/* * gcode_parser.cpp - rs274/ngc Gcode parser * This file is part of the g2core project * * Copyright (c) 2010 - 2017 Alden S. Hart, Jr. * Copyright (c) 2016 - 2017 Rob Giseburt * * This file ("the software") is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License, version 2 as published by the * Free Software Foundation. You should have received a copy of the GNU General Public * License, version 2 along with the software. If not, see . * * THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT WITHOUT ANY * WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT * SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF * OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ #include "g2core.h" // #1 #include "config.h" // #2 #include "controller.h" #include "gcode.h" #include "canonical_machine.h" #include "spindle.h" #include "coolant.h" #include "util.h" #include "xio.h" // for char definitions // Structures used by Gcode parser typedef struct GCodeInputValue { // Gcode inputs - meaning depends on context uint8_t next_action; // handles G modal group 1 moves & non-modals cmMotionMode motion_mode; // Group1: G0, G1, G2, G3, G38.2, G80, G81, G82, G83, G84, G85, G86, G87, G88, G89 uint8_t program_flow; // used only by the gcode_parser uint32_t linenum; // N word float target[AXES]; // XYZABC where the move should go float arc_offset[3]; // IJK - used by arc commands float arc_radius; // R - radius value in arc radius mode float F_word; // F - normalized to millimeters/minute uint8_t H_word; // H word - used by G43s uint8_t L_word; // L word - used by G10s float P_word; // P - parameter used for dwell time in seconds, G10 coord select... float S_word; // S word - in RPM uint8_t feed_rate_mode; // See cmFeedRateMode for settings uint8_t select_plane; // G17,G18,G19 - values to set plane to uint8_t units_mode; // G20,G21 - 0=inches (G20), 1 = mm (G21) uint8_t coord_system; // G54-G59 - select coordinate system 1-9 uint8_t path_control; // G61... EXACT_PATH, EXACT_STOP, CONTINUOUS uint8_t distance_mode; // G91 0=use absolute coords(G90), 1=incremental movement uint8_t arc_distance_mode; // G90.1=use absolute IJK offsets, G91.1=incremental IJK offsets uint8_t origin_offset_mode; // G92...TRUE=in origin offset mode uint8_t absolute_override; // G53 TRUE = move using machine coordinates - this block only (G53) uint8_t tool; // Tool after T and M6 (tool_select and tool_change) uint8_t tool_select; // T value - T sets this value uint8_t tool_change; // M6 tool change flag - moves "tool_select" to "tool" uint8_t coolant_mist; // TRUE = mist on (M7) uint8_t coolant_flood; // TRUE = flood on (M8) uint8_t coolant_off; // TRUE = turn off all coolants (M9) uint8_t spindle_control; // 0=OFF (M5), 1=CW (M3), 2=CCW (M4) bool m48_enable; // M48/M49 input (enables for feed and spindle) bool fro_control; // M50 feedrate override control bool tro_control; // M50.1 traverse override control bool spo_control; // M51 spindle speed override control } GCodeValue_t; typedef struct GCodeFlags { // Gcode input flags bool next_action; bool motion_mode; bool program_flow; bool linenum; bool target[AXES]; bool arc_offset[3]; bool arc_radius; bool F_word; bool H_word; bool L_word; bool P_word; bool S_word; bool feed_rate_mode; bool select_plane; bool units_mode; bool coord_system; bool path_control; bool distance_mode; bool arc_distance_mode; bool origin_offset_mode; bool absolute_override; bool tool; bool tool_select; bool tool_change; bool coolant_mist; bool coolant_flood; bool coolant_off; bool spindle_control; bool m48_enable; bool fro_control; bool tro_control; bool spo_control; } GCodeFlag_t; typedef struct GCodeParser { bool modals[MODAL_GROUP_COUNT]; } GCodeParser_t; GCodeParser_t gp; // main parser struct GCodeValue_t gv; // gcode input values GCodeFlag_t gf; // gcode input flags // local helper functions and macros static void _normalize_gcode_block(char *str, char **active_comment, uint8_t *block_delete_flag); static stat_t _get_next_gcode_word(char **pstr, char *letter, float *value); static stat_t _point(float value); static stat_t _validate_gcode_block(char *active_comment); static stat_t _parse_gcode_block(char *line, char *active_comment); // Parse the block into the GN/GF structs static stat_t _execute_gcode_block(char *active_comment); // Execute the gcode block #define SET_MODAL(m,parm,val) ({gv.parm=val; gf.parm=true; gp.modals[m]=true; break;}) #define SET_NON_MODAL(parm,val) ({gv.parm=val; gf.parm=true; break;}) #define EXEC_FUNC(f,v) if(gf.v) { status=f(gv.v);} /* * gcode_parser_init() */ void gcode_parser_init() { memset(&gv, 0, sizeof(GCodeValue_t)); memset(&gf, 0, sizeof(GCodeFlag_t)); } /* * gcode_parser() - parse a block (line) of gcode * * Top level of gcode parser. Normalizes block and looks for special cases */ stat_t gcode_parser(char *block) { char *str = block; // gcode command or NUL string char none = NUL; char *active_comment = &none; // gcode comment or NUL string uint8_t block_delete_flag; _normalize_gcode_block(str, &active_comment, &block_delete_flag); // TODO, now MSG is put in the active comment, handle that. if (str[0] == NUL) { // normalization returned null string return (STAT_OK); // most likely a comment line } // Trap M30 and M2 as $clear conditions. This has no effect if not in ALARM or SHUTDOWN cm_parse_clear(str); // parse Gcode and clear alarms if M30 or M2 is found ritorno(cm_is_alarmed()); // return error status if in alarm, shutdown or panic // Block delete omits the line if a / char is present in the first space // For now this is unconditional and will always delete // if ((block_delete_flag == true) && (cm_get_block_delete_switch() == true)) { if (block_delete_flag == true) { return (STAT_NOOP); } return(_parse_gcode_block(block, active_comment)); } /* * _normalize_gcode_block() - normalize a block (line) of gcode in place * * Normalization functions: * - Isolate "active comments" * - Many of the following are performed in active comments as well * - Strings are handled special (TODO) * - Active comments are moved to the end of the string, and multiple active comments are merged into one * - convert all letters to upper case * - remove white space, control and other invalid characters * - remove (erroneous) leading zeros that might be taken to mean Octal * - identify and return start of comments and messages * - signal if a block-delete character (/) was encountered in the first space * - NOTE: Assumes no leading whitespace as this was removed at the controller dispatch level * * So this: "g1 x100 Y100 f400" becomes this: "G1X100Y100F400" * * Comment and message handling: * - Active comments start with exactly "({" and end with "})" (no relaxing, invalid is invalid) * - Comments field start with a '(' char or alternately a semicolon ';' * - Active comments are moved to the end of the string and merged. * - Messages are converted to ({msg:"blah"}) active comments. * - The 'MSG' specifier in comment can have mixed case but cannot cannot have embedded white spaces * - Other "plain" comments will be discarded. * - Multiple embedded comments are acceptable. * - Multiple active comments will be merged. * - Only ONE MSG comment will be accepted. * * Returns: * - com points to comment string or to NUL if no comment * - msg points to message string or to NUL if no comment * - block_delete_flag is set true if block delete encountered, false otherwise */ static char _normalize_scratch[RX_BUFFER_MIN_SIZE]; static void _normalize_gcode_block(char *str, char **active_comment, uint8_t *block_delete_flag) { _normalize_scratch[0] = 0; char *gc_rd = str; // read pointer char *gc_wr = _normalize_scratch; // write pointer char *ac_rd = str; // Active Comment read pointer char *ac_wr = _normalize_scratch; // Active Comment write pointer bool last_char_was_digit = false; // used for octal stripping /* Active comment notes: We will convert as follows: FROM: G0 ({blah: t}) x10 (comment) TO : g0x10\0{blah:t} NOTES: Active comments moved to the end, stripped of (), everything lowercased, and plain comment removed. FROM: M100 ({a:t}) (comment) ({b:f}) (comment) TO : m100\0{a:t,b:f} NOTES: multiple active comments merged, stripped of (), and actual comments ignored. */ // Move the ac_wr point forward one for every non-AC character we KEEP (plus one for a NULL in between) ac_wr++; // account for the in-between NULL // mark block deletes if (*gc_rd == '/') { *block_delete_flag = true; gc_rd++; } else { *block_delete_flag = false; } while (*gc_rd != 0) { // check for ';' or '%' comments that end the line. if ((*gc_rd == ';') || (*gc_rd == '%')) { // go ahead and snap the string off cleanly here *gc_rd = 0; break; } // check for comment '(' else if (*gc_rd == '(') { // We only care if it's a "({" in order to handle string-skipping properly gc_rd++; if ((*gc_rd == '{') || (((* gc_rd == 'm') || (* gc_rd == 'M')) && ((*(gc_rd+1) == 's') || (*(gc_rd+1) == 'S')) && ((*(gc_rd+2) == 'g') || (*(gc_rd+2) == 'G')) )) { if (ac_rd == nullptr) { ac_rd = gc_rd; // note the start of the first AC } // skip the comment, handling strings carefully bool in_string = false; while (*(++gc_rd) != 0) { if (*gc_rd=='"') { in_string = true; } else if (in_string) { if ((*gc_rd == '\\') && (*(gc_rd+1) != 0)) { gc_rd++; // Skip it, it's escaped. } } else if ((*gc_rd == ')')) { break; } } if (*gc_rd == 0) { // We don't want the rd++ later to skip the NULL if we're at one break; } } else { *(gc_rd-1) = ' '; // Change the '(' to a space to simplify the comment copy later // skip ahead until we find a ')' (or NULL) while ((*gc_rd != 0) && (*gc_rd != ')')) { gc_rd++; } } } else if (!isspace(*gc_rd)) { bool do_copy = false; // Perform Octal stripping - remove invalid leading zeros in number strings // Change 0123.004 to 123.004, or -0234.003 to -234.003 if (isdigit(*gc_rd) || (*gc_rd == '.')) { // treat '.' as a digit so we don't strip after one if (last_char_was_digit || (*gc_rd != '0') || !isdigit(*(gc_rd+1))) { do_copy = true; } last_char_was_digit = true; } else if ((isalnum((char)*gc_rd)) || (strchr("-.", *gc_rd))) { // all valid characters last_char_was_digit = false; do_copy = true; } if (do_copy) { *(gc_wr++) = toupper(*gc_rd); ac_wr++; // move the ac start position } } gc_rd++; } // Enforce null termination *gc_wr = 0; // note the beginning of the comments char *comment_start = ac_wr; if (ac_rd != nullptr) { // Now we'll copy the comments to the scratch while (*ac_rd != 0) { // check for comment '(' // Remember: we're only "counting characters" at this point, no more. if (*ac_rd == '(') { // We only care if it's a "({" in order to handle string-skipping properly ac_rd++; bool do_copy = false; bool in_msg = false; if (((* ac_rd == 'm') || (* ac_rd == 'M')) && ((*(ac_rd+1) == 's') || (*(ac_rd+1) == 'S')) && ((*(ac_rd+2) == 'g') || (*(ac_rd+2) == 'G')) ) { ac_rd += 3; if (*ac_rd == ' ') { ac_rd++; // skip the first space. } if (*(ac_wr-1) == '}') { *(ac_wr-1) = ','; } else { *(ac_wr++) = '{'; } *(ac_wr++) = 'm'; *(ac_wr++) = 's'; *(ac_wr++) = 'g'; *(ac_wr++) = ':'; *(ac_wr++) = '"'; // TODO - FIX BUFFER OVERFLOW POTENTIAL // "(msg)" is four characters. "{msg:" is five. If the write buffer is full, we'll overflow. // Also " is MSG will be quoted, making one character into two. in_msg = true; do_copy = true; } else if (*ac_rd == '{') { // merge json comments if (*(ac_wr-1) == '}') { *(ac_wr-1) = ','; // don't copy the '{' ac_rd++; } do_copy = true; } if (do_copy) { // skip the comment, handling strings carefully bool in_string = false; bool escaped = false; while (*ac_rd != 0) { if (in_string && (*ac_rd == '\\')) { escaped = true; } else if (!escaped && (*ac_rd == '"')) { // In msg comments, we have to escape " if (in_msg) { *(ac_wr++) = '\\'; } else { in_string = !in_string; } } else if (!in_string && (*ac_rd == ')')) { ac_rd++; if (in_msg) { *(ac_wr++) = '"'; *(ac_wr++) = '}'; } break; } else { escaped = false; } // Skip spaces if we're not in a string or msg (implicit string) if (in_string || in_msg || (*ac_rd != ' ')) { *ac_wr = *ac_rd; ac_wr++; } ac_rd++; } } // We don't want the rd++ later to skip the NULL if we're at one if (*ac_rd == 0) { break; } } ac_rd++; } } // Enforce null termination *ac_wr = 0; // Now copy it all back memcpy(str, _normalize_scratch, (ac_wr-_normalize_scratch)+1); *active_comment = str + (comment_start - _normalize_scratch); } /* * _get_next_gcode_word() - get gcode word consisting of a letter and a value * * This function requires the Gcode string to be normalized. * Normalization must remove any leading zeros or they will be converted to Octal * G0X... is not interpreted as hexadecimal. This is trapped. */ static stat_t _get_next_gcode_word(char **pstr, char *letter, float *value) { if (**pstr == NUL) { return (STAT_COMPLETE); } // no more words // get letter part if(isupper(**pstr) == false) { return (STAT_INVALID_OR_MALFORMED_COMMAND); } *letter = **pstr; (*pstr)++; // X-axis-becomes-a-hexadecimal-number get-value case, e.g. G0X100 --> G255 if ((**pstr == '0') && (*(*pstr+1) == 'X')) { *value = 0; (*pstr)++; return (STAT_OK); // pointer points to X } // get-value general case char *end; *value = strtof(*pstr, &end); if(end == *pstr) { return(STAT_BAD_NUMBER_FORMAT); } // more robust test then checking for value=0; *pstr = end; return (STAT_OK); // pointer points to next character after the word } /* * _point() - isolate the decimal point value as an integer */ static uint8_t _point(float value) { return((uint8_t)(value*10 - trunc(value)*10)); // isolate the decimal point as an int } /* * _validate_gcode_block() - check for some gross Gcode block semantic violations */ static stat_t _validate_gcode_block(char *active_comment) { // Check for modal group violations. From NIST, section 3.4 "It is an error to put // a G-code from group 1 and a G-code from group 0 on the same line if both of them // use axis words. If an axis word-using G-code from group 1 is implicitly in effect // on a line (by having been activated on an earlier line), and a group 0 G-code that // uses axis words appears on the line, the activity of the group 1 G-code is suspended // for that line. The axis word-using G-codes from group 0 are G10, G28, G30, and G92" // if ((gp.modals[MODAL_GROUP_G0] == true) && (gp.modals[MODAL_GROUP_G1] == true)) { // return (STAT_MODAL_GROUP_VIOLATION); // } // look for commands that require an axis word to be present // if ((gp.modals[MODAL_GROUP_G0] == true) || (gp.modals[MODAL_GROUP_G1] == true)) { // if (_axis_changed() == false) // return (STAT_GCODE_AXIS_IS_MISSING); // } return (STAT_OK); } /* * _parse_gcode_block() - parses one line of NULL terminated G-Code. * * All the parser does is load the state values in gn (next model state) and set flags * in gf (model state flags). The execute routine applies them. The buffer is assumed to * contain only uppercase characters and signed floats (no whitespace). */ static stat_t _parse_gcode_block(char *buf, char *active_comment) { char *pstr = (char *)buf; // persistent pointer into gcode block for parsing words char letter; // parsed letter, eg.g. G or X or Y float value = 0; // value parsed from letter (e.g. 2 for G2) stat_t status = STAT_OK; // set initial state for new move memset(&gv, 0, sizeof(GCodeValue_t)); // clear all next-state values memset(&gf, 0, sizeof(GCodeFlag_t)); // clear all next-state flags gv.motion_mode = cm_get_motion_mode(MODEL); // get motion mode from previous block // Causes a later exception if // (1) INVERSE_TIME_MODE is active and a feed rate is not provided or // (2) INVERSE_TIME_MODE is changed to UNITS_PER_MINUTE and a new feed rate is missing if (cm->gm.feed_rate_mode == INVERSE_TIME_MODE) {// new feed rate req'd when in INV_TIME_MODE gv.F_word = 0; gf.F_word = true; } // extract commands and parameters while((status = _get_next_gcode_word(&pstr, &letter, &value)) == STAT_OK) { switch(letter) { case 'G': switch((uint8_t)value) { case 0: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_STRAIGHT_TRAVERSE); case 1: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_STRAIGHT_FEED); case 2: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_CW_ARC); case 3: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_CCW_ARC); case 4: SET_NON_MODAL (next_action, NEXT_ACTION_DWELL); case 10: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_G10_DATA); case 17: SET_MODAL (MODAL_GROUP_G2, select_plane, CANON_PLANE_XY); case 18: SET_MODAL (MODAL_GROUP_G2, select_plane, CANON_PLANE_XZ); case 19: SET_MODAL (MODAL_GROUP_G2, select_plane, CANON_PLANE_YZ); case 20: SET_MODAL (MODAL_GROUP_G6, units_mode, INCHES); case 21: SET_MODAL (MODAL_GROUP_G6, units_mode, MILLIMETERS); case 28: { switch (_point(value)) { case 0: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_GOTO_G28_POSITION); case 1: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_G28_POSITION); case 2: SET_NON_MODAL (next_action, NEXT_ACTION_SEARCH_HOME); case 3: SET_NON_MODAL (next_action, NEXT_ACTION_SET_ABSOLUTE_ORIGIN); case 4: SET_NON_MODAL (next_action, NEXT_ACTION_HOMING_NO_SET); default: status = STAT_GCODE_COMMAND_UNSUPPORTED; } break; } case 30: { switch (_point(value)) { case 0: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_GOTO_G30_POSITION); case 1: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_G30_POSITION); default: status = STAT_GCODE_COMMAND_UNSUPPORTED; } break; } case 38: { switch (_point(value)) { case 2: SET_NON_MODAL (next_action, NEXT_ACTION_STRAIGHT_PROBE_ERR); case 3: SET_NON_MODAL (next_action, NEXT_ACTION_STRAIGHT_PROBE); case 4: SET_NON_MODAL (next_action, NEXT_ACTION_STRAIGHT_PROBE_AWAY_ERR); case 5: SET_NON_MODAL (next_action, NEXT_ACTION_STRAIGHT_PROBE_AWAY); default: status = STAT_GCODE_COMMAND_UNSUPPORTED; } break; } case 40: break; // ignore cancel cutter radius compensation case 43: { switch (_point(value)) { case 0: SET_NON_MODAL (next_action, NEXT_ACTION_SET_TL_OFFSET); case 2: SET_NON_MODAL (next_action, NEXT_ACTION_SET_ADDITIONAL_TL_OFFSET); default: status = STAT_GCODE_COMMAND_UNSUPPORTED; } break; } case 49: SET_NON_MODAL (next_action, NEXT_ACTION_CANCEL_TL_OFFSET); case 53: SET_NON_MODAL (absolute_override, ABSOLUTE_OVERRIDE_ON_AND_DISPLAY); case 54: SET_MODAL (MODAL_GROUP_G12, coord_system, G54); case 55: SET_MODAL (MODAL_GROUP_G12, coord_system, G55); case 56: SET_MODAL (MODAL_GROUP_G12, coord_system, G56); case 57: SET_MODAL (MODAL_GROUP_G12, coord_system, G57); case 58: SET_MODAL (MODAL_GROUP_G12, coord_system, G58); case 59: SET_MODAL (MODAL_GROUP_G12, coord_system, G59); case 61: { switch (_point(value)) { case 0: SET_MODAL (MODAL_GROUP_G13, path_control, PATH_EXACT_PATH); case 1: SET_MODAL (MODAL_GROUP_G13, path_control, PATH_EXACT_STOP); default: status = STAT_GCODE_COMMAND_UNSUPPORTED; } break; } case 64: SET_MODAL (MODAL_GROUP_G13,path_control, PATH_CONTINUOUS); case 80: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_CANCEL_MOTION_MODE); case 90: { switch (_point(value)) { case 0: SET_MODAL (MODAL_GROUP_G3, distance_mode, ABSOLUTE_DISTANCE_MODE); case 1: SET_MODAL (MODAL_GROUP_G3, arc_distance_mode, ABSOLUTE_DISTANCE_MODE); default: status = STAT_GCODE_COMMAND_UNSUPPORTED; } break; } case 91: { switch (_point(value)) { case 0: SET_MODAL (MODAL_GROUP_G3, distance_mode, INCREMENTAL_DISTANCE_MODE); case 1: SET_MODAL (MODAL_GROUP_G3, arc_distance_mode, INCREMENTAL_DISTANCE_MODE); default: status = STAT_GCODE_COMMAND_UNSUPPORTED; } break; } case 92: { switch (_point(value)) { case 0: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_ORIGIN_OFFSETS); case 1: SET_NON_MODAL (next_action, NEXT_ACTION_RESET_ORIGIN_OFFSETS); case 2: SET_NON_MODAL (next_action, NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS); case 3: SET_NON_MODAL (next_action, NEXT_ACTION_RESUME_ORIGIN_OFFSETS); default: status = STAT_GCODE_COMMAND_UNSUPPORTED; } break; } case 93: SET_MODAL (MODAL_GROUP_G5, feed_rate_mode, INVERSE_TIME_MODE); case 94: SET_MODAL (MODAL_GROUP_G5, feed_rate_mode, UNITS_PER_MINUTE_MODE); // case 95: SET_MODAL (MODAL_GROUP_G5, feed_rate_mode, UNITS_PER_REVOLUTION_MODE); default: status = STAT_GCODE_COMMAND_UNSUPPORTED; } break; case 'M': switch((uint8_t)value) { case 0: case 1: case 60: SET_MODAL (MODAL_GROUP_M4, program_flow, PROGRAM_STOP); case 2: case 30: SET_MODAL (MODAL_GROUP_M4, program_flow, PROGRAM_END); case 3: SET_MODAL (MODAL_GROUP_M7, spindle_control, SPINDLE_CW); case 4: SET_MODAL (MODAL_GROUP_M7, spindle_control, SPINDLE_CCW); case 5: SET_MODAL (MODAL_GROUP_M7, spindle_control, SPINDLE_OFF); case 6: SET_NON_MODAL (tool_change, true); case 7: SET_MODAL (MODAL_GROUP_M8, coolant_mist, COOLANT_ON); case 8: SET_MODAL (MODAL_GROUP_M8, coolant_flood, COOLANT_ON); case 9: SET_MODAL (MODAL_GROUP_M8, coolant_off, COOLANT_OFF); case 48: SET_MODAL (MODAL_GROUP_M9, m48_enable, true); case 49: SET_MODAL (MODAL_GROUP_M9, m48_enable, false); case 50: switch (_point(value)) { case 0: SET_MODAL (MODAL_GROUP_M9, fro_control, true); case 1: SET_MODAL (MODAL_GROUP_M9, tro_control, true); default: status = STAT_GCODE_COMMAND_UNSUPPORTED; } break; case 51: SET_MODAL (MODAL_GROUP_M9, spo_control, true); case 100: SET_NON_MODAL (next_action, NEXT_ACTION_JSON_COMMAND_SYNC); case 101: SET_NON_MODAL (next_action, NEXT_ACTION_JSON_WAIT); default: status = STAT_MCODE_COMMAND_UNSUPPORTED; } break; case 'T': SET_NON_MODAL (tool_select, (uint8_t)trunc(value)); case 'F': SET_NON_MODAL (F_word, value); case 'P': SET_NON_MODAL (P_word, value); // used for dwell time, G10 coord select case 'S': SET_NON_MODAL (S_word, value); case 'X': SET_NON_MODAL (target[AXIS_X], value); case 'Y': SET_NON_MODAL (target[AXIS_Y], value); case 'Z': SET_NON_MODAL (target[AXIS_Z], value); case 'A': SET_NON_MODAL (target[AXIS_A], value); case 'B': SET_NON_MODAL (target[AXIS_B], value); case 'C': SET_NON_MODAL (target[AXIS_C], value); // case 'U': SET_NON_MODAL (target[AXIS_U], value); // reserved // case 'V': SET_NON_MODAL (target[AXIS_V], value); // reserved // case 'W': SET_NON_MODAL (target[AXIS_W], value); // reserved case 'H': SET_NON_MODAL (H_word, value); case 'I': SET_NON_MODAL (arc_offset[0], value); case 'J': SET_NON_MODAL (arc_offset[1], value); case 'K': SET_NON_MODAL (arc_offset[2], value); case 'L': SET_NON_MODAL (L_word, value); case 'R': SET_NON_MODAL (arc_radius, value); case 'N': SET_NON_MODAL (linenum,(uint32_t)value); // line number default: status = STAT_GCODE_COMMAND_UNSUPPORTED; } if(status != STAT_OK) break; } if ((status != STAT_OK) && (status != STAT_COMPLETE)) return (status); ritorno(_validate_gcode_block(active_comment)); return (_execute_gcode_block(active_comment)); // if successful execute the block } /* * _execute_gcode_block() - execute parsed block * * Conditionally (based on whether a flag is set in gf) call the canonical machining * functions in order of execution. Derived from RS274NGC_3 table 8: * * 0. record the line number * 1. comment (includes message) [handled during block normalization] * 1a. enable or disable overrides (M48, M49) * 1b. set feed override rate (M50) * 1c. set traverse override rate (M50.1) * 1d. set spindle override rate (M51) * 2. set feed rate mode (G93, G94 - inverse time or per minute) * 3. set feed rate (F) * 4. set spindle speed (S) * 5. select tool (T) * 6. change tool (M6) * 7. spindle on or off (M3, M4, M5) * 8. coolant on or off (M7, M8, M9) * // 9. enable or disable overrides (M48, M49, M50, M51) (see 1a) * 10. dwell (G4) * 11. set active plane (G17, G18, G19) * 12. set length units (G20, G21) * 13. cutter radius compensation on or off (G40, G41, G42) * 14. cutter length compensation on or off (G43, G49) * 15. coordinate system selection (G54, G55, G56, G57, G58, G59) * 16. set path control mode (G61, G61.1, G64) * 17. set distance mode (G90, G91) * 17a. set arc distance mode (G90.1, G91.1) * 18. set retract mode (G98, G99) * 19a. homing functions (G28.2, G28.3, G28.1, G28, G30) * 19b. update system data (G10) * 19c. set axis offsets (G92, G92.1, G92.2, G92.3) * 20. perform motion (G0 to G3, G80-G89) as modified (possibly) by G53 * 21. stop and end (M0, M1, M2, M30, M60) * * Values in gv are in original units and should not be unit converted prior * to calling the canonical functions (which do the unit conversions) */ static stat_t _execute_gcode_block(char *active_comment) { stat_t status = STAT_OK; cm_set_model_linenum(gv.linenum); EXEC_FUNC(cm_m48_enable, m48_enable); if (gf.fro_control) { // feedrate override ritorno(cm_fro_control(gv.P_word, gf.P_word)); } if (gf.tro_control) { // traverse override ritorno(cm_tro_control(gv.P_word, gf.P_word)); } if (gf.spo_control) { // spindle speed override ritorno(spindle_override_control(gv.P_word, gf.P_word)); } EXEC_FUNC(cm_set_feed_rate_mode, feed_rate_mode); // G93, G94 EXEC_FUNC(cm_set_feed_rate, F_word); // F EXEC_FUNC(spindle_speed_sync, S_word); // S EXEC_FUNC(cm_select_tool, tool_select); // T - tool_select is where it's written EXEC_FUNC(cm_change_tool, tool_change); // M6 - is where it's effected if (gf.spindle_control) { // M3, M4, M5 (spindle OFF, CW, CCW) ritorno(spindle_control_sync((spControl)gv.spindle_control)); } if (gf.coolant_mist) { ritorno(coolant_control_sync((coControl)gv.coolant_mist, COOLANT_MIST)); // M7 } if (gf.coolant_flood) { ritorno(coolant_control_sync((coControl)gv.coolant_flood, COOLANT_FLOOD)); // M8 } if (gf.coolant_off) { ritorno(coolant_control_sync((coControl)gv.coolant_off, COOLANT_BOTH)); // M9 } if (gv.next_action == NEXT_ACTION_DWELL) { // G4 - dwell ritorno(cm_dwell(gv.P_word)); // return if error, otherwise complete the block } EXEC_FUNC(cm_select_plane, select_plane); // G17, G18, G19 EXEC_FUNC(cm_set_units_mode, units_mode); // G20, G21 //--> cutter radius compensation goes here switch (gv.next_action) { // Tool length offsets case NEXT_ACTION_SET_TL_OFFSET: { // G43 ritorno(cm_set_tl_offset(gv.H_word, gf.H_word, false)); break; } case NEXT_ACTION_SET_ADDITIONAL_TL_OFFSET: { // G43.2 ritorno(cm_set_tl_offset(gv.H_word, gf.H_word, true)); break; } case NEXT_ACTION_CANCEL_TL_OFFSET: { // G49 ritorno(cm_cancel_tl_offset()); break; } } EXEC_FUNC(cm_set_coord_system, coord_system); // G54, G55, G56, G57, G58, G59 if (gf.path_control) { // G61, G61.1, G64 status = cm_set_path_control(MODEL, gv.path_control); } EXEC_FUNC(cm_set_distance_mode, distance_mode); // G90, G91 EXEC_FUNC(cm_set_arc_distance_mode, arc_distance_mode); // G90.1, G91.1 //--> set retract mode goes here switch (gv.next_action) { case NEXT_ACTION_SET_G28_POSITION: { status = cm_set_g28_position(); break;} // G28.1 case NEXT_ACTION_GOTO_G28_POSITION: { status = cm_goto_g28_position(gv.target, gf.target); break;} // G28 case NEXT_ACTION_SET_G30_POSITION: { status = cm_set_g30_position(); break;} // G30.1 case NEXT_ACTION_GOTO_G30_POSITION: { status = cm_goto_g30_position(gv.target, gf.target); break;} // G30 case NEXT_ACTION_SEARCH_HOME: { status = cm_homing_cycle_start(gv.target, gf.target); break;} // G28.2 case NEXT_ACTION_SET_ABSOLUTE_ORIGIN: { status = cm_set_absolute_origin(gv.target, gf.target); break;}// G28.3 case NEXT_ACTION_HOMING_NO_SET: { status = cm_homing_cycle_start_no_set(gv.target, gf.target); break;} // G28.4 case NEXT_ACTION_STRAIGHT_PROBE_ERR: { status = cm_straight_probe(gv.target, gf.target, true, true); break;} // G38.2 case NEXT_ACTION_STRAIGHT_PROBE: { status = cm_straight_probe(gv.target, gf.target, true, false); break;} // G38.3 case NEXT_ACTION_STRAIGHT_PROBE_AWAY_ERR:{ status = cm_straight_probe(gv.target, gf.target, false, true); break;} // G38.4 case NEXT_ACTION_STRAIGHT_PROBE_AWAY: { status = cm_straight_probe(gv.target, gf.target, false, false); break;}// G38.5 case NEXT_ACTION_SET_G10_DATA: { status = cm_set_g10_data(gv.P_word, gf.P_word, gv.L_word, gf.L_word, gv.target, gf.target); break;} case NEXT_ACTION_SET_ORIGIN_OFFSETS: { status = cm_set_origin_offsets(gv.target, gf.target); break;}// G92 case NEXT_ACTION_RESET_ORIGIN_OFFSETS: { status = cm_reset_origin_offsets(); break;} // G92.1 case NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS: { status = cm_suspend_origin_offsets(); break;} // G92.2 case NEXT_ACTION_RESUME_ORIGIN_OFFSETS: { status = cm_resume_origin_offsets(); break;} // G92.3 case NEXT_ACTION_JSON_COMMAND_SYNC: { status = cm_json_command(active_comment); break;} // M100 case NEXT_ACTION_JSON_WAIT: { status = cm_json_wait(active_comment); break;} // M101 // case NEXT_ACTION_JSON_COMMAND_IMMEDIATE: { status = mp_json_command_immediate(active_comment); break;} // M102 case NEXT_ACTION_DEFAULT: { cm_set_absolute_override(MODEL, gv.absolute_override); // apply absolute override & display as absolute switch (gv.motion_mode) { case MOTION_MODE_CANCEL_MOTION_MODE: { cm->gm.motion_mode = gv.motion_mode; break;} // G80 case MOTION_MODE_STRAIGHT_TRAVERSE: { status = cm_straight_traverse(gv.target, gf.target); break;} // G0 case MOTION_MODE_STRAIGHT_FEED: { status = cm_straight_feed(gv.target, gf.target); break;} // G1 case MOTION_MODE_CW_ARC: // G2 case MOTION_MODE_CCW_ARC: { status = cm_arc_feed(gv.target, gf.target, // G3 gv.arc_offset, gf.arc_offset, gv.arc_radius, gf.arc_radius, gv.P_word, gf.P_word, gp.modals[MODAL_GROUP_G1], gv.motion_mode); break; } default: break; } cm_set_absolute_override(MODEL, ABSOLUTE_OVERRIDE_OFF); // un-set absolute override once the move is planned } } // do the program stops and ends : M0, M1, M2, M30, M60 if (gf.program_flow == true) { if (gv.program_flow == PROGRAM_STOP) { cm_program_stop(); } else { cm_program_end(); } } return (status); } /*********************************************************************************** * CONFIGURATION AND INTERFACE FUNCTIONS * Functions to get and set variables from the cfgArray table ***********************************************************************************/ stat_t gc_get_gc(nvObj_t *nv) { ritorno(nv_copy_string(nv, cs.saved_buf)); nv->valuetype = TYPE_STRING; return (STAT_OK); } stat_t gc_run_gc(nvObj_t *nv) { return(gcode_parser(*nv->stringp)); } /*********************************************************************************** * TEXT MODE SUPPORT * Functions to print variables from the cfgArray table ***********************************************************************************/ #ifdef __TEXT_MODE // no text mode functions here. Move along #endif // __TEXT_MODE