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grblHAL/gcode.h
Terje Io adba5d031c Refactored M70-M73 modal state handling, should now be fully compatible with LinuxCNC behaviour. 
Added ADC/DAC resolution to $pinstate command, changed reported values to integer for ADC/DAC devices and float formatted for PWM devices.
Numeric settings can now be set via G65P1Q<n>S<value>, <n> is the setting number, <value> is the new value.
Changed alarm code for Modbus exceptions (communication errors) from 14 to 19.
Refactored MPG stream code to allow plugins to hook into MPG streams (via event handler).
Added _free memory system parameter, returns value in KBytes or -1 if not available from driver.
Changed basic stream data type from char to uint8_t, added HAL function and core API for releasing/closing UART streams.
2025-11-08 07:52:01 +01:00

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/*
gcode.h - rs274/ngc parser.
Part of grblHAL
Copyright (c) 2017-2025 Terje Io
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
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.
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
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef _GCODE_H_
#define _GCODE_H_
#include "nuts_bolts.h"
#include "coolant_control.h"
#include "spindle_control.h"
#include "errors.h"
#define MAX_OFFSET_ENTRIES 4 // must be a power of 2
typedef int32_t tool_id_t;
typedef int16_t pocket_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.
// NOTE: Some values are assigned specific values to make g-code state reporting and parsing
// compile a little smaller. Although not
// ideal, just be careful with values that state 'do not alter' and check both report.c and gcode.c
// to see how they are used, if you need to alter them.
/*! Modal Group G0: Non-modal actions
Do not alter values!
*/
typedef enum {
NonModal_NoAction = 0, //!< 0 - Default, must be zero
NonModal_Dwell = 4, //!< 4 - G4
NonModal_SetCoordinateData = 10, //!< 10 - G10
NonModal_GoHome_0 = 28, //!< 28 - G28
NonModal_SetHome_0 = 38, //!< 38 - G28.1
NonModal_GoHome_1 = 30, //!< 30 - G30
NonModal_SetHome_1 = 40, //!< 40 - G30.1
NonModal_AbsoluteOverride = 53, //!< 53 - G53
NonModal_MacroCall = 65, //!< 65 - G65
NonModal_SetCoordinateOffset = 92, //!< 92 - G92
NonModal_ResetCoordinateOffset = 102, //!< 102 - G92.1
NonModal_ClearCoordinateOffset = 112, //!< 112 - G92.2
#if ENABLE_ACCELERATION_PROFILES
NonModal_RestoreCoordinateOffset = 122, //!< 122 - G92.3
NonModal_SetAccelerationProfile = 187 //!< 187 - G187
#else
NonModal_RestoreCoordinateOffset = 122 //!< 122 - G92.3
#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!
*/
typedef enum {
MotionMode_Seek = 0, //!< 0 - G0 - Default, must be zero
MotionMode_Linear = 1, //!< 1 - G1
MotionMode_CwArc = 2, //!< 2 - G2
MotionMode_CcwArc = 3, //!< 3 - G3
MotionMode_CubicSpline = 5, //!< 5 - G5
MotionMode_QuadraticSpline = 51, //!< 51 - G5.1
MotionMode_SpindleSynchronized = 33, //!< 33 - G33
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_ProbeToward = 140, //!< 140 - G38.2
MotionMode_ProbeTowardNoError = 141, //!< 141 - G38.3
MotionMode_ProbeAway = 142, //!< 142 - G38.4
MotionMode_ProbeAwayNoError = 143, //!< 143 - G38.5
MotionMode_None = 80 //!< 80 - G80
} motion_mode_t;
/*! Modal Group G2: Plane select
Do not alter values!
*/
typedef enum {
PlaneSelect_XY = 0, //!< 0 - G17 - Default, must be zero
PlaneSelect_ZX = 1, //!< 1 - G18
PlaneSelect_YZ = 2 //!< 2 - G19
} plane_select_t;
// Modal Group G4: Arc IJK distance mode
//#define DISTANCE_ARC_MODE_INCREMENTAL 0 // G91.1 - Default, must be zero
/*! Modal Group G5: Feed rate mode
Do not alter values!
*/
typedef enum {
FeedMode_UnitsPerMin = 0, //!< 0 - G94 - Default, must be zero
FeedMode_InverseTime = 1, //!< 1 - G93
FeedMode_UnitsPerRev = 2 //!< 2 - G95
} feed_mode_t;
// Modal Group G7: Cutter radius compensation mode
//#define CUTTER_COMP_DISABLE 0 // G40 - Default, must be zero
/*! Modal Group G8: Tool length offset
Do not alter values!
*/
typedef enum {
ToolLengthOffset_Cancel = 0, //!< 0 - G49 - Default, must be zero
ToolLengthOffset_Enable = 1, //!< 1 - G43
ToolLengthOffset_EnableDynamic = 2, //!< 2 - G43.1
ToolLengthOffset_ApplyAdditional = 3 //!< 3 - G43.2
} tool_offset_mode_t;
/*! Modal Group G10: Canned cycle return mode
Do not alter values!
*/
typedef enum {
CCRetractMode_Previous = 0, //!< 0 - G98 - Default, must be zero
CCRetractMode_RPos = 1 //!< 1 - G99
} cc_retract_mode_t;
/*! Modal Group G12 and G0: Coordinate system identificators
Do not alter values!
*/
typedef enum {
CoordinateSystem_G54 = 0, //!< 0 - G54 (G12)
CoordinateSystem_G55, //!< 1 - G55 (G12)
CoordinateSystem_G56, //!< 2 - G56 (G12)
CoordinateSystem_G57, //!< 3 - G57 (G12)
CoordinateSystem_G58, //!< 4 - G58 (G12)
CoordinateSystem_G59, //!< 5 - G59 (G12)
#if COMPATIBILITY_LEVEL <= 1
CoordinateSystem_G59_1, //!< 6 - G59.1 (G12) - availability depending on #COMPATIBILITY_LEVEL <= 1
CoordinateSystem_G59_2, //!< 7 - G59.2 (G12) - availability depending on #COMPATIBILITY_LEVEL <= 1
CoordinateSystem_G59_3, //!< 8 - G59.3 (G12) - availability depending on #COMPATIBILITY_LEVEL <= 1
#endif
N_WorkCoordinateSystems, //!< 9 when #COMPATIBILITY_LEVEL <= 1, 6 otherwise
CoordinateSystem_G28 = N_WorkCoordinateSystems, //!< 9 - G28 (G0) when #COMPATIBILITY_LEVEL <= 1, 6 otherwise
CoordinateSystem_G30, //!< 10 - G30 (G0) when #COMPATIBILITY_LEVEL <= 1, 7 otherwise
CoordinateSystem_G92, //!< 11 - G92 (G0) when #COMPATIBILITY_LEVEL <= 1, 8 otherwise
N_CoordinateSystems //!< 12 when #COMPATIBILITY_LEVEL <= 1, 9 otherwise
} __attribute__ ((__packed__)) coord_system_id_t;
/*! Modal Group G13: Control mode
Do not alter values!
*/
typedef enum {
ControlMode_ExactPath = 0, //!< 0 - G61 - Default, must be zero
ControlMode_ExactStop = 1, //!< 1 - G61.1
ControlMode_PathBlending = 2 //!< 2 - G64
} control_mode_t;
/*! Modal Group M4: Program flow
Do not alter values!
*/
typedef enum {
ProgramFlow_Running = 0, //!< 0 - Default, must be zero
ProgramFlow_Paused = 3, //!< 3 - M0
ProgramFlow_OptionalStop = 1, //!< 1 - M1
ProgramFlow_CompletedM2 = 2, //!< 2 - M2
ProgramFlow_CompletedM30 = 30, //!< 30 - M30
ProgramFlow_CompletedM60 = 60, //!< 60 - M60
ProgramFlow_Return = 99, //!< 99 - M99
ProgramFlow_EndPercent = 255 //!< 255 - %
} program_flow_t;
// Modal Group M9: Override control
typedef enum {
Override_FeedSpeedEnable = 48, //!< 48 - M48
Override_FeedSpeedDisable = 49, //!< 49 - M49
Override_FeedRate = 50, //!< 50 - M50
Override_SpindleSpeed = 51, //!< 51 - M51
Override_FeedHold = 53, //!< 53 - M53
Override_Parking = 56 //!< 56 - M56
} override_mode_t;
/*! Modal Group M10: i/o control */
typedef enum {
IoMCode_OutputOnSynced = 62, //!< 62 - M62
IoMCode_OutputOffSynced = 63, //!< 63 - M63
IoMCode_OutputOnImmediate = 64, //!< 64 - M64
IoMCode_OutputOffImmediate = 65, //!< 65 - M65
IoMCode_WaitOnInput = 66, //!< 66 - M66
IoMCode_AnalogOutSynced = 67, //!< 67 - M67
IoMCode_AnalogOutImmediate = 68, //!< 68 - M68
} io_mcode_t;
/*! Modal Group M10: User/driver/plugin defined M commands
__NOTE:__ Not used by the core, may be used by private user code, drivers or plugins.
*/
typedef enum {
OpenPNP_SetPinState = 42, //!< 42 - M42
UserMCode_Generic1 = 101, //!< 101 - For private use only
UserMCode_Generic2 = 102, //!< 102 - For private use only
UserMCode_Generic3 = 103, //!< 103 - For private use only
UserMCode_Generic4 = 104, //!< 104 - For private use only
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
Trinamic_ReadRegister = 123, //!< 123 - M123
Trinamic_WriteRegister = 124, //!< 124 - M124
LaserPPI_Enable = 126, //!< 126 - M126
LaserPPI_Rate = 127, //!< 127 - M127
LaserPPI_PulseLength = 128, //!< 128 - M128
Laser_Overdrive = 129, //!< 129 - M129
OpenPNP_GetPinState = 143, //!< 143 - M143
OpenPNP_GetADCScaled = 144, //!< 144 - M144
OpenPNP_SetADCScaling = 145, //!< 145 - M145
RGB_WriteLEDs = 150, //!< 150 - M150, Marlin format
Plasma_SelectMaterial = 190, //!< 150 - M190, LinuxCNC format
OpenPNP_SetJerk = 20130, //!< 20130 - M201.3
OpenPNP_SetAcceleration = 204, //!< 204 - M204
SetFeedOverrides = 220, //!< 220 - M220, Marlin format
PWMServo_SetPosition= 280, //!< 280 - M280, Marlin format
RGB_Inspection_Light = 356, //!< 356 - M356
OpenPNP_FinishMoves = 400, //!< 400 - M400
Probe_Deploy = 401, //!< 401 - M401, Marlin format
Probe_Stow = 402, //!< 402 - M402, Marlin format
OpenPNP_SettingsReset = 502, //!< 502 - M502
Trinamic_ModeToggle = 569, //!< 569 - M569, Marlin format
Macro_Execute0 = 810, //!< 810 - M810, Marlin format
Macro_Execute1 = 811, //!< 811 - M811, Marlin format
Macro_Execute2 = 812, //!< 812 - M812, Marlin format
Macro_Execute3 = 813, //!< 813 - M813, Marlin format
Macro_Execute4 = 814, //!< 814 - M814, Marlin format
Macro_Execute5 = 815, //!< 815 - M815, Marlin format
Macro_Execute6 = 816, //!< 816 - M816, Marlin format
Macro_Execute7 = 817, //!< 817 - M817, Marlin format
Macro_Execute8 = 818, //!< 818 - M818, Marlin format
Macro_Execute9 = 819, //!< 819 - M819, Marlin format
Trinamic_StepperCurrent = 906, //!< 906 - M906, Marlin format
Trinamic_ReportPrewarnFlags = 911, //!< 911 - M911, Marlin format
Trinamic_ClearPrewarnFlags = 912, //!< 912 - M912, Marlin format
Trinamic_HybridThreshold = 913, //!< 913 - M913, Marlin format
Trinamic_HomingSensitivity = 914, //!< 914 - M914, Marlin format
Trinamic_ChopperTiming = 919, //!< 919 - M919, Marlin format
Spindle_Select = UserMCode_Generic4 //!< Value to be assigned later!
} user_mcode_t;
//! Data for M62, M63 and M67 commands when executed synchronized with motion.
typedef struct output_command {
bool is_digital;
uint8_t port;
int32_t value;
struct output_command *next;
} output_command_t;
//! M66 Allowed L-parameter values
typedef enum {
WaitMode_Immediate = 0, //!< 0 - This is the only mode allowed for analog inputs
WaitMode_Rise, //!< 1
WaitMode_Fall, //!< 2
WaitMode_High, //!< 3
WaitMode_Low, //!< 4
WaitMode_Max //!< For internal use
} wait_mode_t;
//! Parser position updating flags
typedef enum {
GCUpdatePos_Target = 0, //!< 0
GCUpdatePos_System, //!< 1
GCUpdatePos_None //!< 2
} pos_update_t;
/*! Probe cycle exit states, used for proper proper position updating.
Assigned from #pos_update_t enum values.
*/
typedef enum {
GCProbe_Found = GCUpdatePos_System, //!< 1
GCProbe_Abort = GCUpdatePos_None, //!< 2
GCProbe_FailInit = GCUpdatePos_None, //!< 2
GCProbe_FailEnd = GCUpdatePos_Target, //!< 0
#if SET_CHECK_MODE_PROBE_TO_START
GCProbe_CheckMode = GCUpdatePos_None //!< 2
#else
GCProbe_CheckMode = GCUpdatePos_Target //!< 0
#endif
} gc_probe_t;
//! Parser flags for special cases.
typedef union {
uint16_t value;
struct {
uint16_t jog_motion :1,
canned_cycle_change :1, // Use motion_mode_changed?
arc_is_clockwise :1,
probe_is_away :1,
probe_is_no_error :1,
spindle_force_sync :1,
laser_disable :1,
laser_is_motion :1,
set_coolant :1,
motion_mode_changed :1,
reserved :6;
};
} gc_parser_flags_t;
//! Override flags.
typedef union {
uint16_t value;
struct {
uint16_t spindle_rpm_disable :8,
feed_rates_disable :1,
feed_hold_disable :1,
parking_disable :1,
spindle_wait_disable :1,
reserved :2,
sync :1;
};
struct {
uint16_t spindle_rpm :8,
feed_rates :1,
feed_hold :1,
parking :1,
spindle :1,
reserved1 :2,
reserved2 :1; // sync synonym
};
} gc_override_flags_t;
//! Coordinate data including id.
typedef struct {
float xyz[N_AXIS];
coord_system_id_t id;
} 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.
*/
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
#ifndef A_AXIS
float a;
#endif
#ifndef B_AXIS
float b;
#endif
#ifndef C_AXIS
float c;
#endif
#if !defined(U_AXIS) && !AXIS_REMAP_ABC2UVW
float u;
#endif
#if !defined(V_AXIS) && !AXIS_REMAP_ABC2UVW
float v;
#endif
#if !AXIS_REMAP_ABC2UVW
float w;
#endif
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
#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
} gc_values_t;
//! Parameter words found by parser - do NOT change order!
typedef union {
uint32_t mask; //!< All flags as a bitmap.
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.
i :1, //!< X-axis offset for arcs.
j :1, //!< Y-axis offset for arcs.
k :1, //!< Z-axis offset for arcs.
d :1, //!< Tool radius compensation.
e :1, //!< Analog port number for M66 - M68.
f :1, //!< Feedrate.
g :1, //!< Unused (placeholder).
h :1, //!< Tool length offset index.
l :1, //!< Number of repetitions in canned cycles, wait mode for M66.
m :1, //!< G65 argument.
n :1, //!< Line number.
o :1, //!< Subroutine identifier.
p :1, //!< Dwell time for G4 or in canned cycles, port number for M62 - M66.
q :1, //!< Feed increment for G83 canned cycle, tool number for M61, timeout for M66.
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.
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 {
uint8_t is_rpm_rate_adjusted :1,
is_laser_ppi_mode :1,
unassigned :6;
};
} spindle_cond_t;
typedef struct {
spindle_state_t state; //!< {M3,M4,M5}
spindle_rpm_mode_t rpm_mode; //!< {G96,G97}
spindle_cond_t condition; //!< TODO: move data from planner_cond_t here
spindle_css_data_t *css; //!< Data used for Constant Surface Speed Mode calculations
float rpm; //!< Spindle speed. Must be second last!
spindle_ptrs_t *hal; //!< Spindle function pointers etc. Must be last!
} spindle_t;
typedef struct {
spindle_state_t state; //!< {M3,M4,M5}
spindle_rpm_mode_t rpm_mode; //!< {G96,G97}
} spindle_modal_t;
// NOTE: When this struct is zeroed, the above defines set the defaults for the system.
typedef struct {
motion_mode_t motion; //!< {G0,G1,G2,G3,G38.2,G80}
feed_mode_t feed_mode; //!< {G93,G94,G95}
bool units_imperial; //!< {G20,G21}
bool distance_incremental; //!< {G90,G91}
bool diameter_mode; //!< {G7,G8} Lathe diameter mode.
//< uint8_t distance_arc; //!< {G91.1} NOTE: Don't track. Only default supported.
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}
#if ENABLE_PATH_BLENDING
control_mode_t control; //!< {G61} NOTE: Don't track. Only default supported.
#endif
program_flow_t program_flow; //!< {M0,M1,M2,M30,M60}
coolant_state_t coolant; //!< {M7,M8,M9}
spindle_t spindle[N_SYS_SPINDLE]; //!< {M3,M4,M5 and G96,G97}
gc_override_flags_t override_ctrl; //!< {M48,M49,M50,M51,M53,M56}
cc_retract_mode_t retract_mode; //!< {G98,G99}
bool scaling_active; //!< {G50,G51}
bool canned_cycle_active;
#if ENABLE_ACCELERATION_PROFILES
float acceleration_factor; //!< {G187} currently active factor of acceleration profile
#endif
float spline_pq[2]; //!< {G5}
//@}
//! @name The following variables are not copied to the parsers gc_block working copy!
//@{
float tool_length_offset[N_AXIS]; //!< Tracks tool length offset when enabled
#if NGC_PARAMETERS_ENABLE
float feed_rate; //!< {F} NOTE: set in snapshot when saving modal state
bool auto_restore; //!< {M73} NOTE: set in snapshot when saving modal state
#endif
} gc_modal_t;
typedef struct {
override_t feed_rate; //!< Feed rate override value in percent
override_t rapid_rate; //!< Rapids override value in percent
override_t spindle_rpm[N_SYS_SPINDLE]; //!< Spindle override value(s) in percent
} gc_override_values_t;
//! Data for G70-G73
typedef struct {
gc_modal_t modal;
gc_override_values_t override;
} gc_modal_snapshot_t;
//! Data for canned cycles.
typedef struct {
float xyz[3];
float delta;
float dwell;
float retract_position; //!< Canned cycle retract position
bool rapid_retract;
bool spindle_off;
cc_retract_mode_t retract_mode;
bool change;
} gc_canned_t;
//! Thread taper types.
typedef enum {
Taper_None = 0, //!< 0
Taper_Entry, //!< 1
Taper_Exit, //!< 2
Taper_Both //!< 3
} gc_taper_type;
typedef struct {
float pitch;
float z_final;
float peak;
float initial_depth;
float depth;
float depth_degression;
float main_taper_height;
float end_taper_length;
float infeed_angle;
float cut_direction;
uint_fast16_t spring_passes;
gc_taper_type end_taper_type;
} gc_thread_data;
//! Tool data.
typedef struct {
coord_data_t offset; //!< Tool offset
float radius; //!< Radius of tool (currently unsupported)
tool_id_t tool_id; //!< Tool number
} tool_data_t;
typedef struct {
tool_data_t tool;
pocket_id_t pocket_id;
} tool_pocket_t;
/*! \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
#if ENABLE_PATH_BLENDING
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
#if NGC_EXPRESSIONS_ENABLE
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 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)
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
} parser_state_t;
typedef struct {
float xyz[N_AXIS]; //!< Center point
float ijk[N_AXIS]; //!< Scaling factors
} scale_factor_t;
extern parser_state_t gc_state;
/*! \brief Parser block structure.
Used internally by the parser to hold the details about a block.
It will also be passed to mc_jog_execute() and any user M-code validation and execution handlers if called for.
*/
typedef struct {
non_modal_t non_modal_command; //!< Non modal command
override_mode_t override_command; //!< Override command TODO: add to non_modal above?
user_mcode_t user_mcode; //!< Set > 0 if a user M-code is found.
bool user_mcode_sync; //!< Set to \a true by M-code validation handler if M-code is to be executed after synchronization.
gc_modal_t modal; //!< The current modal state is copied here before parsing starts.
spindle_modal_t spindle_modal;
gc_values_t values; //!< Parameter values for block.
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; //
#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;
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
return (axes_signals_t){ (uint8_t)(((p_words.mask >> 24) | ((p_words.mask << 2) & 0b00111000) | ((p_words.mask >> (21 - 6)) & 0b11000000)) & AXES_BITMASK) };
#endif
}
// Initialize the parser
void gc_init (bool stop);
char *gc_normalize_block (char *block, status_code_t *status, char **message);
// Execute one block of rs275/ngc/g-code
status_code_t gc_execute_block (char *block);
// Sets g-code parser position in mm. Input in steps. Called by the system abort and hard
// limit pull-off routines.
#define gc_sync_position() system_convert_array_steps_to_mpos (gc_state.position, sys.position)
// Sets g-code parser and planner position in mm.
#define sync_position() plan_sync_position(); system_convert_array_steps_to_mpos (gc_state.position, sys.position)
// Set dynamic laser power mode to PPI (Pulses Per Inch)
// Driver support for pulsing the laser on signal is required for this to work.
// Returns true if driver uses hardware implementation.
bool gc_laser_ppi_enable (uint_fast16_t ppi, uint_fast16_t pulse_length);
parser_state_t *gc_get_state (void);
// Gets axes scaling state.
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, bool real_time);
char *gc_coord_system_to_str (coord_system_id_t id);
void gc_clear_output_commands (output_command_t *cmd);
spindle_t *gc_spindle_get (spindle_num_t spindle);
void gc_spindle_off (void);
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_snapshot_t *snapshot);
#endif
#if ENABLE_ACCELERATION_PROFILES
float gc_get_accel_factor (uint8_t profile);
#endif
#endif // _GCODE_H_
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