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Refactored offset handling, for improved readability and in preparation for rotation support.

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Added experimental support for G66 (modal macro call) and G67 (end modal macro call).
Made axis letter to axis/motor assignment for axes ABCUVW freely changeable at compile time.
Fix for some G65 arguments being incorrectly validated for normal use (sign, range).
Added repeat support to G65 macro call via the optional L parameter word.
Changed default setting for ABC-axes to rotary.
Changed defaults for jerk settings to 10x acceleration settings.
Disabled jerk for jog, probe and spindle synchronized motion.
Added _active_probe system parameter, returns -1 if no probe inputs available.
Minor bug fix, G5.1 and G33.1 motion commands were not coverted to the correct string equivalent in $G output.
This commit is contained in:
Terje Io
2026-01-25 07:51:44 +01:00
parent f8867e7ea3
commit 64c35930c7
59 changed files with 2899 additions and 2351 deletions
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197
gcode.h
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@@ -57,6 +57,8 @@ typedef enum {
NonModal_SetHome_1 = 40, //!< 40 - G30.1
NonModal_AbsoluteOverride = 53, //!< 53 - G53
NonModal_MacroCall = 65, //!< 65 - G65
Modal_MacroCall = 66, //!< 66 - G66
Modal_MacroEnd = 67, //!< 67 - G67
NonModal_SetCoordinateOffset = 92, //!< 92 - G92
NonModal_ResetCoordinateOffset = 102, //!< 102 - G92.1
NonModal_ClearCoordinateOffset = 112, //!< 112 - G92.2
@@ -92,13 +94,13 @@ typedef enum {
MotionMode_RigidTapping = 331, //!< 331 - G33.1
MotionMode_DrillChipBreak = 73, //!< 73 - G73
MotionMode_Threading = 76, //!< 76 - G76
MotionMode_CannedCycle81 = 81, //!< 81 - G81
MotionMode_CannedCycle82 = 82, //!< 82 - G82
MotionMode_CannedCycle83 = 83, //!< 83 - G83
MotionMode_CannedCycle84 = 84, //!< 83 - G83
MotionMode_CannedCycle85 = 85, //!< 85 - G85
MotionMode_CannedCycle86 = 86, //!< 86 - G86
MotionMode_CannedCycle89 = 89, //!< 89 - G89
MotionMode_CannedCycle81 = 81, //!< 81 - G81, drill
MotionMode_CannedCycle82 = 82, //!< 82 - G82, drill with dwell
MotionMode_CannedCycle83 = 83, //!< 83 - G83, peck drill
MotionMode_CannedCycle84 = 84, //!< 83 - G84, right hand tapping - experimental
MotionMode_CannedCycle85 = 85, //!< 85 - G85, not implemented
MotionMode_CannedCycle86 = 86, //!< 86 - G86, not implemented
MotionMode_CannedCycle89 = 89, //!< 89 - G89, not implemented
MotionMode_ProbeToward = 140, //!< 140 - G38.2
MotionMode_ProbeTowardNoError = 141, //!< 141 - G38.3
MotionMode_ProbeAway = 142, //!< 142 - G38.4
@@ -365,67 +367,56 @@ typedef union {
//! Coordinate data including id.
typedef struct {
float xyz[N_AXIS];
coord_system_id_t id;
coord_system_data_t data;
} coord_system_t;
//! Axis index to plane assignment.
typedef union {
uint8_t axis[3];
struct {
uint8_t axis_0;
uint8_t axis_1;
uint8_t axis_linear;
};
} plane_t;
/*! \brief G- and M-code parameter values
After the parameters in a block is parsed into the parser blocks (parser_block_t) \a values its
corresponding \a words (#parameter_words_t) union holds which parameters were found.
__NOTE:__ Do not use single-meaning words in user defined M-codes.
__NOTE:__ Avoid using single-meaning words in user defined M-codes.
*/
typedef struct {
float d; //!< Max spindle RPM in Constant Surface Speed Mode (G96)
float e; //!< Thread taper length (G76), M67 output number
float f; //!< Feed rate - single-meaning word
float ijk[3]; //!< I,J,K Axis arc offsets
float k; //!< G33 distance per revolution
float m; //!< G65 argument.
float p; //!< G10, 664 or dwell parameters
float q; //!< User defined M-code parameter, M67 output value, G64 naive CAM tolerance, G83 delta increment
float r; //!< Arc radius or retract position
float s; //!< Spindle speed - single-meaning word
float d; //!< Max spindle RPM in Constant Surface Speed Mode (G96)
float e; //!< Thread taper length (G76), M67 output number
float f; //!< Feed rate - single-meaning word
float h; //!< Tool number or number of G76 thread spring passes
float ijk[3]; //!< I,J,K Axis arc offsets
float k; //!< G33 distance per revolution
float m; //!< G65 argument.
float p; //!< G10, 664 or dwell parameters
float q; //!< User defined M-code parameter, M67 output value, G64 naive CAM tolerance, G83 delta increment
float r; //!< Arc radius or retract position
float s; //!< Spindle speed - single-meaning word
float t; //!< Tool selection - single-meaning word //
#ifndef A_AXIS
float a;
float a; //!< G65 argument.
#endif
#ifndef B_AXIS
float b;
float b; //!< G65 argument.
#endif
#ifndef C_AXIS
float c;
float c; //!< G65 argument.
#endif
#if !defined(U_AXIS) && !AXIS_REMAP_ABC2UVW
float u;
#ifndef U_AXIS
float u; //!< G65 argument.
#endif
#if !defined(V_AXIS) && !AXIS_REMAP_ABC2UVW
float v;
#ifndef V_AXIS
float v; //!< G65 argument.
#endif
#if !AXIS_REMAP_ABC2UVW
float w;
#ifndef W_AXIS
float w; //!< G65 argument.
#endif
float xyz[N_AXIS]; //!< X,Y,Z (and A,B,C,U,V when enabled) translational axes
float xyz[N_AXIS]; //!< X,Y,Z (and A,B,C,U,V when enabled) translational axes
#if LATHE_UVW_OPTION
float uvw[3]; //!< U,V,W lathe mode incremental mode motion
float uvw[3]; //!< U,V,W lathe mode incremental mode motion
#endif
coord_system_t coord_data; //!< Coordinate data
int32_t $; //!< Spindle id - single-meaning word
int32_t n; //!< Line number - single-meaning word
uint32_t o; //!< Subroutine identifier - single-meaning word
uint32_t h; //!< Tool number or number of G76 thread spring passes
tool_id_t t; //!< Tool selection - single-meaning word
uint8_t l; //!< G10 or canned cycles parameters
int32_t $; //!< Spindle id - single-meaning word
int32_t n; //!< Line number - single-meaning word
uint32_t o; //!< Subroutine identifier - single-meaning word
uint32_t l; //!< G10, G65, G66 or canned cycles parameters
} gc_values_t;
//! Parameter words found by parser - do NOT change order!
@@ -434,9 +425,9 @@ typedef union {
uint32_t value; //!< Synonymous with \a mask.
struct {
uint32_t $ :1, //!< Spindle id.
a :1, //!< A-axis.
b :1, //!< B-axis.
c :1, //!< C-axis.
a :1, //!< A-axis or G65 argument.
b :1, //!< B-axis or G65 argument.
c :1, //!< C-axis or G65 argument.
i :1, //!< X-axis offset for arcs.
j :1, //!< Y-axis offset for arcs.
k :1, //!< Z-axis offset for arcs.
@@ -454,28 +445,15 @@ typedef union {
r :1, //!< Arc radius, canned cycle retract level.
s :1, //!< Spindle speed.
t :1, //!< Tool number.
u :1, //!< U-axis.
v :1, //!< V-axis.
w :1, //!< W-axis.
u :1, //!< U-axis or G65 argument.
v :1, //!< V-axis or G65 argument.
w :1, //!< W-axis or G65 argument.
x :1, //!< X-axis.
y :1, //!< Y-axis.
z :1; //!< Z-axis.
};
} parameter_words_t;
typedef enum {
ValueType_NA = 0,
ValueType_UInt8,
ValueType_UInt32,
ValueType_Int32,
ValueType_Float
} gc_value_type_t;
typedef struct {
const void *value;
const gc_value_type_t type;
} gc_value_ptr_t;
typedef union {
uint8_t value;
struct {
@@ -511,7 +489,7 @@ typedef struct {
plane_select_t plane_select; //!< {G17,G18,G19}
//< uint8_t cutter_comp; //!< {G40} NOTE: Don't track. Only default supported.
tool_offset_mode_t tool_offset_mode; //!< {G43,G43.1,G49}
coord_system_t coord_system; //!< {G54,G55,G56,G57,G58,G59,G59.1,G59.2,G59.3}
coord_system_t g5x_offset; //!< {G54,G55,G56,G57,G58,G59,G59.1,G59.2,G59.3}
#if ENABLE_PATH_BLENDING
control_mode_t control; //!< {G61} NOTE: Don't track. Only default supported.
#endif
@@ -603,40 +581,60 @@ typedef struct {
char name[101];
} tool_pocket_t;
typedef struct {
float angle;
point_2d_t offsets;
} rotation_t;
#if NGC_PARAMETERS_ENABLE
typedef struct g66_arguments
{
uint32_t call_level;
gc_values_t values;
parameter_words_t words;
struct g66_arguments *prev;
} g66_arguments_t;
#endif
/*! \brief Parser state
*/
typedef struct {
gc_modal_t modal;
gc_canned_t canned;
spindle_t *spindle; //!< Last referenced spindle
float feed_rate; //!< Millimeters/min
float distance_per_rev; //!< Millimeters/rev
float position[N_AXIS]; //!< Where the interpreter considers the tool to be at this point in the code
spindle_t *spindle; //!< Last referenced spindle
float feed_rate; //!< Millimeters/min
float distance_per_rev; //!< Millimeters/rev
float position[N_AXIS]; //!< Where the interpreter considers the tool to be at this point in the code
#if ENABLE_PATH_BLENDING
float path_tolerance; //!< Path blending tolerance
float cam_tolerance; //!< Naive CAM tolerance
float path_tolerance; //!< Path blending tolerance
float cam_tolerance; //!< Naive CAM tolerance
#endif
int32_t line_number; //!< Last line number sent
tool_id_t tool_pending; //!< Tool to be selected on next M6
uint32_t line_number; //!< Last line number sent
tool_id_t tool_pending; //!< Tool to be selected on next M6
#if NGC_EXPRESSIONS_ENABLE
uint32_t g43_pending; //!< Tool offset to be selected on next M6, for macro ATC
uint32_t g43_pending; //!< Tool offset to be selected on next M6, for macro ATC
#endif
bool file_run; //!< Tracks % command
bool file_stream; //!< Tracks streaming from file
bool file_run; //!< Tracks % command
bool file_stream; //!< Tracks streaming from file
bool is_laser_ppi_mode;
bool is_rpm_rate_adjusted;
bool tool_change;
bool skip_blocks; //!< true if skipping conditional blocks
status_code_t last_error; //!< last return value from parser
offset_id_t offset_id; //!< id(x) of last G92 coordinate offset (into circular buffer)
bool skip_blocks; //!< true if skipping conditional blocks
status_code_t last_error; //!< last return value from parser
offset_id_t offset_id; //!< id(x) of last G92 coordinate offset (into circular buffer)
coord_data_t offset_queue[MAX_OFFSET_ENTRIES];
//!< The following variables are not cleared upon warm restart when COMPATIBILITY_LEVEL <= 1
bool g92_coord_offset_applied; //!< true when G92 offset applied
float g92_coord_offset[N_AXIS]; //!< Retains the G92 coordinate offset (work coordinates) relative to
//!< machine zero in mm. Persistent and loaded from non-volatile storage
//!< on boot when COMPATIBILITY_LEVEL <= 1
tool_data_t *tool; //!< Tracks tool number and tool offset
bool g92_offset_applied; //!< true when G92 offset applied
coord_system_data_t g92_offset; //!< Retains the G92 coordinate offset (work coordinates) relative to
//!< machine zero in mm. Persistent and loaded from non-volatile storage
//!< on boot when COMPATIBILITY_LEVEL <= 1
tool_data_t *tool; //!< Tracks tool number and tool offset
#if NGC_PARAMETERS_ENABLE
g66_arguments_t *g66_args; //!< Linked list with G66 arguments, NULL if G66 is not active.
#endif
} parser_state_t;
typedef struct {
@@ -662,6 +660,7 @@ typedef struct {
parameter_words_t words; //!< Bitfield for tracking found parameter values.
output_command_t output_command; //!< Details about M62-M68 output command to execute if present in block.
uint32_t arc_turns; //
parameter_words_t g65_words; //!< Parameter words to pass to G65 macro.
#if NGC_PARAMETERS_ENABLE
modal_state_action_t state_action; //!< M70-M73 modal state action
#endif
@@ -675,8 +674,31 @@ static inline axes_signals_t gc_paramwords_to_axes (parameter_words_t p_words)
{
#if N_AXIS == 3
return (axes_signals_t){ (uint8_t)(p_words.mask >> 24) };
#else
#elif N_AXIS == 7
return (axes_signals_t){ (uint8_t)(((p_words.mask >> 24) | ((p_words.mask << 2) & 0b00111000) | ((p_words.mask >> (21 - 6)) & 0b11000000)) & AXES_BITMASK) };
#else
axes_signals_t axes = (axes_signals_t){ (uint8_t)(p_words.mask >> 24) };
#ifdef A_AXIS
axes.a = p_words.a;
#endif
#ifdef B_AXIS
axes.b = p_words.b;
#endif
#ifdef C_AXIS
axes.c = p_words.c;
#endif
#ifdef U_AXIS
axes.u = p_words.u;
#endif
#ifdef V_AXIS
axes.v = p_words.v;
#endif
#ifdef W_AXIS
axes.w = p_words.w;
#endif
return axes;
#endif
}
@@ -718,6 +740,7 @@ void gc_coolant (coolant_state_t state);
void gc_set_tool_offset (tool_offset_mode_t mode, uint_fast8_t idx, int32_t offset);
plane_t *gc_get_plane_data (plane_t *plane, plane_select_t select);
axes_signals_t gc_claim_axis_words (parser_block_t *gc_block, axes_signals_t validate);
#if NGC_PARAMETERS_ENABLE
parameter_words_t gc_get_g65_arguments (void);