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grblHAL/ngc_params.c
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/*
ngc_params.c - get/set NGC parameter value by id or name
Part of grblHAL
Copyright (c) 2021 Terje Io
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/>.
*/
/*
All predefined parameters defined in NIST RS274NGC version 3 (ref section 3.2.1) are implemented.
Most additional predefined parameters defined by LinuxCNC (ref section 5.2.3.1) are implemented.
*/
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "system.h"
#include "settings.h"
#include "ngc_params.h"
#define MAX_PARAM_LENGTH 20
typedef float (*ngc_param_get_ptr)(ngc_param_id_t id);
typedef float (*ngc_named_param_get_ptr)(void);
typedef struct {
ngc_param_id_t id_min;
ngc_param_id_t id_max;
ngc_param_get_ptr get;
} ngc_ro_param_t;
typedef struct ngc_rw_param {
ngc_param_id_t id;
float value;
struct ngc_rw_param *next;
} ngc_rw_param_t;
typedef struct {
const char *name;
ncg_name_param_id_t id;
ngc_named_param_get_ptr get;
} ngc_named_ro_param_t;
typedef struct ngc_named_rw_param {
char name[MAX_PARAM_LENGTH + 1];
float value;
struct ngc_named_rw_param *next;
} ngc_named_rw_param_t;
ngc_rw_param_t *rw_params = NULL;
ngc_named_rw_param_t *rw_global_params = NULL;
static float _relative_pos (uint_fast8_t axis)
{
float value;
if(axis < N_AXIS) {
value = sys.position[axis] / settings.axis[axis].steps_per_mm - gc_get_offset(axis);
if(settings.flags.report_inches)
value *= 25.4f;
} else
value = 0.0f;
return value;
}
// numbered parameters
static float probe_coord (ngc_param_id_t id)
{
uint_fast8_t axis = id % 10;
return axis <= N_AXIS ? sys.probe_position[axis - 1] : 0.0f;
}
static float scaling_factors (ngc_param_id_t id)
{
float *factors = gc_get_scaling();
uint_fast8_t axis = id % 10;
return axis <= N_AXIS ? factors[axis - 1] : 0.0f;
}
static float probe_result (ngc_param_id_t id)
{
return sys.flags.probe_succeeded ? 1.0f : 0.0f;
}
/*
static float home_pos (ngc_param_id_t id)
{
uint_fast8_t axis = id % 10;
return axis <= N_AXIS ? sys.home_position[axis - 1] : 0.0f;
}
*/
static float m66_result (ngc_param_id_t id)
{
return (float)sys.var5399;
}
static float tool_number (ngc_param_id_t id)
{
return (float)gc_state.tool->tool;
}
static float tool_offset (ngc_param_id_t id)
{
uint_fast8_t axis = id % 10;
return axis <= N_AXIS ? gc_state.tool_length_offset[axis] : 0.0f;
}
static float g28_home (ngc_param_id_t id)
{
float value = 0.0f;
uint_fast8_t axis = id % 10;
coord_system_t data;
if(axis <= N_AXIS && settings_read_coord_data(CoordinateSystem_G28, &data.xyz))
value = data.xyz[axis - 1];
return value;
}
static float g30_home (ngc_param_id_t id)
{
float value = 0.0f;
uint_fast8_t axis = id % 10;
coord_system_t data;
#if COMPATIBILITY_LEVEL > 1
if(id <= CoordinateSystem_G59) {
#endif
if (axis <= N_AXIS && settings_read_coord_data(CoordinateSystem_G30, &data.xyz))
value = data.xyz[axis - 1];
#if COMPATIBILITY_LEVEL > 1
}
#endif
return value;
}
static float coord_system (ngc_param_id_t id)
{
return (float)gc_state.modal.coord_system.id;
}
static float coord_system_offset (ngc_param_id_t id)
{
float value = 0.0f;
uint_fast8_t axis = id % 10;
coord_system_t data;
id = (id - 5220 - axis - (id == 0 ? 10 : 0)) / 20;
if (axis > 0 && axis <= N_AXIS && settings_read_coord_data((coord_system_id_t)id, &data.xyz))
value = data.xyz[axis - 1];
return value;
}
static float g92_offset_applied (ngc_param_id_t id)
{
return (float)gc_state.g92_coord_offset_applied;
}
static float g92_offset (ngc_param_id_t id)
{
uint_fast8_t axis = id % 10;
return axis <= N_AXIS ? gc_state.g92_coord_offset [axis - 1] : 0.0f;
}
static float work_position (ngc_param_id_t id)
{
float value = 0.0f;
uint_fast8_t axis = id % 10;
if(axis < N_AXIS)
value = _relative_pos(axis);
return value;
}
PROGMEM static const ngc_ro_param_t ngc_ro_params[] = {
{ .id_min = 5061, .id_max = 5069, .get = probe_coord }, // LinuxCNC
{ .id_min = 5070, .id_max = 5070, .get = probe_result }, // LinuxCNC
{ .id_min = 5161, .id_max = 5169, .get = g28_home },
{ .id_min = 5181, .id_max = 5189, .get = g30_home },
{ .id_min = 5191, .id_max = 5199, .get = scaling_factors }, // Mach3
{ .id_min = 5210, .id_max = 5210, .get = g92_offset_applied }, // LinuxCNC
{ .id_min = 5211, .id_max = 5219, .get = g92_offset },
{ .id_min = 5220, .id_max = 5220, .get = coord_system },
{ .id_min = 5221, .id_max = 5230, .get = coord_system_offset },
{ .id_min = 5241, .id_max = 5250, .get = coord_system_offset },
{ .id_min = 5261, .id_max = 5270, .get = coord_system_offset },
{ .id_min = 5281, .id_max = 5290, .get = coord_system_offset },
{ .id_min = 5301, .id_max = 5310, .get = coord_system_offset },
{ .id_min = 5321, .id_max = 5230, .get = coord_system_offset },
{ .id_min = 5341, .id_max = 5350, .get = coord_system_offset },
{ .id_min = 5361, .id_max = 5370, .get = coord_system_offset },
{ .id_min = 5381, .id_max = 5390, .get = coord_system_offset },
{ .id_min = 5399, .id_max = 5399, .get = m66_result }, // LinuxCNC
{ .id_min = 5400, .id_max = 5400, .get = tool_number }, // LinuxCNC
{ .id_min = 5401, .id_max = 5409, .get = tool_offset }, // LinuxCNC
{ .id_min = 5420, .id_max = 5428, .get = work_position } // LinuxCNC
};
bool ngc_param_get (ngc_param_id_t id, float *value)
{
bool found = id > 0 && id < ngc_ro_params[0].id_min;
uint_fast8_t idx = sizeof(ngc_ro_params) / sizeof(ngc_ro_param_t);
*value = 0.0f;
if(found) {
ngc_rw_param_t *rw_param = rw_params;
while(rw_param) {
if(rw_param->id == id) {
*value = rw_param->value;
rw_param = NULL;
} else
rw_param = rw_param->next;
}
} else do {
idx--;
if((found = id >= ngc_ro_params[idx].id_min && id <= ngc_ro_params[idx].id_max))
*value = ngc_ro_params[idx].get(id);
} while(idx && !found);
return found;
}
bool ngc_param_is_rw (ngc_param_id_t id)
{
return id > 0 && id < ngc_ro_params[0].id_min;
}
bool ngc_param_exists (ngc_param_id_t id)
{
return id > 0 && id <= ngc_ro_params[(sizeof(ngc_ro_params) / sizeof(ngc_ro_param_t)) - 1].id_max;
}
bool ngc_param_set (ngc_param_id_t id, float value)
{
bool ok = id > 0 && id < ngc_ro_params[0].id_min;
if(ok) {
ngc_rw_param_t *rw_param = rw_params, *rw_param_last = rw_params;
while(rw_param) {
if(rw_param->id == id) {
break;
} else {
rw_param_last = rw_param;
rw_param = rw_param->next;
}
}
if(rw_param == NULL && value != 0.0f && (rw_param = malloc(sizeof(ngc_rw_param_t)))) {
rw_param->id = id;
rw_param->next = NULL;
if(rw_params == NULL)
rw_params = rw_param;
else
rw_param_last->next = rw_param;
}
if(rw_param)
rw_param->value = value;
else
ok = value == 0.0f;
}
return ok;
}
PROGMEM static const ngc_named_ro_param_t ngc_named_ro_param[] = {
{ .name = "_vmajor", .id = NGCParam_vmajor },
{ .name = "_vminor", .id = NGCParam_vminor },
{ .name = "_line", .id = NGCParam_line },
{ .name = "_motion_mode", .id = NGCParam_motion_mode },
{ .name = "_plane", .id = NGCParam_plane },
{ .name = "_ccomp", .id = NGCParam_ccomp },
{ .name = "_metric", .id = NGCParam_metric },
{ .name = "_imperial", .id = NGCParam_imperial },
{ .name = "_absolute", .id = NGCParam_absolute },
{ .name = "_incremental", .id = NGCParam_incremental },
{ .name = "_inverse_time", .id = NGCParam_inverse_time },
{ .name = "_units_per_minute", .id = NGCParam_units_per_minute },
{ .name = "_units_per_rev", .id = NGCParam_units_per_rev },
{ .name = "_coord_system", .id = NGCParam_coord_system },
{ .name = "_tool_offset", .id = NGCParam_tool_offset },
{ .name = "_retract_r_plane", .id = NGCParam_retract_r_plane },
{ .name = "_retract_old_z", .id = NGCParam_retract_old_z },
{ .name = "_spindle_rpm_mode", .id = NGCParam_spindle_rpm_mode },
{ .name = "_spindle_css_mode", .id = NGCParam_spindle_css_mode },
{ .name = "_ijk_absolute_mode", .id = NGCParam_ijk_absolute_mode },
{ .name = "_lathe_diameter_mode", .id = NGCParam_lathe_diameter_mode },
{ .name = "_lathe_radius_mode", .id = NGCParam_lathe_radius_mode },
{ .name = "_spindle_on", .id = NGCParam_spindle_on },
{ .name = "_spindle_cw", .id = NGCParam_spindle_cw },
{ .name = "_mist", .id = NGCParam_mist },
{ .name = "_flood", .id = NGCParam_flood },
{ .name = "_speed_override", .id = NGCParam_speed_override },
{ .name = "_feed_override", .id = NGCParam_feed_override },
{ .name = "_adaptive_feed", .id = NGCParam_adaptive_feed },
{ .name = "_feed_hold", .id = NGCParam_feed_hold },
{ .name = "_feed", .id = NGCParam_feed },
{ .name = "_rpm", .id = NGCParam_rpm },
{ .name = "_x", .id = NGCParam_x },
{ .name = "_y", .id = NGCParam_y },
{ .name = "_z", .id = NGCParam_z },
{ .name = "_a", .id = NGCParam_a },
{ .name = "_b", .id = NGCParam_b },
{ .name = "_c", .id = NGCParam_c },
{ .name = "_u", .id = NGCParam_u },
{ .name = "_v", .id = NGCParam_v },
{ .name = "_w", .id = NGCParam_w },
{ .name = "_current_tool", .id = NGCParam_current_tool },
{ .name = "_current_pocket", .id = NGCParam_current_pocket },
{ .name = "_selected_tool", .id = NGCParam_selected_tool },
{ .name = "_selected_pocket", .id = NGCParam_selected_pocket },
};
// Named parameters
float ngc_named_param_get_by_id (ncg_name_param_id_t id)
{
float value;
switch(id) {
case NGCParam_vmajor:
value = 1.1f;
break;
case NGCParam_vminor:
value = 0.0f; // TODO: derive from version letter?
break;
case NGCParam_line:
value = (float)gc_state.line_number;
break;
case NGCParam_motion_mode:
value = (float)(gc_state.modal.motion * 10); // TODO: Fix G38.x
break;
case NGCParam_plane:
value = (float)(170 + gc_state.modal.plane_select * 10);
break;
case NGCParam_ccomp:
value = 400.0f;
break;
case NGCParam_metric:
value = gc_state.modal.units_imperial ? 0.0f : 1.0f;
break;
case NGCParam_imperial:
value = gc_state.modal.units_imperial ? 1.0f : 0.0f;
break;
case NGCParam_absolute:
value = gc_state.modal.distance_incremental ? 0.0f : 1.0f;
break;
case NGCParam_incremental:
value = gc_state.modal.distance_incremental ? 1.0f : 0.0f;
break;
case NGCParam_inverse_time:
value = gc_state.modal.feed_mode == FeedMode_InverseTime ? 1.0f : 0.0f;
break;
case NGCParam_units_per_minute:
value = gc_state.modal.feed_mode == FeedMode_UnitsPerMin ? 1.0f : 0.0f;
break;
case NGCParam_units_per_rev:
value = gc_state.modal.feed_mode == FeedMode_UnitsPerRev ? 1.0f : 0.0f;
break;
case NGCParam_coord_system:
{
uint_fast16_t id = gc_state.modal.coord_system.id * 10;
if(id > (CoordinateSystem_G59 * 10))
id = (CoordinateSystem_G59 * 10) + gc_state.modal.coord_system.id - CoordinateSystem_G59;
value = (float)(540 + id);
}
break;
case NGCParam_tool_offset:
value = gc_state.modal.tool_offset_mode >= ToolLengthOffset_Enable ? 1.0f : 0.0f;
break;
case NGCParam_retract_r_plane:
value = gc_state.modal.retract_mode == CCRetractMode_Previous ? 1.0f : 0.0f;
break;
case NGCParam_retract_old_z:
value = gc_state.modal.retract_mode == CCRetractMode_RPos ? 1.0f : 0.0f;
break;
case NGCParam_spindle_rpm_mode:
value = gc_state.modal.spindle_rpm_mode == SpindleSpeedMode_RPM ? 1.0f : 0.0f;
break;
case NGCParam_spindle_css_mode:
value = gc_state.modal.spindle_rpm_mode == SpindleSpeedMode_CSS ? 1.0f : 0.0f;
break;
case NGCParam_ijk_absolute_mode:
value = 0.0f;
break;
case NGCParam_lathe_diameter_mode:
value = gc_state.modal.diameter_mode ? 1.0f : 0.0f;
break;
case NGCParam_lathe_radius_mode:
value = gc_state.modal.diameter_mode ? 0.0f : 1.0f;
break;
case NGCParam_spindle_on:
value = gc_state.modal.spindle.on ? 1.0f : 0.0f;
break;
case NGCParam_spindle_cw:
value = gc_state.modal.spindle.ccw ? 1.0f : 0.0f;
break;
case NGCParam_mist:
value = gc_state.modal.coolant.mist ? 1.0f : 0.0f;
break;
case NGCParam_flood:
value = gc_state.modal.coolant.flood ? 1.0f : 0.0f;
break;
case NGCParam_speed_override:
value = gc_state.modal.override_ctrl.spindle_rpm_disable ? 0.0f : 1.0f;
break;
case NGCParam_feed_override:
value = gc_state.modal.override_ctrl.feed_rate_disable ? 0.0f : 1.0f;
break;
case NGCParam_adaptive_feed:
value = 0.0f;
break;
case NGCParam_feed_hold:
value = gc_state.modal.override_ctrl.feed_hold_disable ? 0.0f : 1.0f;
break;
case NGCParam_feed:
value = gc_state.feed_rate;
break;
case NGCParam_rpm:
value = gc_state.spindle.rpm;
break;
case NGCParam_x:
//no break
case NGCParam_y:
//no break
case NGCParam_z:
//no break
case NGCParam_a:
//no break
case NGCParam_b:
//no break
case NGCParam_c:
//no break
case NGCParam_u:
//no break
case NGCParam_v:
//no break
case NGCParam_w:
value = _relative_pos(id - NGCParam_x);
break;
case NGCParam_current_tool:
value = (float)gc_state.tool->tool;
break;
case NGCParam_current_pocket:
value = 0.0f;
break;
case NGCParam_selected_tool:
value = gc_state.tool_change ? (float)gc_state.tool_pending : -1.0f;
break;
case NGCParam_selected_pocket:
value = 0.0f;
break;
default:
value = NAN;
}
return value;
}
bool ngc_named_param_get (char *name, float *value)
{
char c, *s = name;
bool found = false;
uint_fast8_t idx = sizeof(ngc_named_ro_param) / sizeof(ngc_named_ro_param_t);
// Lowercase name
while((c = *s))
*s++ = LCAPS(c);
*value = 0.0f;
if(*name == '_') do {
idx--;
if((found = !strcmp(name, ngc_named_ro_param[idx].name)))
*value = ngc_named_param_get_by_id(ngc_named_ro_param[idx].id);
} while(idx && !found);
if(!found) {
ngc_named_rw_param_t *rw_param = rw_global_params;
while(rw_param && !found) {
if((found = !strcmp(rw_param->name, name)))
*value = rw_param->value;
else
rw_param = rw_param->next;
}
}
return found;
}
bool ngc_named_param_exists (char *name)
{
char c, *s1 = name, *s2 = name;
bool ok = false;
uint_fast8_t idx = sizeof(ngc_named_ro_param) / sizeof(ngc_named_ro_param_t);
// Lowercase name, remove control characters and spaces
while((c = *s1++) && c > ' ')
*s2++ = LCAPS(c);
*s2 = '\0';
// Check if name is supplied, return false if not.
if((*name == '_' ? *(name + 1) : *name) == '\0')
return false;
// Check if it is a (read only) predefined parameter.
if(*name == '_') do {
idx--;
ok = !strcmp(name, ngc_named_ro_param[idx].name);
} while(idx && !ok);
// If not predefined attempt to find it.
if(!ok && rw_global_params && strlen(name) < MAX_PARAM_LENGTH) {
ngc_named_rw_param_t *rw_param = rw_global_params;
while(rw_param) {
if((ok = !strcmp(rw_param->name, name)))
break;
rw_param = rw_param->next;
}
}
return ok;
}
bool ngc_named_param_set (char *name, float value)
{
char c, *s1 = name, *s2 = name;
bool ok = false;
uint_fast8_t idx = sizeof(ngc_named_ro_param) / sizeof(ngc_named_ro_param_t);
// Lowercase name, remove control characters and spaces
while((c = *s1++) && c > ' ')
*s2++ = LCAPS(c);
*s2 = '\0';
// Check if name is supplied, return false if not.
if((*name == '_' ? *(name + 1) : *name) == '\0')
return false;
// Check if it is a (read only) predefined parameter.
if(*name == '_') do {
idx--;
ok = !strcmp(name, ngc_named_ro_param[idx].name);
} while(idx && !ok);
// If not predefined attempt to set it.
if(!ok && (ok = strlen(name) < MAX_PARAM_LENGTH)) {
ngc_named_rw_param_t *rw_param = rw_global_params, *rw_param_last = rw_global_params;
while(rw_param) {
if(!strcmp(rw_param->name, name)) {
break;
} else {
rw_param_last = rw_param;
rw_param = rw_param->next;
}
}
if(rw_param == NULL && (rw_param = malloc(sizeof(ngc_named_rw_param_t)))) {
strcpy(rw_param->name, name);
rw_param->next = NULL;
if(rw_global_params == NULL)
rw_global_params = rw_param;
else
rw_param_last->next = rw_param;
}
if((ok = rw_param != NULL))
rw_param->value = value;
}
return ok;
}
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