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Merge branch 'grblHAL:master' into master

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Dietz0r
2024-09-29 21:03:31 +02:00
committed by GitHub
parent 0b69f6fb40 323dd84b79
commit e17d78293f
51 changed files with 2491 additions and 536 deletions
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gcode.h
+59 -9
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@@ -3,22 +3,22 @@
Part of grblHAL
Copyright (c) 2017-2023 Terje Io
Copyright (c) 2017-2024 Terje Io
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
grblHAL 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,
grblHAL 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
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/>.
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef _GCODE_H_
@@ -29,8 +29,11 @@
#include "spindle_control.h"
#include "errors.h"
#define MAX_OFFSET_ENTRIES 4 // must be a power of 2
typedef uint32_t tool_id_t;
typedef uint16_t macro_id_t;
typedef int8_t offset_id_t;
// Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
// internally by the parser to know which command to execute.
@@ -64,6 +67,15 @@ typedef enum {
#endif
} non_modal_t;
typedef enum {
ModalState_NoAction = 0, //!< 0 - Default, must be zero
ModalState_Save = 70, //!< 70 - M70
ModalState_Invalidate = 71, //!< 71 - M71
ModalState_Restore = 72, //!< 72 - M72
ModalState_SaveAutoRestore = 73, //!< 73 - M73
} modal_state_action_t;
/*! Modal Group G1: Motion modes
Do not alter values!
@@ -231,8 +243,8 @@ typedef enum {
UserMCode_Generic3 = 103, //!< 103 - For private use only
UserMCode_Generic4 = 104, //!< 104 - For private use only
OpenPNP_GetADCReading = 105, //!< 105 - M105
Fan_On = 106, //!< 106 - M106
Fan_Off = 107, //!< 107 - M107
Fan_On = 106, //!< 106 - M106, Marlin format
Fan_Off = 107, //!< 107 - M107, Marlin format
OpenPNP_GetCurrentPosition = 114, //!< 114 - M114
OpenPNP_FirmwareInfo = 115, //!< 115 - M115
Trinamic_DebugReport = 122, //!< 122 - M122, Marlin format
@@ -353,6 +365,26 @@ typedef union {
#endif
#ifdef V_AXIS
float v;
#endif
};
struct {
float m0;
float m1;
float m2;
#if N_AXIS > 3
float m3;
#endif
#if N_AXIS > 4
float m4;
#endif
#if N_AXIS > 5
float m5;
#endif
#if N_AXIS > 6
float m6;
#endif
#if N_AXIS == 8
float m7;
#endif
};
} coord_data_t;
@@ -416,7 +448,7 @@ typedef struct {
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 (not used by the core)
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
@@ -498,6 +530,11 @@ typedef struct {
bool scaling_active; //!< {G50,G51}
bool canned_cycle_active;
float spline_pq[2]; //!< {G5}
#if NGC_PARAMETERS_ENABLE
bool auto_restore;
float feed_rate; //!< {F} NOTE: only set when saving modal state
float rpm; //!< {S} NOTE: only set when saving modal state
#endif
} gc_modal_t;
//! Data for canned cycles.
@@ -575,6 +612,8 @@ typedef struct {
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)
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
@@ -607,6 +646,12 @@ typedef struct {
output_command_t output_command; //!< Details about M62-M68 output command to execute if present in block.
uint32_t arc_turns; //
spindle_ptrs_t *spindle; //!< Spindle to control, NULL for all
#if NGC_PARAMETERS_ENABLE
modal_state_action_t state_action; //!< M70-M73 modal state action
#endif
#if N_AXIS > 3
axes_signals_t rotary_wrap;
#endif
} parser_block_t;
// Initialize the parser
@@ -634,7 +679,7 @@ axes_signals_t gc_get_g51_state (void);
float *gc_get_scaling (void);
// Get current axis offset.
float gc_get_offset (uint_fast8_t idx);
float gc_get_offset (uint_fast8_t idx, bool real_time);
spindle_ptrs_t *gc_spindle_get (void);
@@ -644,4 +689,9 @@ 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);
#if NGC_PARAMETERS_ENABLE
parameter_words_t gc_get_g65_arguments (void);
bool gc_modal_state_restore (gc_modal_t *copy);
#endif
#endif // _GCODE_H_