-modal commands for errors. + switch (gc_block.non_modal_command) { + case NON_MODAL_GO_HOME_0: // G28 + case NON_MODAL_GO_HOME_1: // G30 + // [G28/30 Errors]: Cutter compensation is enabled. + // Retreive G28/30 go-home position data (in machine coordinates) from EEPROM + // NOTE: Store parameter data in IJK values. By rule, they are not in use with this command. + if (gc_block.non_modal_command == NON_MODAL_GO_HOME_0) { + if (!settings_read_coord_data(SETTING_INDEX_G28,gc_block.values.ijk)) { FAIL(STATUS_SETTING_READ_FAIL); } + } else { // == NON_MODAL_GO_HOME_1 + if (!settings_read_coord_data(SETTING_INDEX_G30,gc_block.values.ijk)) { FAIL(STATUS_SETTING_READ_FAIL); } + } + if (axis_words) { + // Move only the axes specified in secondary move. + for (idx=0; idx<N_AXIS; idx++) { + if (!(axis_words & (1<<idx))) { gc_block.values.ijk[idx] = gc_state.position[idx]; } + } + } else { + axis_command = AXIS_COMMAND_NONE; // Set to none if no intermediate motion. + } + break; + case NON_MODAL_SET_HOME_0: // G28.1 + case NON_MODAL_SET_HOME_1: // G30.1 + // [G28.1/30.1 Errors]: Cutter compensation is enabled. + // NOTE: If axis words are passed here, they are interpreted as an implicit motion mode. + break; + case NON_MODAL_RESET_COORDINATE_OFFSET: + // NOTE: If axis words are passed here, they are interpreted as an implicit motion mode. + break; + case NON_MODAL_ABSOLUTE_OVERRIDE: + // [G53 Errors]: G0 and G1 are not active. Cutter compensation is enabled. + // NOTE: All explicit axis word commands are in this modal group. So no implicit check necessary. + if (!(gc_block.modal.motion == MOTION_MODE_SEEK || gc_block.modal.motion == MOTION_MODE_LINEAR)) { + FAIL(STATUS_GCODE_G53_INVALID_MOTION_MODE); // [G53 G0/1 not active] + } + break; + } + } + + // [20. Motion modes ]: + if (gc_block.modal.motion == MOTION_MODE_NONE) { + // [G80 Errors]: Axis word are programmed while G80 is active. + // NOTE: Even non-modal commands or TLO that use axis words will throw this strict error. + if (axis_words) { FAIL(STATUS_GCODE_AXIS_WORDS_EXIST); } // [No axis words allowed] + + // Check remaining motion modes, if axis word are implicit (exist and not used by G10/28/30/92), or + // was explicitly commanded in the g-code block. + } else if ( axis_command == AXIS_COMMAND_MOTION_MODE ) { + + if (gc_block.modal.motion == MOTION_MODE_SEEK) { + // [G0 Errors]: Axis letter not configured or without real value (done.) + // Axis words are optional. If missing, set axis command flag to ignore execution. + if (!axis_words) { axis_command = AXIS_COMMAND_NONE; } + + // All remaining motion modes (all but G0 and G80), require a valid feed rate value. In units per mm mode, + // the value must be positive. In inverse time mode, a positive value must be passed with each block. + } else { + // Check if feed rate is defined for the motion modes that require it. + if (gc_block.values.f == 0.0f) { FAIL(STATUS_GCODE_UNDEFINED_FEED_RATE); } // [Feed rate undefined] + + switch (gc_block.modal.motion) { + case MOTION_MODE_LINEAR: + // [G1 Errors]: Feed rate undefined. Axis letter not configured or without real value. + // Axis words are optional. If missing, set axis command flag to ignore execution. + if (!axis_words) { axis_command = AXIS_COMMAND_NONE; } + + break; + case MOTION_MODE_CW_ARC: + gc_parser_flags |= GC_PARSER_ARC_IS_CLOCKWISE; // No break intentional. + case MOTION_MODE_CCW_ARC: + // [G2/3 Errors All-Modes]: Feed rate undefined. + // [G2/3 Radius-Mode Errors]: No axis words in selected plane. Target point is same as current. + // [G2/3 Offset-Mode Errors]: No axis words and/or offsets in selected plane. The radius to the current + // point and the radius to the target point differs more than 0.002mm (EMC def. 0.5mm OR 0.005mm and 0.1% radius). + // [G2/3 Full-Circle-Mode Errors]: NOT SUPPORTED. Axis words exist. No offsets programmed. P must be an integer. + // NOTE: Both radius and offsets are required for arc tracing and are pre-computed with the error-checking. + + if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS); } // [No axis words] + if (!(axis_words & (bit(axis_0)|bit(axis_1)))) { FAIL(STATUS_GCODE_NO_AXIS_WORDS_IN_PLANE); } // [No axis words in plane] + + // Calculate the change in position along each selected axis + float x,y; + x = gc_block.values.xyz[axis_0]-gc_state.position[axis_0]; // Delta x between current position and target + y = gc_block.values.xyz[axis_1]-gc_state.position[axis_1]; // Delta y between current position and target + + if (value_words & bit(WORD_R)) { // Arc Radius Mode + bit_false(value_words,bit(WORD_R)); + if (isequal_position_vector(gc_state.position, gc_block.values.xyz)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target] + + // Convert radius value to proper units. + if (gc_block.modal.units == UNITS_MODE_INCHES) { gc_block.values.r *= MM_PER_INCH; } + /* We need to calculate the center of the circle that has the designated radius and passes + through both the current position and the target position. This method calculates the following + set of equations where [x,y] is the vector from current to target position, d == magnitude of + that vector, h == hypotenuse of the triangle formed by the radius of the circle, the distance to + the center of the travel vector. A vector perpendicular to the travel vector [-y,x] is scaled to the + length of h [-y/d*h, x/d*h] and added to the center of the travel vector [x/2,y/2] to form the new point + [i,j] at [x/2-y/d*h, y/2+x/d*h] which will be the center of our arc. + + d^2 == x^2 + y^2 + h^2 == r^2 - (d/2)^2 + i == x/2 - y/d*h + j == y/2 + x/d*h + + O <- [i,j] + - | + r - | + - | + - | h + - | + [0,0] -> C -----------------+--------------- T <- [x,y] + | <------ d/2 ---->| + + C - Current position + T - Target position + O - center of circle that pass through both C and T + d - distance from C to T + r - designated radius + h - distance from center of CT to O + + Expanding the equations: + + d -> sqrt(x^2 + y^2) + h -> sqrt(4 * r^2 - x^2 - y^2)/2 + i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2 + j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2 + + Which can be written: + + i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2 + j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2 + + Which we for size and speed reasons optimize to: + + h_x2_div_d = sqrt(4 * r^2 - x^2 - y^2)/sqrt(x^2 + y^2) + i = (x - (y * h_x2_div_d))/2 + j = (y + (x * h_x2_div_d))/2 + */ + + // First, use h_x2_div_d to compute 4*h^2 to check if it is negative or r is smaller + // than d. If so, the sqrt of a negative number is complex and error out. + float h_x2_div_d = 4.0f * gc_block.values.r*gc_block.values.r - x*x - y*y; + + if (h_x2_div_d < 0) { FAIL(STATUS_GCODE_ARC_RADIUS_ERROR); } // [Arc radius error] + + // Finish computing h_x2_div_d. + h_x2_div_d = -sqrtf(h_x2_div_d)/hypot_f(x,y); // == -(h * 2 / d) + // Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below) + if (gc_block.modal.motion == MOTION_MODE_CCW_ARC) { h_x2_div_d = -h_x2_div_d; } + + /* The counter clockwise circle lies to the left of the target direction. When offset is positive, + the left hand circle will be generated - when it is negative the right hand circle is generated. + + T <-- Target position + + ^ + Clockwise circles with this center | Clockwise circles with this center will have + will have > 180 deg of angular travel | < 180 deg of angular travel, which is a good thing! + \ | / + center of arc when h_x2_div_d is positive -> x <----- | -----> x <- center of arc when h_x2_div_d is negative + | + | + + C <-- Current position + */ + // Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!), + // even though it is advised against ever generating such circles in a single line of g-code. By + // inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of + // travel and thus we get the unadvisably long arcs as prescribed. + if (gc_block.values.r < 0) { + h_x2_div_d = -h_x2_div_d; + gc_block.values.r = -gc_block.values.r; // Finished with r. Set to positive for mc_arc + } + // Complete the operation by calculating the actual center of the arc + gc_block.values.ijk[axis_0] = 0.5f*(x-(y*h_x2_div_d)); + gc_block.values.ijk[axis_1] = 0.5f*(y+(x*h_x2_div_d)); + + } else { // Arc Center Format Offset Mode + if (!(ijk_words & (bit(axis_0)|bit(axis_1)))) { FAIL(STATUS_GCODE_NO_OFFSETS_IN_PLANE); } // [No offsets in plane] + bit_false(value_words,(bit(WORD_I)|bit(WORD_J)|bit(WORD_K))); + + // Convert IJK values to proper units. + if (gc_block.modal.units == UNITS_MODE_INCHES) { + for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used to save flash space. + if (ijk_words & bit(idx)) { gc_block.values.ijk[idx] *= MM_PER_INCH; } + } + } + + // Arc radius from center to target + x -= gc_block.values.ijk[axis_0]; // Delta x between circle center and target + y -= gc_block.values.ijk[axis_1]; // Delta y between circle center and target + float target_r = hypot_f(x,y); + + // Compute arc radius for mc_arc. Defined from current location to center. + gc_block.values.r = hypot_f(gc_block.values.ijk[axis_0], gc_block.values.ijk[axis_1]); + + // Compute difference between current location and target radii for final error-checks. + float delta_r = fabsf(target_r-gc_block.values.r); + if (delta_r > 0.005f) { + if (delta_r > 0.5f) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Arc definition error] > 0.5mm + if (delta_r > (0.001f*gc_block.values.r)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Arc definition error] > 0.005mm AND 0.1% radius + } + } + break; + case MOTION_MODE_PROBE_TOWARD_NO_ERROR: case MOTION_MODE_PROBE_AWAY_NO_ERROR: + gc_parser_flags |= GC_PARSER_PROBE_IS_NO_ERROR; // No break intentional. + case MOTION_MODE_PROBE_TOWARD: case MOTION_MODE_PROBE_AWAY: + if ((gc_block.modal.motion == MOTION_MODE_PROBE_AWAY) || + (gc_block.modal.motion == MOTION_MODE_PROBE_AWAY_NO_ERROR)) { gc_parser_flags |= GC_PARSER_PROBE_IS_AWAY; } + // [G38 Errors]: Target is same current. No axis words. Cutter compensation is enabled. Feed rate + // is undefined. Probe is triggered. NOTE: Probe check moved to probe cycle. Instead of returning + // an error, it issues an alarm to prevent further motion to the probe. It's also done there to + // allow the planner buffer to empty and move off the probe trigger before another probing cycle. + if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS); } // [No axis words] + if (isequal_position_vector(gc_state.position, gc_block.values.xyz)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target] + break; + } + } + } + + // [21. Program flow ]: No error checks required. + + // [0. Non-specific error-checks]: Complete unused value words check, i.e. IJK used when in arc + // radius mode, or axis words that aren't used in the block. + if (gc_parser_flags & GC_PARSER_JOG_MOTION) { + // Jogging only uses the F feed rate and XYZ value words. N is valid, but S and T are invalid. + bit_false(value_words, (bit(WORD_N) | bit(WORD_F))); + } else { + bit_false(value_words, (bit(WORD_N) | bit(WORD_F) | bit(WORD_S) | bit(WORD_T))); // Remove single-meaning value words. + } + if (axis_command) { bit_false(value_words,(bit(WORD_X)|bit(WORD_Y)|bit(WORD_Z))); } // Remove axis words. + if (value_words) { FAIL(STATUS_GCODE_UNUSED_WORDS); } // [Unused words] + + /* ------------------------------------------------------------------------------------- + STEP 4: EXECUTE!! + Assumes that all error-checking has been completed and no failure modes exist. We just + need to update the state and execute the block according to the order-of-execution. + */ + + // Initialize planner data struct for motion blocks. + plan_line_data_t plan_data; + plan_line_data_t *pl_data = &plan_data; + memset(pl_data,0,sizeof(plan_line_data_t)); // Zero pl_data struct + + // Intercept jog commands and complete error checking for valid jog commands and execute. + // NOTE: G-code parser state is not updated, except the position to ensure sequential jog + // targets are computed correctly. The final parser position after a jog is updated in + // protocol_execute_realtime() when jogging completes or is canceled. + if (gc_parser_flags & GC_PARSER_JOG_MOTION) { + // Only distance and unit modal commands and G53 absolute override command are allowed. + // NOTE: Feed rate word and axis word checks have already been performed in STEP 3. + if (command_words & ~(bit(MODAL_GROUP_G3) | bit(MODAL_GROUP_G6 | bit(MODAL_GROUP_G0)))) { FAIL(STATUS_INVALID_JOG_COMMAND) }; + if (!(gc_block.non_modal_command == NON_MODAL_ABSOLUTE_OVERRIDE || gc_block.non_modal_command == NON_MODAL_NO_ACTION)) { FAIL(STATUS_INVALID_JOG_COMMAND); } + + // Initialize planner data to current spindle and coolant modal state. + pl_data->spindle_speed = gc_state.spindle_speed; + plan_data.condition = (gc_state.modal.spindle | gc_state.modal.coolant); + + uint8_t status = jog_execute(&plan_data, &gc_block); + if (status == STATUS_OK) { memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); } + return(status); + } + + // If in laser mode, setup laser power based on current and past parser conditions. + if (bit_istrue(settings.flags, BITFLAG_LASER_MODE)) { + if (!((gc_block.modal.motion == MOTION_MODE_LINEAR) || (gc_block.modal.motion == MOTION_MODE_CW_ARC) + || (gc_block.modal.motion == MOTION_MODE_CCW_ARC))) { + gc_parser_flags |= GC_PARSER_LASER_DISABLE; + } + + // Any motion mode with axis words is allowed to be passed from a spindle speed update. + // NOTE: G1 and G0 without axis words sets axis_command to none. G28/30 are intentionally omitted. + // TODO: Check sync conditions for M3 enabled motions that don't enter the planner. (zero length). + if (axis_words && (axis_command == AXIS_COMMAND_MOTION_MODE)) { + gc_parser_flags |= GC_PARSER_LASER_ISMOTION; + } + else { + // M3 constant power laser requires planner syncs to update the laser when changing between + // a G1/2/3 motion mode state and vice versa when there is no motion in the line. + if (gc_state.modal.spindle == SPINDLE_ENABLE_CW) { + if ((gc_state.modal.motion == MOTION_MODE_LINEAR) || (gc_state.modal.motion == MOTION_MODE_CW_ARC) + || (gc_state.modal.motion == MOTION_MODE_CCW_ARC)) { + if (bit_istrue(gc_parser_flags, GC_PARSER_LASER_DISABLE)) { + gc_parser_flags |= GC_PARSER_LASER_FORCE_SYNC; // Change from G1/2/3 motion mode. + } + } + else { + // When changing to a G1 motion mode without axis words from a non-G1/2/3 motion mode. + if (bit_isfalse(gc_parser_flags, GC_PARSER_LASER_DISABLE)) { + gc_parser_flags |= GC_PARSER_LASER_FORCE_SYNC; + } + } + } + } + } + + // [0. Non-specific/common error-checks and miscellaneous setup]: + // NOTE: If no line number is present, the value is zero. + gc_state.line_number = gc_block.values.n; + #ifdef USE_LINE_NUMBERS + pl_data->line_number = gc_state.line_number; // Record data for planner use. + #endif + + // [1. Comments feedback ]: NOT SUPPORTED + + // [2. Set feed rate mode ]: + gc_state.modal.feed_rate = gc_block.modal.feed_rate; + if (gc_state.modal.feed_rate) { pl_data->condition |= PL_COND_FLAG_INVERSE_TIME; } // Set condition flag for planner use. + + // [3. Set feed rate ]: + gc_state.feed_rate = gc_block.values.f; // Always copy this value. See feed rate error-checking. + pl_data->feed_rate = gc_state.feed_rate; // Record data for planner use. + + // [4. Set spindle speed ]: + if ((gc_state.spindle_speed != gc_block.values.s) || bit_istrue(gc_parser_flags, GC_PARSER_LASER_FORCE_SYNC)) { + if (gc_state.modal.spindle != SPINDLE_DISABLE) { +#ifdef VARIABLE_SPINDLE + if (bit_isfalse(gc_parser_flags, GC_PARSER_LASER_ISMOTION)) { + if (bit_istrue(gc_parser_flags, GC_PARSER_LASER_DISABLE)) { + spindle_sync(gc_state.modal.spindle, 0.0); + } + else { spindle_sync(gc_state.modal.spindle, gc_block.values.s); } + } +#else + spindle_sync(gc_state.modal.spindle, 0.0); +#endif + } + gc_state.spindle_speed = gc_block.values.s; // Update spindle speed state. + } + // NOTE: Pass zero spindle speed for all restricted laser motions. + if (bit_isfalse(gc_parser_flags, GC_PARSER_LASER_DISABLE)) { + pl_data->spindle_speed = gc_state.spindle_speed; // Record data for planner use. + } // else { pl_data->spindle_speed = 0.0; } // Initialized as zero already. + + // [5. Select tool ]: NOT SUPPORTED. Only tracks tool value. + gc_state.tool = gc_block.values.t; + + // [6. Change tool ]: NOT SUPPORTED + + // [7. Spindle control ]: + if (gc_state.modal.spindle != gc_block.modal.spindle) { + // Update spindle control and apply spindle speed when enabling it in this block. + // NOTE: All spindle state changes are synced, even in laser mode. Also, pl_data, + // rather than gc_state, is used to manage laser state for non-laser motions. + spindle_sync(gc_block.modal.spindle, pl_data->spindle_speed); + gc_state.modal.spindle = gc_block.modal.spindle; + } + pl_data->condition |= gc_state.modal.spindle; // Set condition flag for planner use. + + // [8. Coolant control ]: + if (gc_state.modal.coolant != gc_block.modal.coolant) { + // NOTE: Coolant M-codes are modal. Only one command per line is allowed. But, multiple states + // can exist at the same time, while coolant disable clears all states. + coolant_sync(gc_block.modal.coolant); + if (gc_block.modal.coolant == COOLANT_DISABLE) { gc_state.modal.coolant = COOLANT_DISABLE; } + else { gc_state.modal.coolant |= gc_block.modal.coolant; } + } + pl_data->condition |= gc_state.modal.coolant; // Set condition flag for planner use. + + // [9. Override control ]: NOT SUPPORTED. Always enabled. Except for a Grbl-only parking control. + #ifdef ENABLE_PARKING_OVERRIDE_CONTROL + if (gc_state.modal.override != gc_block.modal.override) { + gc_state.modal.override = gc_block.modal.override; + mc_override_ctrl_update(gc_state.modal.override); + } + #endif + + // [10. Dwell ]: + if (gc_block.non_modal_command == NON_MODAL_DWELL) { mc_dwell(gc_block.values.p); } + + // [11. Set active plane ]: + gc_state.modal.plane_select = gc_block.modal.plane_select; + + // [12. Set length units ]: + gc_state.modal.units = gc_block.modal.units; + + // [13. Cutter radius compensation ]: G41/42 NOT SUPPORTED + // gc_state.modal.cutter_comp = gc_block.modal.cutter_comp; // NOTE: Not needed since always disabled. + + // [14. Cutter length compensation ]: G43.1 and G49 supported. G43 NOT SUPPORTED. + // NOTE: If G43 were supported, its operation wouldn't be any different from G43.1 in terms + // of execution. The error-checking step would simply load the offset value into the correct + // axis of the block XYZ value array. + if (axis_command == AXIS_COMMAND_TOOL_LENGTH_OFFSET ) { // Indicates a change. + gc_state.modal.tool_length = gc_block.modal.tool_length; + if (gc_state.modal.tool_length == TOOL_LENGTH_OFFSET_CANCEL) { // G49 + gc_block.values.xyz[TOOL_LENGTH_OFFSET_AXIS] = 0.0f; + } // else G43.1 + if ( gc_state.tool_length_offset != gc_block.values.xyz[TOOL_LENGTH_OFFSET_AXIS] ) { + gc_state.tool_length_offset = gc_block.values.xyz[TOOL_LENGTH_OFFSET_AXIS]; + system_flag_wco_change(); + } + } + + // [15. Coordinate system selection ]: + if (gc_state.modal.coord_select != gc_block.modal.coord_select) { + gc_state.modal.coord_select = gc_block.modal.coord_select; + memcpy(gc_state.coord_system,block_coord_system,N_AXIS*sizeof(float)); + system_flag_wco_change(); + } + + // [16. Set path control mode ]: G61.1/G64 NOT SUPPORTED + // gc_state.modal.control = gc_block.modal.control; // NOTE: Always default. + + // [17. Set distance mode ]: + gc_state.modal.distance = gc_block.modal.distance; + + // [18. Set retract mode ]: NOT SUPPORTED + + // [19. Go to predefined position, Set G10, or Set axis offsets ]: + switch(gc_block.non_modal_command) { + case NON_MODAL_SET_COORDINATE_DATA: + settings_write_coord_data(coord_select,gc_block.values.ijk); + // Update system coordinate system if currently active. + if (gc_state.modal.coord_select == coord_select) { + memcpy(gc_state.coord_system,gc_block.values.ijk,N_AXIS*sizeof(float)); + system_flag_wco_change(); + } + break; + case NON_MODAL_GO_HOME_0: case NON_MODAL_GO_HOME_1: + // Move to intermediate position before going home. Obeys current coordinate system and offsets + // and absolute and incremental modes. + pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag. + if (axis_command) { mc_line(gc_block.values.xyz, pl_data); } + mc_line(gc_block.values.ijk, pl_data); + memcpy(gc_state.position, gc_block.values.ijk, N_AXIS*sizeof(float)); + break; + case NON_MODAL_SET_HOME_0: + settings_write_coord_data(SETTING_INDEX_G28,gc_state.position); + break; + case NON_MODAL_SET_HOME_1: + settings_write_coord_data(SETTING_INDEX_G30,gc_state.position); + break; + case NON_MODAL_SET_COORDINATE_OFFSET: + memcpy(gc_state.coord_offset,gc_block.values.xyz,sizeof(gc_block.values.xyz)); + system_flag_wco_change(); + break; + case NON_MODAL_RESET_COORDINATE_OFFSET: + clear_vector(gc_state.coord_offset); // Disable G92 offsets by zeroing offset vector. + system_flag_wco_change(); + break; + } + + + // [20. Motion modes ]: + // NOTE: Commands G10,G28,G30,G92 lock out and prevent axis words from use in motion modes. + // Enter motion modes only if there are axis words or a motion mode command word in the block. + gc_state.modal.motion = gc_block.modal.motion; + if (gc_state.modal.motion != MOTION_MODE_NONE) { + if (axis_command == AXIS_COMMAND_MOTION_MODE) { + uint8_t gc_update_pos = GC_UPDATE_POS_TARGET; + if (gc_state.modal.motion == MOTION_MODE_LINEAR) { + mc_line(gc_block.values.xyz, pl_data); + } else if (gc_state.modal.motion == MOTION_MODE_SEEK) { + pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag. + mc_line(gc_block.values.xyz, pl_data); + } else if ((gc_state.modal.motion == MOTION_MODE_CW_ARC) || (gc_state.modal.motion == MOTION_MODE_CCW_ARC)) { + mc_arc(gc_block.values.xyz, pl_data, gc_state.position, gc_block.values.ijk, gc_block.values.r, + axis_0, axis_1, axis_linear, bit_istrue(gc_parser_flags, GC_PARSER_ARC_IS_CLOCKWISE)); + } else { + // NOTE: gc_block.values.xyz is returned from mc_probe_cycle with the updated position value. So + // upon a successful probing cycle, the machine position and the returned value should be the same. + #ifndef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES + pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE; + #endif + gc_update_pos = mc_probe_cycle(gc_block.values.xyz, pl_data, gc_parser_flags); + } + + // As far as the parser is concerned, the position is now == target. In reality the + // motion control system might still be processing the action and the real tool position + // in any intermediate location. + if (gc_update_pos == GC_UPDATE_POS_TARGET) { + memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); // gc_state.position[] = gc_block.values.xyz[] + } else if (gc_update_pos == GC_UPDATE_POS_SYSTEM) { + gc_sync_position(); // gc_state.position[] = sys_position + } // == GC_UPDATE_POS_NONE + } + + } + + // [21. Program flow ]: + // M0,M1,M2,M30: Perform non-running program flow actions. During a program pause, the buffer may + // refill and can only be resumed by the cycle start run-time command. + gc_state.modal.program_flow = gc_block.modal.program_flow; + if (gc_state.modal.program_flow) { + protocol_buffer_synchronize(); // Sync and finish all remaining buffered motions before moving on. + if (gc_state.modal.program_flow == PROGRAM_FLOW_PAUSED) { + if (sys.state != STATE_CHECK_MODE) { + system_set_exec_state_flag(EXEC_FEED_HOLD); // Use feed hold for program pause. + protocol_execute_realtime(); // Execute suspend. + } + } else { // == PROGRAM_FLOW_COMPLETED + // Upon program complete, only a subset of g-codes reset to certain defaults, according to + // LinuxCNC's program end descriptions and testing. Only modal groups [G-code 1,2,3,5,7,12] + // and [M-code 7,8,9] reset to [G1,G17,G90,G94,G40,G54,M5,M9,M48]. The remaining modal groups + // [G-code 4,6,8,10,13,14,15] and [M-code 4,5,6] and the modal words [F,S,T,H] do not reset. + gc_state.modal.motion = MOTION_MODE_LINEAR; + gc_state.modal.plane_select = PLANE_SELECT_XY; + gc_state.modal.distance = DISTANCE_MODE_ABSOLUTE; + gc_state.modal.feed_rate = FEED_RATE_MODE_UNITS_PER_MIN; + // gc_state.modal.cutter_comp = CUTTER_COMP_DISABLE; // Not supported. + gc_state.modal.coord_select = 0; // G54 + gc_state.modal.spindle = SPINDLE_DISABLE; + gc_state.modal.coolant = COOLANT_DISABLE; + #ifdef ENABLE_PARKING_OVERRIDE_CONTROL + #ifdef DEACTIVATE_PARKING_UPON_INIT + gc_state.modal.override = OVERRIDE_DISABLED; + #else + gc_state.modal.override = OVERRIDE_PARKING_MOTION; + #endif + #endif + + #ifdef RESTORE_OVERRIDES_AFTER_PROGRAM_END + sys.f_override = DEFAULT_FEED_OVERRIDE; + sys.r_override = DEFAULT_RAPID_OVERRIDE; + sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; + #endif + + // Execute coordinate change and spindle/coolant stop. + if (sys.state != STATE_CHECK_MODE) { + if (!(settings_read_coord_data(gc_state.modal.coord_select,gc_state.coord_system))) { FAIL(STATUS_SETTING_READ_FAIL); } + system_flag_wco_change(); // Set to refresh immediately just in case something altered. + spindle_set_state(SPINDLE_DISABLE,0.0f); + coolant_set_state(COOLANT_DISABLE); + } + report_feedback_message(MESSAGE_PROGRAM_END); + } + gc_state.modal.program_flow = PROGRAM_FLOW_RUNNING; // Reset program flow. + } + + // TODO: % to denote start of program. + + return(STATUS_OK); +} + + +/* + Not supported: + + - Canned cycles + - Tool radius compensation + - A,B,C-axes + - Evaluation of expressions + - Variables + - Override control (TBD) + - Tool changes + - Switches + + (*) Indicates optional parameter, enabled through config.h and re-compile + group 0 = {G92.2, G92.3} (Non modal: Cancel and re-enable G92 offsets) + group 1 = {G81 - G89} (Motion modes: Canned cycles) + group 4 = {M1} (Optional stop, ignored) + group 6 = {M6} (Tool change) + group 7 = {G41, G42} cutter radius compensation (G40 is supported) + group 8 = {G43} tool length offset (G43.1/G49 are supported) + group 8 = {M7*} enable mist coolant (* Compile-option) + group 9 = {M48, M49, M56*} enable/disable override switches (* Compile-option) + group 10 = {G98, G99} return mode canned cycles + group 13 = {G61.1, G64} path control mode (G61 is supported) +*/