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3122 lines
140 KiB
C
3122 lines
140 KiB
C
/*
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gcode.c - rs274/ngc parser.
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Part of grblHAL
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Copyright (c) 2017-2022 Terje Io
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <math.h>
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#include <string.h>
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#include <stdlib.h>
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#include "hal.h"
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#include "motion_control.h"
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#include "protocol.h"
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#include "state_machine.h"
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#if NGC_EXPRESSIONS_ENABLE
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#include "ngc_expr.h"
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#include "ngc_params.h"
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#endif
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// NOTE: Max line number is defined by the g-code standard to be 99999. It seems to be an
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// arbitrary value, and some GUIs may require more. So we increased it based on a max safe
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// value when converting a float (7.2 digit precision)s to an integer.
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#define MAX_LINE_NUMBER 10000000
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#ifdef N_TOOLS
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#define MAX_TOOL_NUMBER N_TOOLS // Limited by max unsigned 8-bit value
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#else
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#define MAX_TOOL_NUMBER 4294967294 // Limited by max unsigned 32-bit value - 1
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#endif
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#define MACH3_SCALING
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// Do not change, must be same as axis indices
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#define I_VALUE X_AXIS
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#define J_VALUE Y_AXIS
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#define K_VALUE Z_AXIS
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// Define modal groups internal bitfield for checking multiple command violations and tracking the
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// type of command that is called in the block. A modal group is a group of g-code commands that are
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// mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute
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// a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online,
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// and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc).
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typedef union {
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uint32_t mask;
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struct {
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uint32_t G0 :1, //!< [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal
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G1 :1, //!< [G0,G1,G2,G3,G33,G38.2,G38.3,G38.4,G38.5,G76,G80] Motion
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G2 :1, //!< [G17,G18,G19] Plane selection
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G3 :1, //!< [G90,G91] Distance mode
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G4 :1, //!< [G91.1] Arc IJK distance mode
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G5 :1, //!< [G93,G94,G95] Feed rate mode
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G6 :1, //!< [G20,G21] Units
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G7 :1, //!< [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED.
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G8 :1, //!< [G43,G43.1,G49] Tool length offset
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G10 :1, //!< [G98,G99] Return mode in canned cycles
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G11 :1, //!< [G50,G51] Scaling
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G12 :1, //!< [G54,G55,G56,G57,G58,G59] Coordinate system selection
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G13 :1, //!< [G61] Control mode
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G14 :1, //!< [G96,G97] Spindle Speed Mode
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G15 :1, //!< [G7,G8] Lathe Diameter Mode
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M4 :1, //!< [M0,M1,M2,M30] Stopping
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M6 :1, //!< [M6] Tool change
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M7 :1, //!< [M3,M4,M5] Spindle turning
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M8 :1, //!< [M7,M8,M9] Coolant control
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M9 :1, //!< [M49,M50,M51,M53,M56] Override control
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M10 :1; //!< User defined M commands
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};
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} modal_groups_t;
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typedef enum {
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AxisCommand_None = 0,
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AxisCommand_NonModal,
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AxisCommand_MotionMode,
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AxisCommand_ToolLengthOffset,
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AxisCommand_Scaling
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} axis_command_t;
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typedef struct {
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parameter_words_t parameter;
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modal_groups_t modal_group;
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} word_bit_t;
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typedef union {
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uint_fast8_t mask;
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struct {
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uint_fast8_t i :1,
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j :1,
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k :1;
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};
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} ijk_words_t;
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// Declare gc extern struct
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parser_state_t gc_state, *saved_state = NULL;
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#ifdef N_TOOLS
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tool_data_t tool_table[N_TOOLS + 1];
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#else
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tool_data_t tool_table;
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#endif
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#define FAIL(status) return(status);
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static gc_thread_data thread;
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static output_command_t *output_commands = NULL; // Linked list
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static scale_factor_t scale_factor = {
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.ijk[X_AXIS] = 1.0f,
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.ijk[Y_AXIS] = 1.0f,
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.ijk[Z_AXIS] = 1.0f
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#ifdef A_AXIS
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, .ijk[A_AXIS] = 1.0f
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#endif
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#ifdef B_AXIS
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, .ijk[B_AXIS] = 1.0f
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#endif
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#ifdef C_AXIS
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, .ijk[C_AXIS] = 1.0f
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#endif
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#ifdef U_AXIS
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, .ijk[U_AXIS] = 1.0f
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#endif
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#ifdef V_AXIS
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, .ijk[V_AXIS] = 1.0f
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#endif
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};
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// Simple hypotenuse computation function.
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inline static float hypot_f (float x, float y)
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{
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return sqrtf(x * x + y * y);
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}
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inline static bool motion_is_lasercut (motion_mode_t motion)
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{
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return motion == MotionMode_Linear || motion == MotionMode_CwArc || motion == MotionMode_CcwArc || motion == MotionMode_CubicSpline || motion == MotionMode_QuadraticSpline;
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}
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parser_state_t *gc_get_state (void)
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{
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return &gc_state;
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}
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static void set_scaling (float factor)
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{
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uint_fast8_t idx = N_AXIS;
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axes_signals_t state = gc_get_g51_state();
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do {
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scale_factor.ijk[--idx] = factor;
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#ifdef MACH3_SCALING
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scale_factor.xyz[idx] = 0.0f;
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#endif
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} while(idx);
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gc_state.modal.scaling_active = factor != 1.0f;
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if(state.value != gc_get_g51_state().value)
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sys.report.scaling = On;
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}
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float *gc_get_scaling (void)
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{
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return scale_factor.ijk;
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}
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axes_signals_t gc_get_g51_state ()
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{
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uint_fast8_t idx = N_AXIS;
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axes_signals_t scaled = {0};
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do {
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scaled.value <<= 1;
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if(scale_factor.ijk[--idx] != 1.0f)
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scaled.value |= 0x01;
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} while(idx);
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return scaled;
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}
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float gc_get_offset (uint_fast8_t idx)
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{
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return gc_state.modal.coord_system.xyz[idx] + gc_state.g92_coord_offset[idx] + gc_state.tool_length_offset[idx];
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}
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inline static float gc_get_block_offset (parser_block_t *gc_block, uint_fast8_t idx)
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{
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return gc_block->modal.coord_system.xyz[idx] + gc_state.g92_coord_offset[idx] + gc_state.tool_length_offset[idx];
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}
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void gc_set_tool_offset (tool_offset_mode_t mode, uint_fast8_t idx, int32_t offset)
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{
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bool tlo_changed = false;
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switch(mode) {
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case ToolLengthOffset_Cancel:
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idx = N_AXIS;
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do {
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idx--;
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tlo_changed |= gc_state.tool_length_offset[idx] != 0.0f;
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gc_state.tool_length_offset[idx] = 0.0f;
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#ifndef N_TOOLS
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gc_state.tool->offset[idx] = 0.0f;
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#endif
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} while(idx);
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break;
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case ToolLengthOffset_EnableDynamic:
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{
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float new_offset = offset / settings.axis[idx].steps_per_mm;
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tlo_changed |= gc_state.tool_length_offset[idx] != new_offset;
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gc_state.tool_length_offset[idx] = new_offset;
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#ifndef N_TOOLS
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gc_state.tool->offset[idx] = new_offset;
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#endif
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}
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break;
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default:
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break;
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}
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gc_state.modal.tool_offset_mode = mode;
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if(tlo_changed) {
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sys.report.tool_offset = true;
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system_flag_wco_change();
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}
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}
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plane_t *gc_get_plane_data (plane_t *plane, plane_select_t select)
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{
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switch (select) {
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case PlaneSelect_XY:
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plane->axis_0 = X_AXIS;
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plane->axis_1 = Y_AXIS;
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plane->axis_linear = Z_AXIS;
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break;
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case PlaneSelect_ZX:
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plane->axis_0 = Z_AXIS;
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plane->axis_1 = X_AXIS;
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plane->axis_linear = Y_AXIS;
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break;
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default: // case PlaneSelect_YZ:
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plane->axis_0 = Y_AXIS;
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plane->axis_1 = Z_AXIS;
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plane->axis_linear = X_AXIS;
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}
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return plane;
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}
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void gc_init (void)
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{
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#if COMPATIBILITY_LEVEL > 1
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memset(&gc_state, 0, sizeof(parser_state_t));
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#ifdef N_TOOLS
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gc_state.tool = &tool_table[0];
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#else
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memset(&tool_table, 0, sizeof(tool_table));
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gc_state.tool = &tool_table;
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#endif
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#else
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if(sys.cold_start) {
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memset(&gc_state, 0, sizeof(parser_state_t));
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#ifdef N_TOOLS
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gc_state.tool = &tool_table[0];
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#else
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memset(&tool_table, 0, sizeof(tool_table));
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gc_state.tool = &tool_table;
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#endif
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} else {
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memset(&gc_state, 0, offsetof(parser_state_t, g92_coord_offset));
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gc_state.tool_pending = gc_state.tool->tool;
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if(hal.tool.select)
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hal.tool.select(gc_state.tool, false);
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// TODO: restore offsets, tool offset mode?
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}
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#endif
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// Clear any pending output commands
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while(output_commands) {
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output_command_t *next = output_commands->next;
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free(output_commands);
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output_commands = next;
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}
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// Load default override status
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gc_state.modal.override_ctrl = sys.override.control;
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gc_state.spindle.css.max_rpm = settings.spindle.rpm_max; // default max speed for CSS mode
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set_scaling(1.0f);
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// Load default G54 coordinate system.
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if (!settings_read_coord_data(gc_state.modal.coord_system.id, &gc_state.modal.coord_system.xyz))
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grbl.report.status_message(Status_SettingReadFail);
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if (sys.cold_start && !settings.flags.g92_is_volatile && !settings_read_coord_data(CoordinateSystem_G92, &gc_state.g92_coord_offset))
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grbl.report.status_message(Status_SettingReadFail);
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// if(settings.flags.lathe_mode)
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// gc_state.modal.plane_select = PlaneSelect_ZX;
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}
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// Set dynamic laser power mode to PPI (Pulses Per Inch)
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// Returns true if driver uses hardware implementation.
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// Driver support for pulsing the laser on signal is required for this to work.
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bool gc_laser_ppi_enable (uint_fast16_t ppi, uint_fast16_t pulse_length)
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{
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gc_state.is_laser_ppi_mode = ppi > 0 && pulse_length > 0;
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return grbl.on_laser_ppi_enable && grbl.on_laser_ppi_enable(ppi, pulse_length);
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}
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void gc_spindle_off (void)
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{
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gc_state.spindle.rpm = sys.spindle_rpm = 0.0f;
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gc_state.modal.spindle.value = 0;
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#ifndef GRBL_ESP32
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hal.spindle.set_state(gc_state.modal.spindle, 0.0f);
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#else
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hal.spindle.esp32_off();
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#endif
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sys.report.spindle = On;
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}
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void gc_coolant_off (void)
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{
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gc_state.modal.coolant.value = 0;
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hal.coolant.set_state(gc_state.modal.coolant);
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sys.report.coolant = On;
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}
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// Add output command to linked list
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static bool add_output_command (output_command_t *command)
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{
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output_command_t *add_cmd;
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if((add_cmd = malloc(sizeof(output_command_t)))) {
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memcpy(add_cmd, command, sizeof(output_command_t));
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if(output_commands == NULL)
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output_commands = add_cmd;
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else {
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output_command_t *cmd = output_commands;
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while(cmd->next)
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cmd = cmd->next;
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cmd->next = add_cmd;
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}
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}
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return add_cmd != NULL;
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}
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static status_code_t init_sync_motion (plan_line_data_t *pl_data, float pitch)
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{
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pl_data->condition.inverse_time = Off;
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pl_data->feed_rate = gc_state.distance_per_rev = pitch;
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pl_data->condition.is_rpm_pos_adjusted = Off; // Switch off CSS.
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pl_data->overrides = sys.override.control; // Use current override flags and
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pl_data->overrides.sync = On; // set to sync overrides on execution of motion.
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// Disable feed rate and spindle overrides for the duration of the cycle.
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pl_data->overrides.spindle_rpm_disable = sys.override.control.spindle_rpm_disable = On;
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pl_data->overrides.feed_rate_disable = sys.override.control.feed_rate_disable = On;
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sys.override.spindle_rpm = DEFAULT_SPINDLE_RPM_OVERRIDE;
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// TODO: need for gc_state.distance_per_rev to be reset on modal change?
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float feed_rate = pl_data->feed_rate * hal.spindle.get_data(SpindleData_RPM)->rpm;
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if(feed_rate == 0.0f)
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FAIL(Status_GcodeSpindleNotRunning); // [Spindle not running]
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if(feed_rate > settings.axis[Z_AXIS].max_rate * 0.9f)
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FAIL(Status_GcodeMaxFeedRateExceeded); // [Feed rate too high]
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return Status_OK;
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}
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// Remove whitespace, control characters, comments and if block delete is active block delete lines
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// else the block delete character. Remaining characters are converted to upper case.
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// If the driver handles message comments then the first is extracted and returned in a dynamically
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// allocated memory block, the caller must free this after the message has been processed.
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char *gc_normalize_block (char *block, char **message)
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{
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char c, *s1, *s2, *comment = NULL;
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// Remove leading whitespace & control characters
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while(*block && *block <= ' ')
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block++;
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if(*block == ';' || (*block == '/' && sys.flags.block_delete_enabled)) {
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*block = '\0';
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return block;
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}
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if(*block == '/')
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block++;
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s1 = s2 = block;
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while((c = *s1) != '\0') {
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if(c > ' ') switch(c) {
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case ';':
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if(!comment) {
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*s1 = '\0';
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continue;
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}
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break;
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case '(':
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// TODO: generate error if a left paranthesis is found inside a comment...
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comment = s1;
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break;
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case ')':
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if(comment && !hal.driver_cap.no_gcode_message_handling) {
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size_t len = s1 - comment - 4;
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if(message && *message == NULL && !strncmp(comment, "(MSG,", 5) && (*message = malloc(len))) {
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*s1 = '\0';
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memcpy(*message, comment + 5, len);
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}
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}
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comment = NULL;
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break;
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default:
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if(comment == NULL)
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*s2++ = CAPS(c);
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break;
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}
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if(comment && s1 - comment < 5)
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*s1 = CAPS(c);
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s1++;
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}
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*s2 = '\0';
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return block;
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}
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#if NGC_EXPRESSIONS_ENABLE
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#define NGC_N_ASSIGN_PARAMETERS_PER_BLOCK 10
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static ngc_param_t ngc_params[NGC_N_ASSIGN_PARAMETERS_PER_BLOCK];
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static status_code_t read_parameter (char *line, uint_fast8_t *char_counter, float *value)
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{
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char c = *(line + *char_counter);
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status_code_t status = Status_OK;
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if(c == '#') {
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(*char_counter)++;
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if(*(line + *char_counter) == '<') {
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(*char_counter)++;
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char *pos = line + *char_counter;
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while(*line && *line != '>')
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line++;
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*char_counter += line - pos + 1;
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if(*line == '>') {
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*line = '\0';
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if(!ngc_named_param_get(pos, value))
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status = Status_BadNumberFormat;
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} else
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status = Status_BadNumberFormat;
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} else if (read_float(line, char_counter, value)) {
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if(!ngc_param_get((ngc_param_id_t)*value, value))
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status = Status_BadNumberFormat;
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} else
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status = Status_BadNumberFormat;
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|
|
|
} else if(c == '[')
|
|
status = ngc_eval_expression(line, char_counter, value);
|
|
else if(!read_float(line, char_counter, value))
|
|
*value = NAN;
|
|
|
|
return status;
|
|
}
|
|
|
|
#endif
|
|
|
|
// Parses and executes one block (line) of 0-terminated G-Code.
|
|
// In this function, all units and positions are converted and exported to internal functions
|
|
// in terms of (mm, mm/min) and absolute machine coordinates, respectively.
|
|
|
|
status_code_t gc_execute_block(char *block)
|
|
{
|
|
static const parameter_words_t axis_words_mask = {
|
|
.x = On,
|
|
.y = On,
|
|
.z = On
|
|
#ifdef A_AXIS
|
|
, .a = On
|
|
#endif
|
|
#ifdef B_AXIS
|
|
, .b = On
|
|
#endif
|
|
#ifdef C_AXIS
|
|
, .c = On
|
|
#endif
|
|
#ifdef U_AXIS
|
|
, .u = On
|
|
#endif
|
|
#ifdef V_AXIS
|
|
, .v = On
|
|
#endif
|
|
};
|
|
|
|
static const parameter_words_t pq_words = {
|
|
.p = On,
|
|
.q = On
|
|
};
|
|
|
|
static const parameter_words_t ij_words = {
|
|
.i = On,
|
|
.j = On
|
|
};
|
|
|
|
static const parameter_words_t positive_only_words = {
|
|
.d = On,
|
|
.f = On,
|
|
.h = On,
|
|
.n = On,
|
|
.t = On,
|
|
.s = On
|
|
};
|
|
|
|
static const modal_groups_t jog_groups = {
|
|
.G0 = On,
|
|
.G3 = On,
|
|
.G6 = On
|
|
};
|
|
|
|
static parser_block_t gc_block;
|
|
|
|
#if NGC_EXPRESSIONS_ENABLE
|
|
uint_fast8_t ngc_param_count = 0;
|
|
#endif
|
|
|
|
char *message = NULL;
|
|
|
|
block = gc_normalize_block(block, &message);
|
|
|
|
if(block[0] == '\0') {
|
|
if(message) {
|
|
report_message(message, Message_Plain);
|
|
free(message);
|
|
}
|
|
return Status_OK;
|
|
}
|
|
|
|
// Determine if the line is a program start/end marker.
|
|
// Old comment from protocol.c:
|
|
// NOTE: This maybe installed to tell Grbl when a program is running vs manual input,
|
|
// where, during a program, the system auto-cycle start will continue to execute
|
|
// everything until the next '%' sign. This will help fix resuming issues with certain
|
|
// functions that empty the planner buffer to execute its task on-time.
|
|
if (block[0] == CMD_PROGRAM_DEMARCATION && block[1] == '\0') {
|
|
gc_state.file_run = !gc_state.file_run;
|
|
if(message) {
|
|
report_message(message, Message_Plain);
|
|
free(message);
|
|
}
|
|
return Status_OK;
|
|
}
|
|
|
|
/* -------------------------------------------------------------------------------------
|
|
STEP 1: Initialize parser block struct and copy current g-code state modes. The parser
|
|
updates these modes and commands as the block line is parsed and will only be used and
|
|
executed after successful error-checking. The parser block struct also contains a block
|
|
values struct, word tracking variables, and a non-modal commands tracker for the new
|
|
block. This struct contains all of the necessary information to execute the block. */
|
|
|
|
memset(&gc_block, 0, sizeof(gc_block)); // Initialize the parser block struct.
|
|
memcpy(&gc_block.modal, &gc_state.modal, sizeof(gc_state.modal)); // Copy current modes
|
|
|
|
bool set_tool = false;
|
|
axis_command_t axis_command = AxisCommand_None;
|
|
uint_fast8_t port_command = 0;
|
|
plane_t plane;
|
|
|
|
// Initialize bitflag tracking variables for axis indices compatible operations.
|
|
axes_signals_t axis_words = {0}; // XYZ tracking
|
|
ijk_words_t ijk_words = {0}; // IJK tracking
|
|
|
|
// Initialize command and value words and parser flags variables.
|
|
modal_groups_t command_words = {0}; // Bitfield for tracking G and M command words. Also used for modal group violations.
|
|
gc_parser_flags_t gc_parser_flags = {0}; // Parser flags for handling special cases.
|
|
static parameter_words_t user_words = {0}; // User M-code words "taken"
|
|
|
|
// Determine if the line is a jogging motion or a normal g-code block.
|
|
if (block[0] == '$') { // NOTE: `$J=` already parsed when passed to this function.
|
|
// Set G1 and G94 enforced modes to ensure accurate error checks.
|
|
gc_parser_flags.jog_motion = On;
|
|
gc_block.modal.motion = MotionMode_Linear;
|
|
gc_block.modal.feed_mode = FeedMode_UnitsPerMin;
|
|
gc_block.modal.spindle_rpm_mode = SpindleSpeedMode_RPM;
|
|
gc_block.values.n = JOG_LINE_NUMBER; // Initialize default line number reported during jog.
|
|
}
|
|
|
|
/* -------------------------------------------------------------------------------------
|
|
STEP 2: Import all g-code words in the block. A g-code word is a letter followed by
|
|
a number, which can either be a 'G'/'M' command or sets/assigns a command value. Also,
|
|
perform initial error-checks for command word modal group violations, for any repeated
|
|
words, and for negative values set for the value words F, N, P, T, and S. */
|
|
|
|
uint_fast8_t char_counter = gc_parser_flags.jog_motion ? 3 /* Start parsing after `$J=` */ : 0;
|
|
char letter;
|
|
float value;
|
|
uint32_t int_value = 0;
|
|
uint_fast16_t mantissa = 0;
|
|
bool is_user_mcode = false;
|
|
word_bit_t word_bit = { .parameter = {0}, .modal_group = {0} }; // Bit-value for assigning tracking variables
|
|
|
|
while ((letter = block[char_counter++]) != '\0') { // Loop until no more g-code words in block.
|
|
|
|
// Import the next g-code word, expecting a letter followed by a value. Otherwise, error out.
|
|
|
|
#if NGC_EXPRESSIONS_ENABLE
|
|
|
|
status_code_t status;
|
|
|
|
if(letter == '#') {
|
|
|
|
if(block[char_counter] == '<') {
|
|
|
|
char *s = &block[++char_counter];
|
|
|
|
while(*s && *s != '>')
|
|
s++;
|
|
|
|
if(*s && *(s + 1) == '=') {
|
|
char *name = &block[char_counter];
|
|
*s++ = '\0';
|
|
s++;
|
|
char_counter += s - name;
|
|
if((status = read_parameter(block, &char_counter, &value)) != Status_OK)
|
|
FAIL(status); // [Expected parameter value]
|
|
if(!ngc_named_param_set(name, value))
|
|
FAIL(Status_BadNumberFormat); // [Expected equal sign]
|
|
}
|
|
|
|
} else {
|
|
|
|
float param;
|
|
if (!read_float(block, &char_counter, ¶m))
|
|
FAIL(Status_BadNumberFormat); // [Expected parameter number]
|
|
|
|
if (block[char_counter++] != '=')
|
|
FAIL(Status_BadNumberFormat); // [Expected equal sign]
|
|
|
|
if((status = read_parameter(block, &char_counter, &value)) != Status_OK)
|
|
FAIL(status); // [Expected parameter value]
|
|
|
|
if(ngc_param_count < NGC_N_ASSIGN_PARAMETERS_PER_BLOCK && ngc_param_is_rw((ngc_param_id_t)param)) {
|
|
ngc_params[ngc_param_count].id = (ngc_param_id_t)param;
|
|
ngc_params[ngc_param_count++].value = value;
|
|
} else
|
|
FAIL(Status_BadNumberFormat); // [Expected parameter value]
|
|
}
|
|
|
|
continue;
|
|
}
|
|
|
|
if((letter < 'A') || (letter > 'Z'))
|
|
FAIL(Status_ExpectedCommandLetter); // [Expected word letter]
|
|
|
|
if((status = read_parameter(block, &char_counter, &value)) != Status_OK)
|
|
return status;
|
|
|
|
if(!is_user_mcode && isnanf(value))
|
|
FAIL(Status_BadNumberFormat); // [Expected word value]
|
|
|
|
#else
|
|
|
|
if((letter < 'A') || (letter > 'Z'))
|
|
FAIL(Status_ExpectedCommandLetter); // [Expected word letter]
|
|
|
|
if (!read_float(block, &char_counter, &value)) {
|
|
if(is_user_mcode) // Valueless parameters allowed for user defined M-codes.
|
|
value = NAN; // Parameter validation deferred to implementation.
|
|
else
|
|
FAIL(Status_BadNumberFormat); // [Expected word value]
|
|
}
|
|
|
|
#endif
|
|
|
|
// Convert values to smaller uint8 significand and mantissa values for parsing this word.
|
|
// NOTE: Mantissa is multiplied by 100 to catch non-integer command values. This is more
|
|
// accurate than the NIST gcode requirement of x10 when used for commands, but not quite
|
|
// accurate enough for value words that require integers to within 0.0001. This should be
|
|
// a good enough comprimise and catch most all non-integer errors. To make it compliant,
|
|
// we would simply need to change the mantissa to int16, but this add compiled flash space.
|
|
// Maybe update this later.
|
|
if(isnan(value))
|
|
mantissa = 0;
|
|
else {
|
|
int_value = (uint32_t)truncf(value);
|
|
mantissa = (uint_fast16_t)roundf(100.0f * (value - int_value));
|
|
}
|
|
// NOTE: Rounding must be used to catch small floating point errors.
|
|
|
|
// Check if the g-code word is supported or errors due to modal group violations or has
|
|
// been repeated in the g-code block. If ok, update the command or record its value.
|
|
switch(letter) {
|
|
|
|
/* 'G' and 'M' Command Words: Parse commands and check for modal group violations.
|
|
NOTE: Modal group numbers are defined in Table 4 of NIST RS274-NGC v3, pg.20 */
|
|
|
|
case 'G': // Determine 'G' command and its modal group
|
|
|
|
is_user_mcode = false;
|
|
word_bit.modal_group.mask = 0;
|
|
|
|
switch(int_value) {
|
|
|
|
case 7: case 8:
|
|
if(sys.mode == Mode_Lathe) {
|
|
word_bit.modal_group.G15 = On;
|
|
gc_block.modal.diameter_mode = int_value == 7; // TODO: find specs for implementation, only affects X calculation? reporting? current position?
|
|
} else
|
|
FAIL(Status_GcodeUnsupportedCommand); // [G7 & G8 not supported]
|
|
break;
|
|
|
|
case 10: case 28: case 30: case 92:
|
|
// Check for G10/28/30/92 being called with G0/1/2/3/38 on same block.
|
|
// * G43.1 is also an axis command but is not explicitly defined this way.
|
|
if (mantissa == 0) { // Ignore G28.1, G30.1, and G92.1
|
|
if (axis_command)
|
|
FAIL(Status_GcodeAxisCommandConflict); // [Axis word/command conflict]
|
|
axis_command = AxisCommand_NonModal;
|
|
}
|
|
// No break. Continues to next line.
|
|
|
|
case 4: case 53:
|
|
word_bit.modal_group.G0 = On;
|
|
gc_block.non_modal_command = (non_modal_t)int_value;
|
|
if ((int_value == 28) || (int_value == 30)) {
|
|
if (!((mantissa == 0) || (mantissa == 10)))
|
|
FAIL(Status_GcodeUnsupportedCommand);
|
|
gc_block.non_modal_command += mantissa;
|
|
mantissa = 0; // Set to zero to indicate valid non-integer G command.
|
|
} else if (int_value == 92) {
|
|
if (!((mantissa == 0) || (mantissa == 10) || (mantissa == 20) || (mantissa == 30)))
|
|
FAIL(Status_GcodeUnsupportedCommand);
|
|
gc_block.non_modal_command += mantissa;
|
|
mantissa = 0; // Set to zero to indicate valid non-integer G command.
|
|
}
|
|
break;
|
|
|
|
case 33: case 76:
|
|
if(!hal.spindle.get_data)
|
|
FAIL(Status_GcodeUnsupportedCommand); // [G33 or G76 not supported]
|
|
if (axis_command)
|
|
FAIL(Status_GcodeAxisCommandConflict); // [Axis word/command conflict]
|
|
axis_command = AxisCommand_MotionMode;
|
|
word_bit.modal_group.G1 = On;
|
|
gc_block.modal.motion = (motion_mode_t)int_value;
|
|
gc_block.modal.canned_cycle_active = false;
|
|
break;
|
|
|
|
case 38:
|
|
if(!(hal.probe.get_state && ((mantissa == 20) || (mantissa == 30) || (mantissa == 40) || (mantissa == 50))))
|
|
FAIL(Status_GcodeUnsupportedCommand); // [probing not supported by driver or unsupported G38.x command]
|
|
int_value += (mantissa / 10) + 100;
|
|
mantissa = 0; // Set to zero to indicate valid non-integer G command.
|
|
// No break. Continues to next line.
|
|
|
|
case 0: case 1: case 2: case 3: case 5:
|
|
// Check for G0/1/2/3/38 being called with G10/28/30/92 on same block.
|
|
// * G43.1 is also an axis command but is not explicitly defined this way.
|
|
if (axis_command)
|
|
FAIL(Status_GcodeAxisCommandConflict); // [Axis word/command conflict]
|
|
axis_command = AxisCommand_MotionMode;
|
|
// No break. Continues to next line.
|
|
|
|
case 80:
|
|
word_bit.modal_group.G1 = On;
|
|
if(int_value == 5 && mantissa != 0) {
|
|
if(mantissa == 10) {
|
|
gc_block.modal.motion = MotionMode_QuadraticSpline;
|
|
mantissa = 0; // Set to zero to indicate valid non-integer G command.
|
|
} else
|
|
FAIL(Status_GcodeUnsupportedCommand);
|
|
} else
|
|
gc_block.modal.motion = (motion_mode_t)int_value;
|
|
gc_block.modal.canned_cycle_active = false;
|
|
break;
|
|
|
|
case 73: case 81: case 82: case 83: case 85: case 86: case 89:
|
|
if (axis_command)
|
|
FAIL(Status_GcodeAxisCommandConflict); // [Axis word/command conflict]
|
|
axis_command = AxisCommand_MotionMode;
|
|
word_bit.modal_group.G1 = On;
|
|
gc_block.modal.canned_cycle_active = true;
|
|
gc_block.modal.motion = (motion_mode_t)int_value;
|
|
gc_parser_flags.canned_cycle_change = gc_block.modal.motion != gc_state.modal.motion;
|
|
break;
|
|
|
|
case 17: case 18: case 19:
|
|
word_bit.modal_group.G2 = On;
|
|
gc_block.modal.plane_select = (plane_select_t)(int_value - 17);
|
|
break;
|
|
|
|
case 90: case 91:
|
|
if (mantissa == 0) {
|
|
word_bit.modal_group.G3 = On;
|
|
gc_block.modal.distance_incremental = int_value == 91;
|
|
} else {
|
|
word_bit.modal_group.G4 = On;
|
|
if ((mantissa != 10) || (int_value == 90))
|
|
FAIL(Status_GcodeUnsupportedCommand); // [G90.1 not supported]
|
|
mantissa = 0; // Set to zero to indicate valid non-integer G command.
|
|
// Otherwise, arc IJK incremental mode is default. G91.1 does nothing.
|
|
}
|
|
break;
|
|
|
|
case 93: case 94:
|
|
word_bit.modal_group.G5 = On;
|
|
gc_block.modal.feed_mode = (feed_mode_t)(94 - int_value);
|
|
break;
|
|
|
|
case 95:
|
|
if(hal.spindle.get_data) {
|
|
word_bit.modal_group.G5 = On;
|
|
gc_block.modal.feed_mode = FeedMode_UnitsPerRev;
|
|
} else
|
|
FAIL(Status_GcodeUnsupportedCommand); // [G95 not supported]
|
|
break;
|
|
|
|
case 20: case 21:
|
|
word_bit.modal_group.G6 = On;
|
|
gc_block.modal.units_imperial = int_value == 20;
|
|
break;
|
|
|
|
case 40:
|
|
word_bit.modal_group.G7 = On;
|
|
// NOTE: Not required since cutter radius compensation is always disabled. Only here
|
|
// to support G40 commands that often appear in g-code program headers to setup defaults.
|
|
// gc_block.modal.cutter_comp = CUTTER_COMP_DISABLE; // G40
|
|
break;
|
|
|
|
case 43: case 49:
|
|
word_bit.modal_group.G8 = On;
|
|
// NOTE: The NIST g-code standard vaguely states that when a tool length offset is changed,
|
|
// there cannot be any axis motion or coordinate offsets updated. Meaning G43, G43.1, and G49
|
|
// all are explicit axis commands, regardless if they require axis words or not.
|
|
// NOTE: cannot find the NIST statement referenced above, changed to match LinuxCNC behaviour in build 20210513.
|
|
if (int_value == 49) // G49
|
|
gc_block.modal.tool_offset_mode = ToolLengthOffset_Cancel;
|
|
#ifdef N_TOOLS
|
|
else if (mantissa == 0) // G43
|
|
gc_block.modal.tool_offset_mode = ToolLengthOffset_Enable;
|
|
else if (mantissa == 20) // G43.2
|
|
gc_block.modal.tool_offset_mode = ToolLengthOffset_ApplyAdditional;
|
|
#endif
|
|
else if (mantissa == 10) { // G43.1
|
|
if (axis_command)
|
|
FAIL(Status_GcodeAxisCommandConflict); // [Axis word/command conflict] }
|
|
axis_command = AxisCommand_ToolLengthOffset;
|
|
gc_block.modal.tool_offset_mode = ToolLengthOffset_EnableDynamic;
|
|
} else
|
|
FAIL(Status_GcodeUnsupportedCommand); // [Unsupported G43.x command]
|
|
mantissa = 0; // Set to zero to indicate valid non-integer G command.
|
|
break;
|
|
|
|
case 54: case 55: case 56: case 57: case 58: case 59:
|
|
word_bit.modal_group.G12 = On;
|
|
gc_block.modal.coord_system.id = (coord_system_id_t)(int_value - 54); // Shift to array indexing.
|
|
if(int_value == 59 && mantissa > 0) {
|
|
if(N_WorkCoordinateSystems == 9 && (mantissa == 10 || mantissa == 20 || mantissa == 30)) {
|
|
gc_block.modal.coord_system.id += mantissa / 10;
|
|
mantissa = 0;
|
|
} else
|
|
FAIL(Status_GcodeUnsupportedCommand); // [Unsupported G59.x command]
|
|
}
|
|
break;
|
|
|
|
case 61:
|
|
word_bit.modal_group.G13 = On;
|
|
if (mantissa != 0) // [G61.1 not supported]
|
|
FAIL(Status_GcodeUnsupportedCommand);
|
|
break;
|
|
/*
|
|
case 61:
|
|
word_bit.modal_group.G13 = On;
|
|
if (mantissa != 0 || mantissa != 10)
|
|
FAIL(Status_GcodeUnsupportedCommand);
|
|
gc_block.modal.control = mantissa == 0 ? ControlMode_ExactPath : ControlMode_ExactStop;
|
|
break;
|
|
|
|
case 64:
|
|
word_bit.modal_group.G13 = On;
|
|
gc_block.modal.control = ControlMode_PathBlending; // G64
|
|
break;
|
|
*/
|
|
case 96: case 97:
|
|
if(sys.mode == Mode_Lathe && hal.spindle.cap.variable) {
|
|
word_bit.modal_group.G14 = On;
|
|
gc_block.modal.spindle_rpm_mode = (spindle_rpm_mode_t)((int_value - 96) ^ 1);
|
|
} else
|
|
FAIL(Status_GcodeUnsupportedCommand);
|
|
break;
|
|
|
|
case 98: case 99:
|
|
word_bit.modal_group.G10 = On;
|
|
gc_block.modal.retract_mode = (cc_retract_mode_t)(int_value - 98);
|
|
break;
|
|
|
|
case 50: case 51:
|
|
axis_command = AxisCommand_Scaling;
|
|
word_bit.modal_group.G11 = On;
|
|
gc_block.modal.scaling_active = int_value == 51;
|
|
break;
|
|
|
|
default: FAIL(Status_GcodeUnsupportedCommand); // [Unsupported G command]
|
|
} // end G-value switch
|
|
|
|
if (mantissa > 0)
|
|
FAIL(Status_GcodeCommandValueNotInteger); // [Unsupported or invalid Gxx.x command]
|
|
|
|
// Check for more than one command per modal group violations in the current block
|
|
// NOTE: Variable 'word_bit' is always assigned, if the command is valid.
|
|
if (command_words.mask & word_bit.modal_group.mask)
|
|
FAIL(Status_GcodeModalGroupViolation);
|
|
|
|
command_words.mask |= word_bit.modal_group.mask;
|
|
break;
|
|
|
|
case 'M': // Determine 'M' command and its modal group
|
|
|
|
if (mantissa > 0)
|
|
FAIL(Status_GcodeCommandValueNotInteger); // [No Mxx.x commands]
|
|
|
|
is_user_mcode = false;
|
|
word_bit.modal_group.mask = 0;
|
|
|
|
switch(int_value) {
|
|
|
|
case 0: case 1: case 2: case 30: case 60:
|
|
word_bit.modal_group.M4 = On;
|
|
switch(int_value) {
|
|
|
|
case 0: // M0 - program pause
|
|
gc_block.modal.program_flow = ProgramFlow_Paused;
|
|
break;
|
|
|
|
case 1: // M1 - program pause
|
|
if(hal.signals_cap.stop_disable ? !hal.control.get_state().stop_disable : !sys.flags.optional_stop_disable)
|
|
gc_block.modal.program_flow = ProgramFlow_OptionalStop;
|
|
break;
|
|
|
|
default: // M2, M30, M60 - program end and reset
|
|
gc_block.modal.program_flow = (program_flow_t)int_value;
|
|
}
|
|
break;
|
|
|
|
case 3: case 4: case 5:
|
|
word_bit.modal_group.M7 = On;
|
|
gc_block.modal.spindle.on = !(int_value == 5);
|
|
gc_block.modal.spindle.ccw = int_value == 4;
|
|
sys.flags.delay_overrides = On;
|
|
break;
|
|
|
|
case 6:
|
|
if(settings.tool_change.mode != ToolChange_Ignore) {
|
|
if(hal.stream.suspend_read || hal.tool.change)
|
|
word_bit.modal_group.M6 = On;
|
|
else
|
|
FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]
|
|
}
|
|
break;
|
|
|
|
case 7: case 8: case 9:
|
|
word_bit.modal_group.M8 = On;
|
|
sys.flags.delay_overrides = On;
|
|
gc_parser_flags.set_coolant = On;
|
|
switch(int_value) {
|
|
|
|
case 7:
|
|
if(!hal.driver_cap.mist_control)
|
|
FAIL(Status_GcodeUnsupportedCommand);
|
|
gc_block.modal.coolant.mist = On;
|
|
break;
|
|
|
|
case 8:
|
|
gc_block.modal.coolant.flood = On;
|
|
break;
|
|
|
|
case 9:
|
|
gc_block.modal.coolant.value = 0;
|
|
break;
|
|
}
|
|
break;
|
|
|
|
case 56:
|
|
if(!settings.parking.flags.enable_override_control) // TODO: check if enabled?
|
|
FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]
|
|
// no break;
|
|
case 48: case 49: case 50: case 51: case 53:
|
|
word_bit.modal_group.M9 = On;
|
|
gc_block.override_command = (override_mode_t)int_value;
|
|
break;
|
|
|
|
case 61:
|
|
set_tool = true;
|
|
word_bit.modal_group.M6 = On; //??
|
|
break;
|
|
|
|
case 62:
|
|
case 63:
|
|
case 64:
|
|
case 65:
|
|
if(hal.port.digital_out == NULL || hal.port.num_digital_out == 0)
|
|
FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]
|
|
word_bit.modal_group.M10 = On;
|
|
port_command = int_value;
|
|
break;
|
|
|
|
case 66:
|
|
if(hal.port.wait_on_input == NULL || (hal.port.num_digital_in == 0 && hal.port.num_analog_in == 0))
|
|
FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]
|
|
word_bit.modal_group.M10 = On;
|
|
port_command = int_value;
|
|
break;
|
|
|
|
case 67:
|
|
case 68:
|
|
if(hal.port.analog_out == NULL || hal.port.num_analog_out == 0)
|
|
FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]
|
|
word_bit.modal_group.M10 = On;
|
|
port_command = int_value;
|
|
break;
|
|
/*
|
|
case 70:
|
|
if(!saved_state)
|
|
saved_state = malloc(sizeof(parser_state_t));
|
|
if(!saved_state)
|
|
FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]
|
|
memcpy(saved_state, &gc_state, sizeof(parser_state_t));
|
|
return Status_OK;
|
|
|
|
case 71: // Invalidate saved state
|
|
if(saved_state) {
|
|
free(saved_state);
|
|
saved_state = NULL;
|
|
}
|
|
return Status_OK; // Should fail if no state is saved...
|
|
|
|
case 72:
|
|
if(saved_state) {
|
|
// TODO: restore state, need to split out execution part of parser to separate functions first?
|
|
free(saved_state);
|
|
saved_state = NULL;
|
|
}
|
|
return Status_OK;
|
|
*/
|
|
default:
|
|
if(hal.user_mcode.check && (gc_block.user_mcode = hal.user_mcode.check((user_mcode_t)int_value))) {
|
|
is_user_mcode = true;
|
|
word_bit.modal_group.M10 = On;
|
|
} else
|
|
FAIL(Status_GcodeUnsupportedCommand); // [Unsupported M command]
|
|
} // end M-value switch
|
|
|
|
// Check for more than one command per modal group violations in the current block
|
|
// NOTE: Variable 'word_bit' is always assigned, if the command is valid.
|
|
if (command_words.mask & word_bit.modal_group.mask)
|
|
FAIL(Status_GcodeModalGroupViolation);
|
|
|
|
command_words.mask |= word_bit.modal_group.mask;
|
|
break;
|
|
|
|
// NOTE: All remaining letters assign values.
|
|
default:
|
|
|
|
/* Non-Command Words: This initial parsing phase only checks for repeats of the remaining
|
|
legal g-code words and stores their value. Error-checking is performed later since some
|
|
words (I,J,K,L,P,R) have multiple connotations and/or depend on the issued commands. */
|
|
|
|
word_bit.parameter.mask = 0;
|
|
|
|
switch(letter) {
|
|
|
|
#ifdef A_AXIS
|
|
case 'A':
|
|
axis_words.a = On;
|
|
word_bit.parameter.a = On;
|
|
gc_block.values.xyz[A_AXIS] = value;
|
|
break;
|
|
#endif
|
|
|
|
#ifdef B_AXIS
|
|
case 'B':
|
|
axis_words.b = On;
|
|
word_bit.parameter.b = On;
|
|
gc_block.values.xyz[B_AXIS] = value;
|
|
break;
|
|
#endif
|
|
|
|
#ifdef C_AXIS
|
|
case 'C':
|
|
axis_words.c = On;
|
|
word_bit.parameter.c = On;
|
|
gc_block.values.xyz[C_AXIS] = value;
|
|
break;
|
|
#endif
|
|
|
|
case 'D':
|
|
word_bit.parameter.d = On;
|
|
gc_block.values.d = value;
|
|
break;
|
|
|
|
case 'E':
|
|
word_bit.parameter.e = On;
|
|
gc_block.values.e = value;
|
|
break;
|
|
|
|
case 'F':
|
|
word_bit.parameter.f = On;
|
|
gc_block.values.f = value;
|
|
break;
|
|
|
|
case 'H':
|
|
if (mantissa > 0)
|
|
FAIL(Status_GcodeCommandValueNotInteger);
|
|
word_bit.parameter.h = On;
|
|
gc_block.values.h = isnan(value) ? 0xFFFFFFFF : int_value;
|
|
break;
|
|
|
|
case 'I':
|
|
ijk_words.i = On;
|
|
word_bit.parameter.i = On;
|
|
gc_block.values.ijk[I_VALUE] = value;
|
|
break;
|
|
|
|
case 'J':
|
|
ijk_words.j = On;
|
|
word_bit.parameter.j = On;
|
|
gc_block.values.ijk[J_VALUE] = value;
|
|
break;
|
|
|
|
case 'K':
|
|
ijk_words.k = On;
|
|
word_bit.parameter.k = On;
|
|
gc_block.values.ijk[K_VALUE] = value;
|
|
break;
|
|
|
|
case 'L':
|
|
if (mantissa > 0)
|
|
FAIL(Status_GcodeCommandValueNotInteger);
|
|
word_bit.parameter.l = On;
|
|
gc_block.values.l = isnan(value) ? 0xFF : (uint8_t)int_value;
|
|
break;
|
|
|
|
case 'N':
|
|
word_bit.parameter.n = On;
|
|
gc_block.values.n = (int32_t)truncf(value);
|
|
break;
|
|
|
|
case 'P': // NOTE: For certain commands, P value must be an integer, but none of these commands are supported.
|
|
word_bit.parameter.p = On;
|
|
gc_block.values.p = value;
|
|
break;
|
|
|
|
case 'Q': // may be used for user defined mcodes or G61,G76
|
|
word_bit.parameter.q = On;
|
|
gc_block.values.q = value;
|
|
break;
|
|
|
|
case 'R':
|
|
word_bit.parameter.r = On;
|
|
gc_block.values.r = value;
|
|
break;
|
|
|
|
case 'S':
|
|
word_bit.parameter.s = On;
|
|
gc_block.values.s = value;
|
|
break;
|
|
|
|
case 'T':
|
|
if (mantissa > 0)
|
|
FAIL(Status_GcodeCommandValueNotInteger);
|
|
if (int_value > MAX_TOOL_NUMBER)
|
|
FAIL(Status_GcodeIllegalToolTableEntry);
|
|
word_bit.parameter.t = On;
|
|
gc_block.values.t = isnan(value) ? 0xFFFFFFFF : int_value;
|
|
break;
|
|
|
|
#ifdef U_AXIS
|
|
case 'U':
|
|
axis_words.u = On;
|
|
word_bit.parameter.u = On;
|
|
gc_block.values.xyz[U_AXIS] = value;
|
|
break;
|
|
#endif
|
|
|
|
#ifdef V_AXIS
|
|
case 'V':
|
|
axis_words.v = On;
|
|
word_bit.parameter.v = On;
|
|
gc_block.values.xyz[V_AXIS] = value;
|
|
break;
|
|
#endif
|
|
|
|
case 'X':
|
|
axis_words.x = On;
|
|
word_bit.parameter.x = On;
|
|
gc_block.values.xyz[X_AXIS] = value;
|
|
break;
|
|
|
|
case 'Y':
|
|
axis_words.y = On;
|
|
word_bit.parameter.y = On;
|
|
gc_block.values.xyz[Y_AXIS] = value;
|
|
break;
|
|
|
|
case 'Z':
|
|
axis_words.z = On;
|
|
word_bit.parameter.z = On;
|
|
gc_block.values.xyz[Z_AXIS] = value;
|
|
break;
|
|
|
|
default: FAIL(Status_GcodeUnsupportedCommand);
|
|
|
|
} // end parameter letter switch
|
|
|
|
// NOTE: Variable 'word_bit' is always assigned, if the non-command letter is valid.
|
|
if (gc_block.words.mask & word_bit.parameter.mask)
|
|
FAIL(Status_GcodeWordRepeated); // [Word repeated]
|
|
|
|
// Check for invalid negative values for words F, H, N, P, T, and S.
|
|
// NOTE: Negative value check is done here simply for code-efficiency.
|
|
if ((word_bit.parameter.mask & positive_only_words.mask) && value < 0.0f)
|
|
FAIL(Status_NegativeValue); // [Word value cannot be negative]
|
|
|
|
gc_block.words.mask |= word_bit.parameter.mask; // Flag to indicate parameter assigned.
|
|
|
|
} // end main letter switch
|
|
}
|
|
|
|
// Parsing complete!
|
|
|
|
|
|
/* -------------------------------------------------------------------------------------
|
|
STEP 3: Error-check all commands and values passed in this block. This step ensures all of
|
|
the commands are valid for execution and follows the NIST standard as closely as possible.
|
|
If an error is found, all commands and values in this block are dumped and will not update
|
|
the active system g-code modes. If the block is ok, the active system g-code modes will be
|
|
updated based on the commands of this block, and signal for it to be executed.
|
|
|
|
Also, we have to pre-convert all of the values passed based on the modes set by the parsed
|
|
block. There are a number of error-checks that require target information that can only be
|
|
accurately calculated if we convert these values in conjunction with the error-checking.
|
|
This relegates the next execution step as only updating the system g-code modes and
|
|
performing the programmed actions in order. The execution step should not require any
|
|
conversion calculations and would only require minimal checks necessary to execute.
|
|
*/
|
|
|
|
/* NOTE: At this point, the g-code block has been parsed and the block line can be freed.
|
|
NOTE: It's also possible, at some future point, to break up STEP 2, to allow piece-wise
|
|
parsing of the block on a per-word basis, rather than the entire block. This could remove
|
|
the need for maintaining a large string variable for the entire block and free up some memory.
|
|
To do this, this would simply need to retain all of the data in STEP 1, such as the new block
|
|
data struct, the modal group and value bitflag tracking variables, and axis array indices
|
|
compatible variables. This data contains all of the information necessary to error-check the
|
|
new g-code block when the EOL character is received. However, this would break Grbl's startup
|
|
lines in how it currently works and would require some refactoring to make it compatible.
|
|
*/
|
|
|
|
/*
|
|
* Order of execution as per RS274-NGC_3 table 8:
|
|
*
|
|
* 1. comment (includes message)
|
|
* 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, M53)
|
|
* 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, G59.1, G59.2, G59.3)
|
|
* 16. set path control mode (G61, G61.1, G64)
|
|
* 17. set distance mode (G90, G91)
|
|
* 18. set retract mode (G98, G99)
|
|
* 19. home (G28, G30) or
|
|
* change coordinate system data (G10) or
|
|
* set axis offsets (G92, G92.1, G92.2, G94).
|
|
* 20. perform motion (G0 to G3, G33, G80 to G89) as modified (possibly) by G53
|
|
* 21. stop and end (M0, M1, M2, M30, M60)
|
|
*/
|
|
|
|
// [0. Non-specific/common error-checks and miscellaneous setup]:
|
|
|
|
// Determine implicit axis command conditions. Axis words have been passed, but no explicit axis
|
|
// command has been sent. If so, set axis command to current motion mode.
|
|
if (axis_words.mask && !axis_command)
|
|
axis_command = AxisCommand_MotionMode; // Assign implicit motion-mode
|
|
|
|
if(gc_state.tool_change && axis_command == AxisCommand_MotionMode && !gc_parser_flags.jog_motion)
|
|
FAIL(Status_GcodeToolChangePending); // [Motions (except jogging) not allowed when changing tool]
|
|
|
|
// Check for valid line number N value.
|
|
// Line number value cannot be less than zero (done) or greater than max line number.
|
|
if (gc_block.words.n && gc_block.values.n > MAX_LINE_NUMBER)
|
|
FAIL(Status_GcodeInvalidLineNumber); // [Exceeds max line number]
|
|
|
|
// bit_false(gc_block.words,bit(Word_N)); // NOTE: Single-meaning value word. Set at end of error-checking.
|
|
|
|
// Track for unused words at the end of error-checking.
|
|
// NOTE: Single-meaning value words are removed all at once at the end of error-checking, because
|
|
// they are always used when present. This was done to save a few bytes of flash. For clarity, the
|
|
// single-meaning value words may be removed as they are used. Also, axis words are treated in the
|
|
// same way. If there is an explicit/implicit axis command, XYZ words are always used and are
|
|
// are removed at the end of error-checking.
|
|
|
|
// [1. Comments ]: MSG's may be supported by driver layer. Comment handling performed by protocol.
|
|
|
|
// [2. Set feed rate mode ]: G93 F word missing with G1,G2/3 active, implicitly or explicitly. Feed rate
|
|
// is not defined after switching between G93, G94 and G95.
|
|
// NOTE: For jogging, ignore prior feed rate mode. Enforce G94 and check for required F word.
|
|
if (gc_parser_flags.jog_motion) {
|
|
|
|
if(!gc_block.words.f)
|
|
FAIL(Status_GcodeUndefinedFeedRate);
|
|
|
|
if (gc_block.modal.units_imperial)
|
|
gc_block.values.f *= MM_PER_INCH;
|
|
|
|
} else if(gc_block.modal.motion == MotionMode_SpindleSynchronized) {
|
|
|
|
if (!gc_block.words.k) {
|
|
gc_block.values.k = gc_state.distance_per_rev;
|
|
} else {
|
|
gc_block.words.k = Off;
|
|
gc_block.values.k = gc_block.modal.units_imperial ? gc_block.values.ijk[K_VALUE] *= MM_PER_INCH : gc_block.values.ijk[K_VALUE];
|
|
}
|
|
|
|
} else if (gc_block.modal.feed_mode == FeedMode_InverseTime) { // = G93
|
|
// NOTE: G38 can also operate in inverse time, but is undefined as an error. Missing F word check added here.
|
|
if (axis_command == AxisCommand_MotionMode) {
|
|
if (!(gc_block.modal.motion == MotionMode_None || gc_block.modal.motion == MotionMode_Seek)) {
|
|
if (!gc_block.words.f)
|
|
FAIL(Status_GcodeUndefinedFeedRate); // [F word missing]
|
|
}
|
|
}
|
|
// NOTE: It seems redundant to check for an F word to be passed after switching from G94 to G93. We would
|
|
// accomplish the exact same thing if the feed rate value is always reset to zero and undefined after each
|
|
// inverse time block, since the commands that use this value already perform undefined checks. This would
|
|
// also allow other commands, following this switch, to execute and not error out needlessly. This code is
|
|
// combined with the above feed rate mode and the below set feed rate error-checking.
|
|
|
|
// [3. Set feed rate ]: F is negative (done.)
|
|
// - In inverse time mode: Always implicitly zero the feed rate value before and after block completion.
|
|
// NOTE: If in G93 mode or switched into it from G94, just keep F value as initialized zero or passed F word
|
|
// value in the block. If no F word is passed with a motion command that requires a feed rate, this will error
|
|
// out in the motion modes error-checking. However, if no F word is passed with NO motion command that requires
|
|
// a feed rate, we simply move on and the state feed rate value gets updated to zero and remains undefined.
|
|
|
|
} else if (gc_block.modal.feed_mode == FeedMode_UnitsPerMin || gc_block.modal.feed_mode == FeedMode_UnitsPerRev) {
|
|
// if F word passed, ensure value is in mm/min or mm/rev depending on mode, otherwise push last state value.
|
|
if (!gc_block.words.f) {
|
|
if(gc_block.modal.feed_mode == gc_state.modal.feed_mode)
|
|
gc_block.values.f = gc_state.feed_rate; // Push last state feed rate
|
|
} else if (gc_block.modal.units_imperial)
|
|
gc_block.values.f *= MM_PER_INCH;
|
|
} // else, switching to G94 from G93, so don't push last state feed rate. Its undefined or the passed F word value.
|
|
|
|
// bit_false(gc_block.words,bit(Word_F)); // NOTE: Single-meaning value word. Set at end of error-checking.
|
|
|
|
// [4. Set spindle speed ]: S or D is negative (done.)
|
|
if (command_words.G14) {
|
|
if(gc_block.modal.spindle_rpm_mode == SpindleSpeedMode_CSS) {
|
|
if (!gc_block.words.s) // TODO: add check for S0?
|
|
FAIL(Status_GcodeValueWordMissing);
|
|
// see below!! gc_block.values.s *= (gc_block.modal.units_imperial ? MM_PER_INCH * 12.0f : 1000.0f); // convert surface speed to mm/min
|
|
if (gc_block.words.d) {
|
|
gc_state.spindle.css.max_rpm = min(gc_block.values.d, hal.spindle.rpm_max);
|
|
gc_block.words.d = Off;
|
|
} else
|
|
gc_state.spindle.css.max_rpm = hal.spindle.rpm_max;
|
|
} else if(gc_state.modal.spindle_rpm_mode == SpindleSpeedMode_CSS)
|
|
gc_state.spindle.rpm = sys.spindle_rpm; // Is it correct to restore latest spindle RPM here?
|
|
gc_state.modal.spindle_rpm_mode = gc_block.modal.spindle_rpm_mode;
|
|
}
|
|
|
|
if (!gc_block.words.s)
|
|
gc_block.values.s = gc_state.modal.spindle_rpm_mode == SpindleSpeedMode_RPM ? gc_state.spindle.rpm : gc_state.spindle.css.surface_speed;
|
|
else if(!user_words.s && gc_state.modal.spindle_rpm_mode == SpindleSpeedMode_CSS)
|
|
// Unsure what to do about S values when in SpindleSpeedMode_CSS - ignore? For now use it to (re)calculate surface speed.
|
|
// Reinsert commented out code above if this is removed!!
|
|
gc_block.values.s *= (gc_block.modal.units_imperial ? MM_PER_INCH * 12.0f : 1000.0f); // convert surface speed to mm/min
|
|
|
|
// bit_false(gc_block.words,bit(Word_S)); // NOTE: Single-meaning value word. Set at end of error-checking.
|
|
|
|
// [5. Select tool ]: If not supported then only tracks value. T is negative (done.) Not an integer (done).
|
|
if(set_tool) { // M61
|
|
if(!gc_block.words.q)
|
|
FAIL(Status_GcodeValueWordMissing);
|
|
if (floorf(gc_block.values.q) - gc_block.values.q != 0.0f)
|
|
FAIL(Status_GcodeCommandValueNotInteger);
|
|
if ((uint32_t)gc_block.values.q > MAX_TOOL_NUMBER)
|
|
FAIL(Status_GcodeIllegalToolTableEntry);
|
|
|
|
gc_block.values.t = (uint32_t)gc_block.values.q;
|
|
gc_block.words.q = Off;
|
|
} else if (!gc_block.words.t)
|
|
gc_block.values.t = gc_state.tool_pending;
|
|
|
|
if(command_words.M10 && port_command) {
|
|
|
|
switch(port_command) {
|
|
|
|
case 62:
|
|
case 63:
|
|
case 64:
|
|
case 65:
|
|
if(!gc_block.words.p)
|
|
FAIL(Status_GcodeValueWordMissing);
|
|
if(gc_block.values.p < 0.0f)
|
|
FAIL(Status_NegativeValue);
|
|
if((uint32_t)gc_block.values.p + 1 > hal.port.num_digital_out)
|
|
FAIL(Status_GcodeValueOutOfRange);
|
|
gc_block.output_command.is_digital = true;
|
|
gc_block.output_command.port = (uint8_t)gc_block.values.p;
|
|
gc_block.output_command.value = port_command == 62 || port_command == 64 ? 1.0f : 0.0f;
|
|
gc_block.words.p = Off;
|
|
break;
|
|
|
|
case 66:
|
|
if(!(gc_block.words.l || gc_block.words.q))
|
|
FAIL(Status_GcodeValueWordMissing);
|
|
|
|
if(gc_block.words.p && gc_block.words.e)
|
|
FAIL(Status_ValueWordConflict);
|
|
|
|
if(gc_block.values.l >= (uint8_t)WaitMode_Max)
|
|
FAIL(Status_GcodeValueOutOfRange);
|
|
|
|
if((wait_mode_t)gc_block.values.l != WaitMode_Immediate && gc_block.values.q == 0.0f)
|
|
FAIL(Status_GcodeValueOutOfRange);
|
|
|
|
if(gc_block.words.p) {
|
|
if(gc_block.values.p < 0.0f)
|
|
FAIL(Status_NegativeValue);
|
|
if((uint32_t)gc_block.values.p + 1 > hal.port.num_digital_in)
|
|
FAIL(Status_GcodeValueOutOfRange);
|
|
|
|
gc_block.output_command.is_digital = true;
|
|
gc_block.output_command.port = (uint8_t)gc_block.values.p;
|
|
}
|
|
|
|
if(gc_block.words.e) {
|
|
if((uint32_t)gc_block.values.e + 1 > hal.port.num_analog_in)
|
|
FAIL(Status_GcodeValueOutOfRange);
|
|
if((wait_mode_t)gc_block.values.l != WaitMode_Immediate)
|
|
FAIL(Status_GcodeValueOutOfRange);
|
|
|
|
gc_block.output_command.is_digital = false;
|
|
gc_block.output_command.port = (uint8_t)gc_block.values.e;
|
|
}
|
|
|
|
gc_block.words.e = gc_block.words.l = gc_block.words.p = gc_block.words.q = Off;
|
|
break;
|
|
|
|
case 67:
|
|
case 68:
|
|
if(!(gc_block.words.e || gc_block.words.q))
|
|
FAIL(Status_GcodeValueWordMissing);
|
|
if((uint32_t)gc_block.values.e + 1 > hal.port.num_analog_out)
|
|
FAIL(Status_GcodeRPMOutOfRange);
|
|
gc_block.output_command.is_digital = false;
|
|
gc_block.output_command.port = (uint8_t)gc_block.values.e;
|
|
gc_block.output_command.value = gc_block.values.q;
|
|
gc_block.words.e = gc_block.words.q = Off;
|
|
break;
|
|
}
|
|
}
|
|
|
|
// bit_false(gc_block.words,bit(Word_T)); // NOTE: Single-meaning value word. Set at end of error-checking.
|
|
|
|
// [6. Change tool ]: N/A
|
|
// [7. Spindle control ]: N/A
|
|
// [8. Coolant control ]: N/A
|
|
|
|
// [9. Override control ]:
|
|
if (command_words.M9) {
|
|
|
|
if(!gc_block.words.p)
|
|
gc_block.values.p = 1.0f;
|
|
else {
|
|
if(gc_block.values.p < 0.0f)
|
|
FAIL(Status_NegativeValue);
|
|
gc_block.words.p = Off;
|
|
}
|
|
switch(gc_block.override_command) {
|
|
|
|
case Override_FeedSpeedEnable:
|
|
gc_block.modal.override_ctrl.feed_rate_disable = Off;
|
|
gc_block.modal.override_ctrl.spindle_rpm_disable = Off;
|
|
break;
|
|
|
|
case Override_FeedSpeedDisable:
|
|
gc_block.modal.override_ctrl.feed_rate_disable = On;
|
|
gc_block.modal.override_ctrl.spindle_rpm_disable = On;
|
|
break;
|
|
|
|
case Override_FeedRate:
|
|
gc_block.modal.override_ctrl.feed_rate_disable = gc_block.values.p == 0.0f;
|
|
break;
|
|
|
|
case Override_SpindleSpeed:
|
|
gc_block.modal.override_ctrl.spindle_rpm_disable = gc_block.values.p == 0.0f;
|
|
break;
|
|
|
|
case Override_FeedHold:
|
|
gc_block.modal.override_ctrl.feed_hold_disable = gc_block.values.p == 0.0f;
|
|
break;
|
|
|
|
case Override_Parking:
|
|
if(settings.parking.flags.enable_override_control)
|
|
gc_block.modal.override_ctrl.parking_disable = gc_block.values.p == 0.0f;
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
|
|
// [9a. User defined M commands ]:
|
|
if (command_words.M10 && gc_block.user_mcode) {
|
|
user_words.mask = gc_block.words.mask;
|
|
if((int_value = (uint_fast16_t)hal.user_mcode.validate(&gc_block, &gc_block.words)))
|
|
FAIL((status_code_t)int_value);
|
|
user_words.mask ^= gc_block.words.mask; // Flag "taken" words for execution
|
|
axis_words.mask = ijk_words.mask = 0;
|
|
}
|
|
|
|
// [10. Dwell ]: P value missing. NOTE: See below.
|
|
if (gc_block.non_modal_command == NonModal_Dwell) {
|
|
if (!gc_block.words.p)
|
|
FAIL(Status_GcodeValueWordMissing); // [P word missing]
|
|
if(gc_block.values.p < 0.0f)
|
|
FAIL(Status_NegativeValue);
|
|
gc_block.words.p = Off;
|
|
}
|
|
|
|
// [11. Set active plane ]: N/A
|
|
gc_get_plane_data(&plane, gc_block.modal.plane_select);
|
|
|
|
// [12. Set length units ]: N/A
|
|
// Pre-convert XYZ coordinate values to millimeters, if applicable.
|
|
uint_fast8_t idx = N_AXIS;
|
|
if (gc_block.modal.units_imperial) do { // Axes indices are consistent, so loop may be used.
|
|
idx--;
|
|
#if N_AXIS > 3
|
|
if (bit_istrue(axis_words.mask, bit(idx)) && bit_isfalse(settings.steppers.is_rotational.mask, bit(idx)))
|
|
#else
|
|
if (bit_istrue(axis_words.mask, bit(idx)))
|
|
#endif
|
|
gc_block.values.xyz[idx] *= MM_PER_INCH;
|
|
} while(idx);
|
|
|
|
if (command_words.G15) {
|
|
sys.report.xmode |= gc_state.modal.diameter_mode != gc_block.modal.diameter_mode;
|
|
gc_state.modal.diameter_mode = gc_block.modal.diameter_mode;
|
|
}
|
|
|
|
if(gc_state.modal.diameter_mode && bit_istrue(axis_words.mask, bit(X_AXIS)))
|
|
gc_block.values.xyz[X_AXIS] /= 2.0f;
|
|
|
|
// Scale axis words if commanded
|
|
if(axis_command == AxisCommand_Scaling) {
|
|
|
|
if(gc_block.modal.scaling_active) {
|
|
|
|
// TODO: precheck for 0.0f and fail if found?
|
|
|
|
gc_block.modal.scaling_active = false;
|
|
|
|
#ifdef MACH3_SCALING
|
|
// [G51 Errors]: No axis words. TODO: add support for P (scale all with same factor)?
|
|
if (!axis_words.mask)
|
|
FAIL(Status_GcodeNoAxisWords); // [No axis words]
|
|
|
|
idx = N_AXIS;
|
|
do {
|
|
if(bit_istrue(axis_words.mask, bit(--idx))) {
|
|
sys.report.scaling = sys.report.scaling || scale_factor.ijk[idx] != gc_block.values.xyz[idx];
|
|
scale_factor.ijk[idx] = gc_block.values.xyz[idx];
|
|
bit_false(axis_words.mask, bit(idx));
|
|
}
|
|
gc_block.modal.scaling_active = gc_block.modal.scaling_active || (scale_factor.xyz[idx] != 1.0f);
|
|
} while(idx);
|
|
|
|
gc_block.words.mask &= ~axis_words_mask.mask; // Remove axis words.
|
|
#else
|
|
if (!(gc_block.words.p || ijk_words.mask))
|
|
FAIL(Status_GcodeNoAxisWords); // [No axis words]
|
|
|
|
idx = N_AXIS;
|
|
do {
|
|
if(bit_istrue(axis_words.mask, bit(--idx)))
|
|
scale_factor.xyz[idx] = gc_block.values.xyz[idx];
|
|
else
|
|
scale_factor.xyz[idx] = gc_state.position[idx];
|
|
} while(idx);
|
|
|
|
gc_block.words.mask &= ~axis_words_mask.mask; // Remove axis words.
|
|
|
|
idx = 3;
|
|
do {
|
|
idx--;
|
|
if(gc_block.words.p) {
|
|
sys.report.scaling = sys.report.scaling || scale_factor.ijk[idx] != gc_block.values.p;
|
|
scale_factor.ijk[idx] = gc_block.values.p;
|
|
} else if(bit_istrue(ijk_words.mask, bit(idx))) {
|
|
sys.report.scaling = sys.report.scaling || scale_factor.ijk[idx] != gc_block.values.ijk[idx];
|
|
scale_factor.ijk[idx] = gc_block.values.ijk[idx];
|
|
}
|
|
gc_block.modal.scaling_active = gc_block.modal.scaling_active || (scale_factor.ijk[idx] != 1.0f);
|
|
} while(idx);
|
|
|
|
if(gc_block.words.p)
|
|
gc_block.words.p = Off;
|
|
else
|
|
gc_block.words.i = gc_block.words.j = gc_block.words.k = Off;
|
|
#endif
|
|
sys.report.scaling = sys.report.scaling || gc_state.modal.scaling_active != gc_block.modal.scaling_active;
|
|
gc_state.modal.scaling_active = gc_block.modal.scaling_active;
|
|
|
|
} else
|
|
set_scaling(1.0f);
|
|
}
|
|
|
|
// Scale axis words if scaling active
|
|
if(gc_state.modal.scaling_active) {
|
|
idx = N_AXIS;
|
|
do {
|
|
if(bit_istrue(axis_words.mask, bit(--idx))) {
|
|
if(gc_block.modal.distance_incremental)
|
|
gc_block.values.xyz[idx] *= scale_factor.ijk[idx];
|
|
else
|
|
gc_block.values.xyz[idx] = (gc_block.values.xyz[idx] - scale_factor.xyz[idx]) * scale_factor.ijk[idx] + scale_factor.xyz[idx];
|
|
}
|
|
} while(idx);
|
|
}
|
|
|
|
// [13. Cutter radius compensation ]: G41/42 NOT SUPPORTED. Error, if enabled while G53 is active.
|
|
// [G40 Errors]: G2/3 arc is programmed after a G40. The linear move after disabling is less than tool diameter.
|
|
// NOTE: Since cutter radius compensation is never enabled, these G40 errors don't apply. Grbl supports G40
|
|
// only for the purpose to not error when G40 is sent with a g-code program header to setup the default modes.
|
|
|
|
// [14. Tool length compensation ]: G43.1 and G49 are always supported, G43 and G43.2 if N_TOOLS defined.
|
|
// [G43.1 Errors]: Motion command in same line.
|
|
// [G43.2 Errors]: Tool number not in the tool table,
|
|
if (command_words.G8) { // Indicates called in block.
|
|
|
|
#ifdef TOOL_LENGTH_OFFSET_AXIS
|
|
// NOTE: Although not explicitly stated so, G43.1 should be applied to only one valid
|
|
// axis that is configured (in config.h). There should be an error if the configured axis
|
|
// is absent or if any of the other axis words are present.
|
|
if(gc_block.modal.tool_offset_mode == ToolLengthOffset_EnableDynamic) {
|
|
if (axis_words.mask ^ bit(TOOL_LENGTH_OFFSET_AXIS))
|
|
FAIL(Status_GcodeG43DynamicAxisError);
|
|
}
|
|
#endif
|
|
|
|
switch(gc_block.modal.tool_offset_mode) {
|
|
|
|
case ToolLengthOffset_EnableDynamic:
|
|
if (!axis_words.mask)
|
|
FAIL(Status_GcodeG43DynamicAxisError);
|
|
break;
|
|
#ifdef N_TOOLS
|
|
case ToolLengthOffset_Enable:
|
|
if (gc_block.words.h) {
|
|
if(gc_block.values.h > MAX_TOOL_NUMBER)
|
|
FAIL(Status_GcodeIllegalToolTableEntry);
|
|
gc_block.words.h = Off;
|
|
if(gc_block.values.h == 0)
|
|
gc_block.values.h = gc_block.values.t;
|
|
} else
|
|
gc_block.values.h = gc_block.values.t;
|
|
break;
|
|
|
|
case ToolLengthOffset_ApplyAdditional:
|
|
if (gc_block.words.h) {
|
|
if(gc_block.values.h == 0 || gc_block.values.h > MAX_TOOL_NUMBER)
|
|
FAIL(Status_GcodeIllegalToolTableEntry);
|
|
gc_block.words.h = Off;
|
|
} else
|
|
FAIL(Status_GcodeValueWordMissing);
|
|
break;
|
|
#endif
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
|
|
// [15. Coordinate system selection ]: *N/A. Error, if cutter radius comp is active.
|
|
// TODO: A read of the coordinate data may require a buffer sync when the cycle
|
|
// is active. The read pauses the processor temporarily and may cause a rare crash.
|
|
// NOTE: If NVS buffering is active then non-volatile storage reads/writes are buffered and updates
|
|
// delayed until no cycle is active.
|
|
|
|
if (command_words.G12) { // Check if called in block
|
|
if (gc_state.modal.coord_system.id != gc_block.modal.coord_system.id && !settings_read_coord_data(gc_block.modal.coord_system.id, &gc_block.modal.coord_system.xyz))
|
|
FAIL(Status_SettingReadFail);
|
|
}
|
|
|
|
// [16. Set path control mode ]: N/A. Only G61. G61.1 and G64 NOT SUPPORTED.
|
|
/*
|
|
if (command_words.G13) { // Check if called in block
|
|
if(gc_block.modal.control == ControlMode_PathBlending) {
|
|
gc_state.blending_tolerance = gc_block.words.p ? gc_block.values.p : 0.0f;
|
|
gc_block.words.p = Off;
|
|
}
|
|
}
|
|
*/
|
|
// [17. Set distance mode ]: N/A. Only G91.1. G90.1 NOT SUPPORTED.
|
|
// [18. Set retract mode ]: N/A.
|
|
|
|
// [19. Remaining non-modal actions ]: Check go to predefined position, set G10, or set axis offsets.
|
|
// NOTE: We need to separate the non-modal commands that are axis word-using (G10/G28/G30/G92), as these
|
|
// commands all treat axis words differently. G10 as absolute offsets or computes current position as
|
|
// the axis value, G92 similarly to G10 L20, and G28/30 as an intermediate target position that observes
|
|
// all the current coordinate system and G92 offsets.
|
|
switch (gc_block.non_modal_command) {
|
|
|
|
case NonModal_SetCoordinateData:
|
|
|
|
// [G10 Errors]: L missing and is not 2 or 20. P word missing. (Negative P value done.)
|
|
// [G10 L2 Errors]: R word NOT SUPPORTED. P value not 0 to N_WorkCoordinateSystems (max 9). Axis words missing.
|
|
// [G10 L20 Errors]: P must be 0 to N_WorkCoordinateSystems (max 9). Axis words missing.
|
|
// [G10 L1, L10, L11 Errors]: P must be 0 to MAX_TOOL_NUMBER (max 9). Axis words or R word missing.
|
|
|
|
if (!(axis_words.mask || (gc_block.values.l != 20 && gc_block.words.r)))
|
|
FAIL(Status_GcodeNoAxisWords); // [No axis words (or R word for tool offsets)]
|
|
|
|
if (!(gc_block.words.p || gc_block.words.l))
|
|
FAIL(Status_GcodeValueWordMissing); // [P/L word missing]
|
|
|
|
if(gc_block.values.p < 0.0f)
|
|
FAIL(Status_NegativeValue);
|
|
|
|
uint8_t p_value;
|
|
|
|
p_value = (uint8_t)truncf(gc_block.values.p); // Convert p value to int.
|
|
|
|
switch(gc_block.values.l) {
|
|
|
|
case 2:
|
|
if (gc_block.words.r)
|
|
FAIL(Status_GcodeUnsupportedCommand); // [G10 L2 R not supported]
|
|
// no break
|
|
|
|
case 20:
|
|
if (p_value > N_WorkCoordinateSystems)
|
|
FAIL(Status_GcodeUnsupportedCoordSys); // [Greater than N sys]
|
|
// Determine coordinate system to change and try to load from non-volatile storage.
|
|
gc_block.values.coord_data.id = p_value == 0
|
|
? gc_block.modal.coord_system.id // Index P0 as the active coordinate system
|
|
: (coord_system_id_t)(p_value - 1); // else adjust index to NVS coordinate data indexing.
|
|
|
|
if (!settings_read_coord_data(gc_block.values.coord_data.id, &gc_block.values.coord_data.xyz))
|
|
FAIL(Status_SettingReadFail); // [non-volatile storage read fail]
|
|
|
|
// Pre-calculate the coordinate data changes.
|
|
idx = N_AXIS;
|
|
do { // Axes indices are consistent, so loop may be used.
|
|
// Update axes defined only in block. Always in machine coordinates. Can change non-active system.
|
|
if (bit_istrue(axis_words.mask, bit(--idx))) {
|
|
if (gc_block.values.l == 20)
|
|
// L20: Update coordinate system axis at current position (with modifiers) with programmed value
|
|
// WPos = MPos - WCS - G92 - TLO -> WCS = MPos - G92 - TLO - WPos
|
|
gc_block.values.coord_data.xyz[idx] = gc_state.position[idx] - gc_block.values.xyz[idx] - gc_state.g92_coord_offset[idx] - gc_state.tool_length_offset[idx];
|
|
else // L2: Update coordinate system axis to programmed value.
|
|
gc_block.values.coord_data.xyz[idx] = gc_block.values.xyz[idx];
|
|
} // else, keep current stored value.
|
|
} while(idx);
|
|
break;
|
|
|
|
#ifdef N_TOOLS
|
|
case 1: case 10: case 11:;
|
|
if(p_value == 0 || p_value > MAX_TOOL_NUMBER)
|
|
FAIL(Status_GcodeIllegalToolTableEntry); // [Greater than MAX_TOOL_NUMBER]
|
|
|
|
tool_table[p_value].tool = p_value;
|
|
|
|
if(gc_block.words.r) {
|
|
tool_table[p_value].radius = gc_block.values.r;
|
|
gc_block.words.r = Off;
|
|
}
|
|
|
|
float g59_3_offset[N_AXIS];
|
|
if(gc_block.values.l == 11 && !settings_read_coord_data(CoordinateSystem_G59_3, &g59_3_offset))
|
|
FAIL(Status_SettingReadFail);
|
|
|
|
idx = N_AXIS;
|
|
do {
|
|
if (bit_istrue(axis_words.mask, bit(--idx))) {
|
|
if(gc_block.values.l == 1)
|
|
tool_table[p_value].offset[idx] = gc_block.values.xyz[idx];
|
|
else if(gc_block.values.l == 10)
|
|
tool_table[p_value].offset[idx] = gc_state.position[idx] - gc_state.g92_coord_offset[idx] - gc_block.values.xyz[idx];
|
|
else if(gc_block.values.l == 11)
|
|
tool_table[p_value].offset[idx] = g59_3_offset[idx] - gc_block.values.xyz[idx];
|
|
if (gc_block.values.l != 1)
|
|
tool_table[p_value].offset[idx] -= gc_state.tool_length_offset[idx];
|
|
}
|
|
// else, keep current stored value.
|
|
} while(idx);
|
|
|
|
if(gc_block.values.l == 1)
|
|
settings_write_tool_data(&tool_table[p_value]);
|
|
|
|
break;
|
|
#endif
|
|
default:
|
|
FAIL(Status_GcodeUnsupportedCommand); // [Unsupported L]
|
|
}
|
|
gc_block.words.l = gc_block.words.p = Off;
|
|
break;
|
|
|
|
case NonModal_SetCoordinateOffset:
|
|
|
|
// [G92 Errors]: No axis words.
|
|
if (!axis_words.mask)
|
|
FAIL(Status_GcodeNoAxisWords); // [No axis words]
|
|
|
|
// Update axes defined only in block. Offsets current system to defined value. Does not update when
|
|
// active coordinate system is selected, but is still active unless G92.1 disables it.
|
|
idx = N_AXIS;
|
|
do { // Axes indices are consistent, so loop may be used.
|
|
if (bit_istrue(axis_words.mask, bit(--idx))) {
|
|
// WPos = MPos - WCS - G92 - TLO -> G92 = MPos - WCS - TLO - WPos
|
|
gc_block.values.xyz[idx] = gc_state.position[idx] - gc_block.modal.coord_system.xyz[idx] - gc_block.values.xyz[idx] - gc_state.tool_length_offset[idx];
|
|
} else
|
|
gc_block.values.xyz[idx] = gc_state.g92_coord_offset[idx];
|
|
} while(idx);
|
|
break;
|
|
|
|
default:
|
|
|
|
// At this point, the rest of the explicit axis commands treat the axis values as the traditional
|
|
// target position with the coordinate system offsets, G92 offsets, absolute override, and distance
|
|
// modes applied. This includes the motion mode commands. We can now pre-compute the target position.
|
|
// NOTE: Tool offsets may be appended to these conversions when/if this feature is added.
|
|
if (axis_words.mask && axis_command != AxisCommand_ToolLengthOffset) { // TLO block any axis command.
|
|
idx = N_AXIS;
|
|
do { // Axes indices are consistent, so loop may be used to save flash space.
|
|
if (bit_isfalse(axis_words.mask, bit(--idx)))
|
|
gc_block.values.xyz[idx] = gc_state.position[idx]; // No axis word in block. Keep same axis position.
|
|
else if (gc_block.non_modal_command != NonModal_AbsoluteOverride) {
|
|
// Update specified value according to distance mode or ignore if absolute override is active.
|
|
// NOTE: G53 is never active with G28/30 since they are in the same modal group.
|
|
// Apply coordinate offsets based on distance mode.
|
|
if (gc_block.modal.distance_incremental)
|
|
gc_block.values.xyz[idx] += gc_state.position[idx];
|
|
else // Absolute mode
|
|
gc_block.values.xyz[idx] += gc_get_block_offset(&gc_block, idx);
|
|
}
|
|
} while(idx);
|
|
}
|
|
|
|
// Check remaining non-modal commands for errors.
|
|
switch (gc_block.non_modal_command) {
|
|
|
|
case NonModal_GoHome_0: // G28
|
|
case NonModal_GoHome_1: // G30
|
|
// [G28/30 Errors]: Cutter compensation is enabled.
|
|
// Retreive G28/30 go-home position data (in machine coordinates) from non-volatile storage
|
|
|
|
if (!settings_read_coord_data(gc_block.non_modal_command == NonModal_GoHome_0 ? CoordinateSystem_G28 : CoordinateSystem_G30, &gc_block.values.coord_data.xyz))
|
|
FAIL(Status_SettingReadFail);
|
|
|
|
if (axis_words.mask) {
|
|
// Move only the axes specified in secondary move.
|
|
idx = N_AXIS;
|
|
do {
|
|
if (bit_isfalse(axis_words.mask, bit(--idx)))
|
|
gc_block.values.coord_data.xyz[idx] = gc_state.position[idx];
|
|
} while(idx);
|
|
} else
|
|
axis_command = AxisCommand_None; // Set to none if no intermediate motion.
|
|
break;
|
|
|
|
case NonModal_SetHome_0: // G28.1
|
|
case NonModal_SetHome_1: // G30.1
|
|
// [G28.1/30.1 Errors]: Cutter compensation is enabled.
|
|
// NOTE: If axis words are passed here, they are interpreted as an implicit motion mode.
|
|
break;
|
|
|
|
case NonModal_ResetCoordinateOffset:
|
|
// NOTE: If axis words are passed here, they are interpreted as an implicit motion mode.
|
|
break;
|
|
|
|
case NonModal_AbsoluteOverride:
|
|
// [G53 Errors]: G0 and G1 are not active. Cutter compensation is enabled.
|
|
// NOTE: All explicit axis word commands are in this modal group. So no implicit check necessary.
|
|
if (!(gc_block.modal.motion == MotionMode_Seek || gc_block.modal.motion == MotionMode_Linear))
|
|
FAIL(Status_GcodeG53InvalidMotionMode); // [G53 G0/1 not active]
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
} // end gc_block.non_modal_command
|
|
|
|
// [20. Motion modes ]:
|
|
if (gc_block.modal.motion == MotionMode_None) {
|
|
|
|
// [G80 Errors]: Axis word are programmed while G80 is active.
|
|
// NOTE: Even non-modal commands or TLO that use axis words will throw this strict error.
|
|
if (axis_words.mask && axis_command != AxisCommand_NonModal) // [No axis words allowed]
|
|
FAIL(Status_GcodeAxisWordsExist);
|
|
|
|
gc_block.modal.retract_mode = CCRetractMode_Previous;
|
|
|
|
// Check remaining motion modes, if axis word are implicit (exist and not used by G10/28/30/92), or
|
|
// was explicitly commanded in the g-code block.
|
|
} else if (axis_command == AxisCommand_MotionMode) {
|
|
|
|
gc_parser_flags.motion_mode_changed = gc_block.modal.motion != gc_state.modal.motion;
|
|
|
|
if (gc_block.modal.motion == MotionMode_Seek) {
|
|
// [G0 Errors]: Axis letter not configured or without real value (done.)
|
|
// Axis words are optional. If missing, set axis command flag to ignore execution.
|
|
if (!axis_words.mask)
|
|
axis_command = AxisCommand_None;
|
|
|
|
// All remaining motion modes (all but G0 and G80), require a valid feed rate value. In units per mm mode,
|
|
// the value must be positive. In inverse time mode, a positive value must be passed with each block.
|
|
} else {
|
|
|
|
if(!gc_block.modal.canned_cycle_active)
|
|
gc_block.modal.retract_mode = CCRetractMode_Previous;
|
|
|
|
// Initial(?) check for spindle running for moves in G96 mode
|
|
if(gc_block.modal.spindle_rpm_mode == SpindleSpeedMode_CSS && (!gc_block.modal.spindle.on || gc_block.values.s == 0.0f))
|
|
FAIL(Status_GcodeSpindleNotRunning);
|
|
|
|
// Check if feed rate is defined for the motion modes that require it.
|
|
if (gc_block.modal.motion == MotionMode_SpindleSynchronized) {
|
|
|
|
if(gc_block.values.k == 0.0f)
|
|
FAIL(Status_GcodeValueOutOfRange); // [No distance (pitch) given]
|
|
|
|
// Ensure spindle speed is at 100% - any override will be disabled on execute.
|
|
gc_parser_flags.spindle_force_sync = On;
|
|
|
|
} else if (gc_block.modal.motion == MotionMode_Threading) {
|
|
|
|
// Fail if cutter radius comp is active
|
|
|
|
if(gc_block.modal.plane_select != PlaneSelect_ZX)
|
|
FAIL(Status_GcodeIllegalPlane); // [Plane not ZX]
|
|
|
|
if(axis_words.mask & ~(bit(X_AXIS)|bit(Z_AXIS)))
|
|
FAIL(Status_GcodeUnusedWords); // [Only X and Z axis words allowed]
|
|
|
|
if(gc_block.words.r && gc_block.values.r < 1.0f)
|
|
FAIL(Status_GcodeValueOutOfRange);
|
|
|
|
if(!axis_words.z || !(gc_block.words.i || gc_block.words.j || gc_block.words.k || gc_block.words.p))
|
|
FAIL(Status_GcodeValueWordMissing);
|
|
|
|
if(gc_block.values.p < 0.0f || gc_block.values.ijk[J_VALUE] < 0.0f || gc_block.values.ijk[K_VALUE] < 0.0f)
|
|
FAIL(Status_NegativeValue);
|
|
|
|
if(gc_block.values.ijk[I_VALUE] == 0.0f ||
|
|
gc_block.values.ijk[J_VALUE] == 0.0f ||
|
|
gc_block.values.ijk[K_VALUE] <= gc_block.values.ijk[J_VALUE] ||
|
|
(gc_block.words.l && (gc_taper_type)gc_block.values.l > Taper_Both))
|
|
FAIL(Status_GcodeValueOutOfRange);
|
|
|
|
if(gc_state.spindle.rpm < hal.spindle.rpm_min || gc_state.spindle.rpm > hal.spindle.rpm_max)
|
|
FAIL(Status_GcodeRPMOutOfRange);
|
|
|
|
if(gc_block.modal.motion != gc_state.modal.motion) {
|
|
memset(&thread, 0, sizeof(gc_thread_data));
|
|
thread.depth_degression = 1.0f;
|
|
}
|
|
|
|
thread.pitch = gc_block.values.p;
|
|
thread.z_final = gc_block.values.xyz[Z_AXIS];
|
|
thread.cut_direction = gc_block.values.ijk[I_VALUE] < 0.0f ? -1.0f : 1.0f;
|
|
thread.peak = fabsf(gc_block.values.ijk[I_VALUE]);
|
|
thread.initial_depth = gc_block.values.ijk[J_VALUE];
|
|
thread.depth = gc_block.values.ijk[K_VALUE];
|
|
|
|
if(gc_block.modal.units_imperial) {
|
|
thread.peak *= MM_PER_INCH;
|
|
thread.initial_depth *= MM_PER_INCH;
|
|
thread.depth *= MM_PER_INCH;
|
|
}
|
|
|
|
if(gc_block.modal.diameter_mode) {
|
|
thread.peak /= 2.0f;
|
|
thread.initial_depth /= 2.0f;
|
|
thread.depth /= 2.0f;
|
|
}
|
|
|
|
//scaling?
|
|
|
|
if(axis_words.x) {
|
|
thread.main_taper_height = gc_block.values.xyz[X_AXIS] - gc_get_block_offset(&gc_block, X_AXIS);
|
|
gc_block.values.p = fabsf(thread.z_final - gc_state.position[Z_AXIS]);
|
|
thread.pitch = thread.pitch * hypot_f(thread.main_taper_height, gc_block.values.p) / gc_block.values.p;
|
|
}
|
|
|
|
if(gc_block.words.h)
|
|
thread.spring_passes = (uint_fast16_t)gc_block.values.h;
|
|
|
|
if(gc_block.words.l)
|
|
thread.end_taper_type = (gc_taper_type)gc_block.values.l;
|
|
|
|
if(gc_block.words.e)
|
|
thread.end_taper_length = gc_block.values.e;
|
|
|
|
if(thread.end_taper_length <= 0.0f || thread.end_taper_type == Taper_None) {
|
|
thread.end_taper_length = 0.0f;
|
|
thread.end_taper_type = Taper_None;
|
|
// TODO: fail?
|
|
}
|
|
|
|
if(thread.end_taper_type != Taper_None && thread.end_taper_length > abs(thread.z_final - gc_state.position[Z_AXIS]) / 2.0f)
|
|
FAIL(Status_GcodeValueOutOfRange);
|
|
|
|
if(gc_block.words.r)
|
|
thread.depth_degression = gc_block.values.r;
|
|
|
|
if(gc_block.words.q)
|
|
thread.infeed_angle = gc_block.values.q;
|
|
|
|
// Ensure spindle speed is at 100% - any override will be disabled on execute.
|
|
gc_parser_flags.spindle_force_sync = On;
|
|
|
|
gc_block.words.e = gc_block.words.h = gc_block.words.i = gc_block.words.j = gc_block.words.k = gc_block.words.l = gc_block.words.p = gc_block.words.q = gc_block.words.r = Off;
|
|
|
|
} else if (gc_block.values.f == 0.0f)
|
|
FAIL(Status_GcodeUndefinedFeedRate); // [Feed rate undefined]
|
|
|
|
if (gc_block.modal.canned_cycle_active) {
|
|
|
|
if(gc_parser_flags.canned_cycle_change) {
|
|
|
|
if(gc_state.modal.feed_mode == FeedMode_InverseTime)
|
|
FAIL(Status_InvalidStatement);
|
|
|
|
if(!gc_block.words.r)
|
|
FAIL(Status_GcodeValueWordMissing);
|
|
|
|
if(!(axis_words.mask & bit(plane.axis_linear)))
|
|
FAIL(Status_GcodeValueWordMissing);
|
|
|
|
gc_state.canned.dwell = 0.0f;
|
|
gc_state.canned.xyz[plane.axis_0] = 0.0f;
|
|
gc_state.canned.xyz[plane.axis_1] = 0.0f;
|
|
gc_state.canned.rapid_retract = On;
|
|
gc_state.canned.spindle_off = Off;
|
|
gc_state.canned.prev_position = gc_state.position[plane.axis_linear];
|
|
}
|
|
|
|
if(!gc_block.words.l)
|
|
gc_block.values.l = 1;
|
|
else if(gc_block.values.l <= 0)
|
|
FAIL(Status_NonPositiveValue); // [L <= 0]
|
|
|
|
if(gc_block.words.r)
|
|
gc_state.canned.retract_position = gc_block.values.r * (gc_block.modal.units_imperial ? MM_PER_INCH : 1.0f) +
|
|
(gc_block.modal.distance_incremental
|
|
? gc_state.position[plane.axis_linear]
|
|
: gc_get_block_offset(&gc_block, plane.axis_linear));
|
|
|
|
idx = N_AXIS;
|
|
do {
|
|
if(bit_istrue(axis_words.mask, bit(--idx))) {
|
|
gc_state.canned.xyz[idx] = gc_block.values.xyz[idx];
|
|
if(idx != plane.axis_linear)
|
|
gc_state.canned.xyz[idx] -= gc_state.position[idx];
|
|
else if(gc_block.modal.distance_incremental)
|
|
gc_state.canned.xyz[idx] = gc_state.canned.retract_position + (gc_state.canned.xyz[idx] - gc_state.position[idx]);
|
|
}
|
|
} while(idx);
|
|
|
|
if(gc_state.canned.retract_position < gc_state.canned.xyz[plane.axis_linear])
|
|
FAIL(Status_GcodeInvalidRetractPosition);
|
|
|
|
gc_block.words.r = gc_block.words.l = Off; // Remove single-meaning value words.
|
|
|
|
switch (gc_block.modal.motion) {
|
|
|
|
case MotionMode_CannedCycle86:
|
|
case MotionMode_CannedCycle89:
|
|
gc_state.canned.spindle_off = gc_block.modal.motion == MotionMode_CannedCycle86;
|
|
gc_state.canned.rapid_retract = gc_block.modal.motion == MotionMode_CannedCycle86;
|
|
// no break
|
|
|
|
case MotionMode_CannedCycle82:
|
|
if(gc_block.words.p) {
|
|
if(gc_block.values.p < 0.0f)
|
|
FAIL(Status_NegativeValue);
|
|
gc_state.canned.dwell = gc_block.values.p;
|
|
gc_block.words.p = Off; // Remove single-meaning value word.
|
|
} else if(gc_parser_flags.canned_cycle_change)
|
|
FAIL(Status_GcodeValueWordMissing);
|
|
// no break
|
|
|
|
case MotionMode_CannedCycle85:
|
|
case MotionMode_CannedCycle81:
|
|
gc_state.canned.delta = - gc_state.canned.xyz[plane.axis_linear] + gc_state.canned.retract_position;
|
|
if(gc_block.modal.motion == MotionMode_CannedCycle85)
|
|
gc_state.canned.rapid_retract = Off;
|
|
break;
|
|
|
|
case MotionMode_DrillChipBreak:
|
|
case MotionMode_CannedCycle83:
|
|
if(gc_block.words.q) {
|
|
if(gc_block.values.q <= 0.0f)
|
|
FAIL(Status_NegativeValue); // [Q <= 0]
|
|
gc_state.canned.delta = gc_block.values.q * (gc_block.modal.units_imperial ? MM_PER_INCH : 1.0f);
|
|
gc_block.words.q = Off; // Remove single-meaning value word.
|
|
} else if(gc_parser_flags.canned_cycle_change)
|
|
FAIL(Status_GcodeValueWordMissing);
|
|
gc_state.canned.dwell = 0.25f;
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
|
|
} // end switch gc_state.canned.motion
|
|
|
|
} else switch (gc_block.modal.motion) {
|
|
|
|
case MotionMode_Linear:
|
|
// [G1 Errors]: Feed rate undefined. Axis letter not configured or without real value.
|
|
// Axis words are optional. If missing, set axis command flag to ignore execution.
|
|
if (!axis_words.mask)
|
|
axis_command = AxisCommand_None;
|
|
break;
|
|
|
|
case MotionMode_CwArc:
|
|
gc_parser_flags.arc_is_clockwise = On;
|
|
// No break intentional.
|
|
|
|
case MotionMode_CcwArc:
|
|
// [G2/3 Errors All-Modes]: Feed rate undefined.
|
|
// [G2/3 Radius-Mode Errors]: No axis words in selected plane. Target point is same as current.
|
|
// [G2/3 Offset-Mode Errors]: No axis words and/or offsets in selected plane. The radius to the current
|
|
// point and the radius to the target point differs more than 0.002mm (EMC def. 0.5mm OR 0.005mm and 0.1% radius).
|
|
// [G2/3 Full-Circle-Mode Errors]: Axis words exist. No offsets programmed. P must be an integer.
|
|
// NOTE: Both radius and offsets are required for arc tracing and are pre-computed with the error-checking.
|
|
|
|
if (!axis_words.mask)
|
|
FAIL(Status_GcodeNoAxisWords); // [No axis words]
|
|
|
|
if (!(axis_words.mask & (bit(plane.axis_0)|bit(plane.axis_1))))
|
|
FAIL(Status_GcodeNoAxisWordsInPlane); // [No axis words in plane]
|
|
|
|
if (gc_block.words.p) { // Number of turns
|
|
if(!isintf(gc_block.values.p))
|
|
FAIL(Status_GcodeCommandValueNotInteger); // [P word is not an integer]
|
|
gc_block.arc_turns = (uint32_t)truncf(gc_block.values.p);
|
|
if(gc_block.arc_turns == 0)
|
|
FAIL(Status_GcodeValueOutOfRange); // [P word is 0]
|
|
gc_block.words.p = Off;
|
|
} else
|
|
gc_block.arc_turns = 1;
|
|
|
|
// Calculate the change in position along each selected axis
|
|
float x, y;
|
|
x = gc_block.values.xyz[plane.axis_0] - gc_state.position[plane.axis_0]; // Delta x between current position and target
|
|
y = gc_block.values.xyz[plane.axis_1] - gc_state.position[plane.axis_1]; // Delta y between current position and target
|
|
|
|
if (gc_block.words.r) { // Arc Radius Mode
|
|
|
|
gc_block.words.r = Off;
|
|
|
|
if (isequal_position_vector(gc_state.position, gc_block.values.xyz))
|
|
FAIL(Status_GcodeInvalidTarget); // [Invalid target]
|
|
|
|
// Convert radius value to proper units.
|
|
if (gc_block.modal.units_imperial)
|
|
gc_block.values.r *= MM_PER_INCH;
|
|
|
|
if(gc_state.modal.scaling_active)
|
|
gc_block.values.r *= (scale_factor.ijk[plane.axis_0] > scale_factor.ijk[plane.axis_1]
|
|
? scale_factor.ijk[plane.axis_0]
|
|
: scale_factor.ijk[plane.axis_1]);
|
|
|
|
/* We need to calculate the center of the circle that has the designated radius and passes
|
|
through both the current position and the target position. This method calculates the following
|
|
set of equations where [x,y] is the vector from current to target position, d == magnitude of
|
|
that vector, h == hypotenuse of the triangle formed by the radius of the circle, the distance to
|
|
the center of the travel vector. A vector perpendicular to the travel vector [-y,x] is scaled to the
|
|
length of h [-y/d*h, x/d*h] and added to the center of the travel vector [x/2,y/2] to form the new point
|
|
[i,j] at [x/2-y/d*h, y/2+x/d*h] which will be the center of our arc.
|
|
|
|
d^2 == x^2 + y^2
|
|
h^2 == r^2 - (d/2)^2
|
|
i == x/2 - y/d*h
|
|
j == y/2 + x/d*h
|
|
|
|
O <- [i,j]
|
|
- |
|
|
r - |
|
|
- |
|
|
- | h
|
|
- |
|
|
[0,0] -> C -----------------+--------------- T <- [x,y]
|
|
| <------ d/2 ---->|
|
|
|
|
C - Current position
|
|
T - Target position
|
|
O - center of circle that pass through both C and T
|
|
d - distance from C to T
|
|
r - designated radius
|
|
h - distance from center of CT to O
|
|
|
|
Expanding the equations:
|
|
|
|
d -> sqrt(x^2 + y^2)
|
|
h -> sqrt(4 * r^2 - x^2 - y^2)/2
|
|
i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
|
|
j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
|
|
|
|
Which can be written:
|
|
|
|
i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
|
|
j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
|
|
|
|
Which we for size and speed reasons optimize to:
|
|
|
|
h_x2_div_d = sqrt(4 * r^2 - x^2 - y^2)/sqrt(x^2 + y^2)
|
|
i = (x - (y * h_x2_div_d))/2
|
|
j = (y + (x * h_x2_div_d))/2
|
|
*/
|
|
|
|
// First, use h_x2_div_d to compute 4*h^2 to check if it is negative or r is smaller
|
|
// than d. If so, the sqrt of a negative number is complex and error out.
|
|
float h_x2_div_d = 4.0f * gc_block.values.r * gc_block.values.r - x * x - y * y;
|
|
|
|
if (h_x2_div_d < 0.0f)
|
|
FAIL(Status_GcodeArcRadiusError); // [Arc radius error]
|
|
|
|
// Finish computing h_x2_div_d.
|
|
h_x2_div_d = -sqrtf(h_x2_div_d) / hypot_f(x, y); // == -(h * 2 / d)
|
|
|
|
// Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below)
|
|
if (gc_block.modal.motion == MotionMode_CcwArc)
|
|
h_x2_div_d = -h_x2_div_d;
|
|
|
|
/* The counter clockwise circle lies to the left of the target direction. When offset is positive,
|
|
the left hand circle will be generated - when it is negative the right hand circle is generated.
|
|
|
|
T <-- Target position
|
|
|
|
^
|
|
Clockwise circles with this center | Clockwise circles with this center will have
|
|
will have > 180 deg of angular travel | < 180 deg of angular travel, which is a good thing!
|
|
\ | /
|
|
center of arc when h_x2_div_d is positive -> x <----- | -----> x <- center of arc when h_x2_div_d is negative
|
|
|
|
|
|
|
|
|
|
C <-- Current position
|
|
*/
|
|
// Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!),
|
|
// even though it is advised against ever generating such circles in a single line of g-code. By
|
|
// inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of
|
|
// travel and thus we get the unadvisably long arcs as prescribed.
|
|
if (gc_block.values.r < 0.0f) {
|
|
h_x2_div_d = -h_x2_div_d;
|
|
gc_block.values.r = -gc_block.values.r; // Finished with r. Set to positive for mc_arc
|
|
}
|
|
// Complete the operation by calculating the actual center of the arc
|
|
gc_block.values.ijk[plane.axis_0] = 0.5f * (x - (y * h_x2_div_d));
|
|
gc_block.values.ijk[plane.axis_1] = 0.5f * (y + (x * h_x2_div_d));
|
|
|
|
} else { // Arc Center Format Offset Mode
|
|
|
|
if (!(ijk_words.mask & (bit(plane.axis_0)|bit(plane.axis_1))))
|
|
FAIL(Status_GcodeNoOffsetsInPlane);// [No offsets in plane]
|
|
|
|
gc_block.words.i = gc_block.words.j = gc_block.words.k = Off;
|
|
|
|
// Convert IJK values to proper units.
|
|
if (gc_block.modal.units_imperial) {
|
|
idx = 3;
|
|
do { // Axes indices are consistent, so loop may be used to save flash space.
|
|
idx--;
|
|
if (ijk_words.mask & bit(idx))
|
|
gc_block.values.ijk[idx] *= MM_PER_INCH;
|
|
} while(idx);
|
|
}
|
|
|
|
// Scale values if scaling active - NOTE: only incremental mode is supported
|
|
if(gc_state.modal.scaling_active) {
|
|
idx = 3;
|
|
do {
|
|
if (ijk_words.mask & bit(--idx))
|
|
gc_block.values.ijk[idx] *= scale_factor.ijk[idx];
|
|
} while(idx);
|
|
}
|
|
|
|
// Arc radius from center to target
|
|
x -= gc_block.values.ijk[plane.axis_0]; // Delta x between circle center and target
|
|
y -= gc_block.values.ijk[plane.axis_1]; // Delta y between circle center and target
|
|
float target_r = hypot_f(x, y);
|
|
|
|
// Compute arc radius for mc_arc. Defined from current location to center.
|
|
gc_block.values.r = hypot_f(gc_block.values.ijk[plane.axis_0], gc_block.values.ijk[plane.axis_1]);
|
|
|
|
// Compute difference between current location and target radii for final error-checks.
|
|
float delta_r = fabsf(target_r - gc_block.values.r);
|
|
if (delta_r > 0.005f) {
|
|
if (delta_r > 0.5f)
|
|
FAIL(Status_GcodeInvalidTarget); // [Arc definition error] > 0.5mm
|
|
if (delta_r > (0.001f * gc_block.values.r))
|
|
FAIL(Status_GcodeInvalidTarget); // [Arc definition error] > 0.005mm AND 0.1% radius
|
|
}
|
|
}
|
|
break;
|
|
|
|
case MotionMode_CubicSpline:
|
|
// [G5 Errors]: Feed rate undefined.
|
|
// [G5 Plane Errors]: The active plane is not G17.
|
|
// [G5 Offset Errors]: P and Q are not both specified.
|
|
// [G5 Offset Errors]: Just one of I or J are specified.
|
|
// [G5 Offset Errors]: I or J are unspecified in the first of a series of G5 commands.
|
|
// [G5 Axisword Errors]: An axis other than X or Y is specified.
|
|
if(gc_block.modal.plane_select != PlaneSelect_XY)
|
|
FAIL(Status_GcodeIllegalPlane); // [The active plane is not G17]
|
|
|
|
if (axis_words.mask & ~(bit(X_AXIS)|bit(Y_AXIS)))
|
|
FAIL(Status_GcodeAxisCommandConflict); // [An axis other than X or Y is specified]
|
|
|
|
if((gc_block.words.mask & pq_words.mask) != pq_words.mask)
|
|
FAIL(Status_GcodeValueWordMissing); // [P and Q are not both specified]
|
|
|
|
if(gc_parser_flags.motion_mode_changed && (gc_block.words.mask & ij_words.mask) != ij_words.mask)
|
|
FAIL(Status_GcodeValueWordMissing); // [I or J are unspecified in the first of a series of G5 commands]
|
|
|
|
if(!(gc_block.words.i || gc_block.words.j)) {
|
|
gc_block.values.ijk[I_VALUE] = - gc_block.values.p;
|
|
gc_block.values.ijk[J_VALUE] = - gc_block.values.q;
|
|
} else {
|
|
// Convert I and J values to proper units.
|
|
if (gc_block.modal.units_imperial) {
|
|
gc_block.values.ijk[I_VALUE] *= MM_PER_INCH;
|
|
gc_block.values.ijk[J_VALUE] *= MM_PER_INCH;
|
|
}
|
|
// Scale values if scaling active
|
|
if(gc_state.modal.scaling_active) {
|
|
gc_block.values.ijk[I_VALUE] *= scale_factor.ijk[X_AXIS];
|
|
gc_block.values.ijk[J_VALUE] *= scale_factor.ijk[Y_AXIS];
|
|
}
|
|
}
|
|
// Convert P and Q values to proper units.
|
|
if (gc_block.modal.units_imperial) {
|
|
gc_block.values.p *= MM_PER_INCH;
|
|
gc_block.values.q *= MM_PER_INCH;
|
|
}
|
|
// Scale values if scaling active
|
|
if(gc_state.modal.scaling_active) {
|
|
gc_block.values.p *= scale_factor.ijk[X_AXIS];
|
|
gc_block.values.q *= scale_factor.ijk[Y_AXIS];
|
|
}
|
|
gc_state.modal.spline_pq[X_AXIS] = gc_block.values.p;
|
|
gc_state.modal.spline_pq[Y_AXIS] = gc_block.values.q;
|
|
gc_block.words.p = gc_block.words.q = gc_block.words.i = gc_block.words.j = Off;
|
|
break;
|
|
|
|
case MotionMode_QuadraticSpline:
|
|
// [G5.1 Errors]: Feed rate undefined.
|
|
// [G5.1 Plane Errors]: The active plane is not G17.
|
|
// [G5.1 Offset Errors]: Just one of I or J are specified.
|
|
// [G5.1 Offset Errors]: I or J are unspecified in the first of a series of G5 commands.
|
|
// [G5.1 Axisword Errors]: An axis other than X or Y is specified.
|
|
if(gc_block.modal.plane_select != PlaneSelect_XY)
|
|
FAIL(Status_GcodeIllegalPlane); // [The active plane is not G17]
|
|
|
|
if (axis_words.mask & ~(bit(X_AXIS)|bit(Y_AXIS)))
|
|
FAIL(Status_GcodeAxisCommandConflict); // [An axis other than X or Y is specified]
|
|
|
|
if((gc_block.words.mask & ij_words.mask) != ij_words.mask)
|
|
FAIL(Status_GcodeValueWordMissing); // [I or J are unspecified]
|
|
|
|
if(gc_block.values.ijk[I_VALUE] == 0.0f && gc_block.values.ijk[I_VALUE] == 0.0f)
|
|
FAIL(Status_GcodeValueOutOfRange); // [I or J are zero]
|
|
|
|
// Convert I and J values to proper units.
|
|
if (gc_block.modal.units_imperial) {
|
|
gc_block.values.ijk[I_VALUE] *= MM_PER_INCH;
|
|
gc_block.values.ijk[J_VALUE] *= MM_PER_INCH;
|
|
}
|
|
// Scale values if scaling active
|
|
if(gc_state.modal.scaling_active) {
|
|
gc_block.values.ijk[I_VALUE] *= scale_factor.ijk[X_AXIS];
|
|
gc_block.values.ijk[J_VALUE] *= scale_factor.ijk[Y_AXIS];
|
|
}
|
|
gc_block.words.i = gc_block.words.j = Off;
|
|
break;
|
|
|
|
case MotionMode_ProbeTowardNoError:
|
|
case MotionMode_ProbeAwayNoError:
|
|
gc_parser_flags.probe_is_no_error = On;
|
|
// No break intentional.
|
|
|
|
case MotionMode_ProbeToward:
|
|
case MotionMode_ProbeAway:
|
|
if(gc_block.modal.motion == MotionMode_ProbeAway || gc_block.modal.motion == MotionMode_ProbeAwayNoError)
|
|
gc_parser_flags.probe_is_away = On;
|
|
// [G38 Errors]: Target is same current. No axis words. Cutter compensation is enabled. Feed rate
|
|
// is undefined. Probe is triggered. NOTE: Probe check moved to probe cycle. Instead of returning
|
|
// an error, it issues an alarm to prevent further motion to the probe. It's also done there to
|
|
// allow the planner buffer to empty and move off the probe trigger before another probing cycle.
|
|
if (!axis_words.mask)
|
|
FAIL(Status_GcodeNoAxisWords); // [No axis words]
|
|
if (isequal_position_vector(gc_state.position, gc_block.values.xyz))
|
|
FAIL(Status_GcodeInvalidTarget); // [Invalid target]
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
|
|
} // end switch gc_block.modal.motion
|
|
}
|
|
}
|
|
|
|
// [21. Program flow ]: No error checks required.
|
|
|
|
// [0. Non-specific error-checks]: Complete unused value words check, i.e. IJK used when in arc
|
|
// radius mode, or axis words that aren't used in the block.
|
|
if (gc_parser_flags.jog_motion) // Jogging only uses the F feed rate and XYZ value words. N is valid, but S and T are invalid.
|
|
gc_block.words.n = gc_block.words.f = Off;
|
|
else
|
|
gc_block.words.n = gc_block.words.f = gc_block.words.s = gc_block.words.t = Off;
|
|
|
|
if (axis_command)
|
|
gc_block.words.mask &= ~axis_words_mask.mask; // Remove axis words.
|
|
|
|
if (gc_block.words.mask)
|
|
FAIL(Status_GcodeUnusedWords); // [Unused words]
|
|
|
|
/* -------------------------------------------------------------------------------------
|
|
STEP 4: EXECUTE!!
|
|
Assumes that all error-checking has been completed and no failure modes exist. We just
|
|
need to update the state and execute the block according to the order-of-execution.
|
|
*/
|
|
|
|
// Initialize planner data struct for motion blocks.
|
|
plan_line_data_t plan_data;
|
|
memset(&plan_data, 0, sizeof(plan_line_data_t)); // Zero plan_data struct
|
|
|
|
// Intercept jog commands and complete error checking for valid jog commands and execute.
|
|
// NOTE: G-code parser state is not updated, except the position to ensure sequential jog
|
|
// targets are computed correctly. The final parser position after a jog is updated in
|
|
// protocol_execute_realtime() when jogging completes or is canceled.
|
|
if (gc_parser_flags.jog_motion) {
|
|
|
|
// Only distance and unit modal commands and G53 absolute override command are allowed.
|
|
// NOTE: Feed rate word and axis word checks have already been performed in STEP 3.
|
|
if (command_words.mask & ~jog_groups.mask)
|
|
FAIL(Status_InvalidJogCommand);
|
|
|
|
if (!(gc_block.non_modal_command == NonModal_AbsoluteOverride || gc_block.non_modal_command == NonModal_NoAction))
|
|
FAIL(Status_InvalidJogCommand);
|
|
|
|
// Initialize planner data to current spindle and coolant modal state.
|
|
memcpy(&plan_data.spindle, &gc_state.spindle, sizeof(spindle_t));
|
|
plan_data.condition.spindle = gc_state.modal.spindle;
|
|
plan_data.condition.coolant = gc_state.modal.coolant;
|
|
plan_data.condition.is_rpm_rate_adjusted = gc_state.is_rpm_rate_adjusted;
|
|
|
|
if ((status_code_t)(int_value = (uint_fast16_t)mc_jog_execute(&plan_data, &gc_block)) == Status_OK)
|
|
memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_state.position));
|
|
|
|
return (status_code_t)int_value;
|
|
}
|
|
|
|
// If in laser mode, setup laser power based on current and past parser conditions.
|
|
if(sys.mode == Mode_Laser) {
|
|
|
|
if(!motion_is_lasercut(gc_block.modal.motion))
|
|
gc_parser_flags.laser_disable = On;
|
|
|
|
// Any motion mode with axis words is allowed to be passed from a spindle speed update.
|
|
// NOTE: G1 and G0 without axis words sets axis_command to none. G28/30 are intentionally omitted.
|
|
// TODO: Check sync conditions for M3 enabled motions that don't enter the planner. (zero length).
|
|
if(axis_words.mask && (axis_command == AxisCommand_MotionMode))
|
|
gc_parser_flags.laser_is_motion = On;
|
|
else if(gc_state.modal.spindle.on && !gc_state.modal.spindle.ccw) {
|
|
// M3 constant power laser requires planner syncs to update the laser when changing between
|
|
// a G1/2/3 motion mode state and vice versa when there is no motion in the line.
|
|
if(motion_is_lasercut(gc_state.modal.motion)) {
|
|
if(gc_parser_flags.laser_disable)
|
|
gc_parser_flags.spindle_force_sync = On; // Change from G1/2/3 motion mode.
|
|
} else if(!gc_parser_flags.laser_disable) // When changing to a G1 motion mode without axis words from a non-G1/2/3 motion mode.
|
|
gc_parser_flags.spindle_force_sync = On;
|
|
}
|
|
|
|
gc_state.is_rpm_rate_adjusted = gc_state.modal.spindle.ccw && !gc_parser_flags.laser_disable && hal.spindle.cap.variable;
|
|
}
|
|
|
|
// [0. Non-specific/common error-checks and miscellaneous setup]:
|
|
// NOTE: If no line number is present, the value is zero.
|
|
gc_state.line_number = gc_block.values.n;
|
|
plan_data.line_number = gc_state.line_number; // Record data for planner use.
|
|
|
|
bool check_mode = state_get() == STATE_CHECK_MODE;
|
|
|
|
// [1. Comments feedback ]: Extracted in protocol.c if HAL entry point provided
|
|
if(message && !check_mode && (plan_data.message = malloc(strlen(message) + 1)))
|
|
strcpy(plan_data.message, message);
|
|
|
|
// [2. Set feed rate mode ]:
|
|
gc_state.modal.feed_mode = gc_block.modal.feed_mode;
|
|
if (gc_state.modal.feed_mode == FeedMode_InverseTime)
|
|
plan_data.condition.inverse_time = On; // Set condition flag for planner use.
|
|
|
|
// [3. Set feed rate ]:
|
|
gc_state.feed_rate = gc_block.values.f; // Always copy this value. See feed rate error-checking.
|
|
plan_data.feed_rate = gc_state.feed_rate; // Record data for planner use.
|
|
|
|
// [4. Set spindle speed ]:
|
|
if(gc_state.modal.spindle_rpm_mode == SpindleSpeedMode_CSS) {
|
|
if(!user_words.s)
|
|
gc_state.spindle.css.surface_speed = gc_block.values.s;
|
|
if((plan_data.condition.is_rpm_pos_adjusted = gc_block.modal.motion != MotionMode_None && gc_block.modal.motion != MotionMode_Seek)) {
|
|
gc_state.spindle.css.active = true;
|
|
gc_state.spindle.css.axis = plane.axis_1;
|
|
gc_state.spindle.css.tool_offset = gc_get_offset(gc_state.spindle.css.axis);
|
|
float pos = gc_state.position[gc_state.spindle.css.axis] - gc_state.spindle.css.tool_offset;
|
|
gc_block.values.s = pos <= 0.0f ? gc_state.spindle.css.max_rpm : min(gc_state.spindle.css.max_rpm, gc_state.spindle.css.surface_speed / (pos * (float)(2.0f * M_PI)));
|
|
gc_parser_flags.spindle_force_sync = On;
|
|
} else {
|
|
if(gc_state.spindle.css.active) {
|
|
gc_state.spindle.css.active = false;
|
|
protocol_buffer_synchronize(); // Empty planner buffer to ensure we get RPM at end of last CSS motion
|
|
}
|
|
gc_block.values.s = sys.spindle_rpm; // Keep current RPM
|
|
}
|
|
}
|
|
|
|
if (!user_words.s && ((gc_state.spindle.rpm != gc_block.values.s) || gc_parser_flags.spindle_force_sync)) {
|
|
if (gc_state.modal.spindle.on && !gc_parser_flags.laser_is_motion)
|
|
spindle_sync(0, gc_state.modal.spindle, gc_parser_flags.laser_disable ? 0.0f : gc_block.values.s);
|
|
gc_state.spindle.rpm = gc_block.values.s; // Update spindle speed state.
|
|
}
|
|
|
|
// NOTE: Pass zero spindle speed for all restricted laser motions.
|
|
if (!gc_parser_flags.laser_disable)
|
|
memcpy(&plan_data.spindle, &gc_state.spindle, sizeof(spindle_t)); // Record data for planner use.
|
|
// else { plan_data.spindle.speed = 0.0; } // Initialized as zero already.
|
|
|
|
// [5. Select tool ]: Only tracks tool value if ATC or manual tool change is not possible.
|
|
if(gc_state.tool_pending != gc_block.values.t && !check_mode) {
|
|
|
|
gc_state.tool_pending = gc_block.values.t;
|
|
|
|
// If M6 not available or M61 commanded set new tool immediately
|
|
if(set_tool || settings.tool_change.mode == ToolChange_Ignore || !(hal.stream.suspend_read || hal.tool.change)) {
|
|
#ifdef N_TOOLS
|
|
gc_state.tool = &tool_table[gc_state.tool_pending];
|
|
#else
|
|
gc_state.tool->tool = gc_state.tool_pending;
|
|
#endif
|
|
sys.report.tool = On;
|
|
}
|
|
|
|
// Prepare tool carousel when available
|
|
if(hal.tool.select) {
|
|
#ifdef N_TOOLS
|
|
hal.tool.select(&tool_table[gc_state.tool_pending], !set_tool);
|
|
#else
|
|
hal.tool.select(gc_state.tool, !set_tool);
|
|
#endif
|
|
} else
|
|
sys.report.tool = On;
|
|
}
|
|
|
|
// [5a. HAL pin I/O ]: M62 - M68. (Modal group M10)
|
|
|
|
if(port_command) {
|
|
|
|
switch(port_command) {
|
|
|
|
case 62:
|
|
case 63:
|
|
add_output_command(&gc_block.output_command);
|
|
break;
|
|
|
|
case 64:
|
|
case 65:
|
|
hal.port.digital_out(gc_block.output_command.port, gc_block.output_command.value != 0.0f);
|
|
break;
|
|
|
|
case 66:
|
|
sys.var5399 = hal.port.wait_on_input((io_port_type_t)gc_block.output_command.is_digital, gc_block.output_command.port, (wait_mode_t)gc_block.values.l, gc_block.values.q);
|
|
sys.report.m66result = On;
|
|
break;
|
|
|
|
case 67:
|
|
add_output_command(&gc_block.output_command);
|
|
break;
|
|
|
|
case 68:
|
|
hal.port.analog_out(gc_block.output_command.port, gc_block.output_command.value);
|
|
break;
|
|
}
|
|
}
|
|
|
|
// [6. Change tool ]: Delegated to (possible) driver implementation
|
|
if (command_words.M6 && !set_tool && !check_mode) {
|
|
|
|
protocol_buffer_synchronize();
|
|
|
|
if(plan_data.message) {
|
|
report_message(plan_data.message, Message_Plain);
|
|
free(plan_data.message);
|
|
plan_data.message = NULL;
|
|
}
|
|
|
|
#ifdef N_TOOLS
|
|
gc_state.tool = &tool_table[gc_state.tool_pending];
|
|
#else
|
|
gc_state.tool->tool = gc_state.tool_pending;
|
|
#endif
|
|
if(hal.tool.change) { // ATC
|
|
if((int_value = (uint_fast16_t)hal.tool.change(&gc_state)) != Status_OK)
|
|
FAIL((status_code_t)int_value);
|
|
sys.report.tool = On;
|
|
} else { // Manual
|
|
gc_state.tool_change = true;
|
|
system_set_exec_state_flag(EXEC_TOOL_CHANGE); // Set up program pause for manual tool change
|
|
protocol_execute_realtime(); // Execute...
|
|
}
|
|
}
|
|
|
|
// [7. Spindle control ]:
|
|
if (gc_state.modal.spindle.value != gc_block.modal.spindle.value) {
|
|
// Update spindle control and apply spindle speed when enabling it in this block.
|
|
// NOTE: All spindle state changes are synced, even in laser mode. Also, plan_data,
|
|
// rather than gc_state, is used to manage laser state for non-laser motions.
|
|
if(spindle_sync(0, gc_block.modal.spindle, plan_data.spindle.rpm))
|
|
gc_state.modal.spindle = gc_block.modal.spindle;
|
|
}
|
|
|
|
// TODO: Recheck spindle running in CCS mode (is_rpm_pos_adjusted = On)?
|
|
|
|
plan_data.condition.spindle = gc_state.modal.spindle; // Set condition flag for planner use.
|
|
plan_data.condition.is_rpm_rate_adjusted = gc_state.is_rpm_rate_adjusted;
|
|
plan_data.condition.is_laser_ppi_mode = gc_state.is_rpm_rate_adjusted && gc_state.is_laser_ppi_mode;
|
|
|
|
// [8. Coolant control ]:
|
|
if (gc_parser_flags.set_coolant && gc_state.modal.coolant.value != gc_block.modal.coolant.value) {
|
|
// NOTE: Coolant M-codes are modal. Only one command per line is allowed. But, multiple states
|
|
// can exist at the same time, while coolant disable clears all states.
|
|
if(coolant_sync(gc_block.modal.coolant))
|
|
gc_state.modal.coolant = gc_block.modal.coolant;
|
|
}
|
|
|
|
plan_data.condition.coolant = gc_state.modal.coolant; // Set condition flag for planner use.
|
|
|
|
sys.flags.delay_overrides = Off;
|
|
|
|
// [9. Override control ]:
|
|
if (gc_state.modal.override_ctrl.value != gc_block.modal.override_ctrl.value) {
|
|
gc_state.modal.override_ctrl = gc_block.modal.override_ctrl;
|
|
|
|
if(gc_state.modal.override_ctrl.feed_rate_disable)
|
|
plan_feed_override(0, 0);
|
|
|
|
if(gc_state.modal.override_ctrl.spindle_rpm_disable)
|
|
spindle_set_override(DEFAULT_SPINDLE_RPM_OVERRIDE);
|
|
|
|
mc_override_ctrl_update(gc_state.modal.override_ctrl); // NOTE: must be called last!
|
|
}
|
|
|
|
// [9a. User defined M commands ]:
|
|
if(gc_block.user_mcode && !check_mode) {
|
|
|
|
if(gc_block.user_mcode_sync)
|
|
protocol_buffer_synchronize(); // Ensure user defined mcode is executed when specified in program.
|
|
gc_block.words.mask = user_words.mask;
|
|
hal.user_mcode.execute(state_get(), &gc_block);
|
|
gc_block.words.mask = 0;
|
|
}
|
|
|
|
// [10. Dwell ]:
|
|
if (gc_block.non_modal_command == NonModal_Dwell)
|
|
mc_dwell(gc_block.values.p);
|
|
|
|
// [11. Set active plane ]:
|
|
gc_state.modal.plane_select = gc_block.modal.plane_select;
|
|
|
|
// [12. Set length units ]:
|
|
gc_state.modal.units_imperial = gc_block.modal.units_imperial;
|
|
|
|
// [13. Cutter radius compensation ]: G41/42 NOT SUPPORTED
|
|
// gc_state.modal.cutter_comp = gc_block.modal.cutter_comp; // NOTE: Not needed since always disabled.
|
|
|
|
// [14. Tool length compensation ]: G43, G43.1 and G49 supported. G43 supported when N_TOOLS defined.
|
|
// NOTE: If G43 were supported, its operation wouldn't be any different from G43.1 in terms
|
|
// of execution. The error-checking step would simply load the offset value into the correct
|
|
// axis of the block XYZ value array.
|
|
if (command_words.G8) { // Indicates a change.
|
|
|
|
bool tlo_changed = false;
|
|
|
|
idx = N_AXIS;
|
|
gc_state.modal.tool_offset_mode = gc_block.modal.tool_offset_mode;
|
|
|
|
do {
|
|
|
|
idx--;
|
|
|
|
switch(gc_state.modal.tool_offset_mode) {
|
|
|
|
case ToolLengthOffset_Cancel: // G49
|
|
tlo_changed |= gc_state.tool_length_offset[idx] != 0.0f;
|
|
gc_state.tool_length_offset[idx] = 0.0f;
|
|
break;
|
|
#ifdef N_TOOLS
|
|
case ToolLengthOffset_Enable: // G43
|
|
if (gc_state.tool_length_offset[idx] != tool_table[gc_block.values.h].offset[idx]) {
|
|
tlo_changed = true;
|
|
gc_state.tool_length_offset[idx] = tool_table[gc_block.values.h].offset[idx];
|
|
}
|
|
break;
|
|
|
|
case ToolLengthOffset_ApplyAdditional: // G43.2
|
|
tlo_changed |= tool_table[gc_block.values.h].offset[idx] != 0.0f;
|
|
gc_state.tool_length_offset[idx] += tool_table[gc_block.values.h].offset[idx];
|
|
break;
|
|
#endif
|
|
case ToolLengthOffset_EnableDynamic: // G43.1
|
|
if (bit_istrue(axis_words.mask, bit(idx)) && gc_state.tool_length_offset[idx] != gc_block.values.xyz[idx]) {
|
|
tlo_changed = true;
|
|
gc_state.tool_length_offset[idx] = gc_block.values.xyz[idx];
|
|
}
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
} while(idx);
|
|
|
|
if(tlo_changed) {
|
|
sys.report.tool_offset = true;
|
|
system_flag_wco_change();
|
|
}
|
|
}
|
|
|
|
// [15. Coordinate system selection ]:
|
|
if (gc_state.modal.coord_system.id != gc_block.modal.coord_system.id) {
|
|
memcpy(&gc_state.modal.coord_system, &gc_block.modal.coord_system, sizeof(gc_state.modal.coord_system));
|
|
sys.report.gwco = On;
|
|
system_flag_wco_change();
|
|
}
|
|
|
|
// [16. Set path control mode ]: G61.1/G64 NOT SUPPORTED
|
|
// gc_state.modal.control = gc_block.modal.control; // NOTE: Always default.
|
|
|
|
// [17. Set distance mode ]:
|
|
gc_state.modal.distance_incremental = gc_block.modal.distance_incremental;
|
|
|
|
// [18. Set retract mode ]:
|
|
gc_state.modal.retract_mode = gc_block.modal.retract_mode;
|
|
|
|
// [19. Go to predefined position, Set G10, or Set axis offsets ]:
|
|
switch(gc_block.non_modal_command) {
|
|
|
|
case NonModal_SetCoordinateData:
|
|
settings_write_coord_data(gc_block.values.coord_data.id, &gc_block.values.coord_data.xyz);
|
|
// Update system coordinate system if currently active.
|
|
if (gc_state.modal.coord_system.id == gc_block.values.coord_data.id) {
|
|
memcpy(gc_state.modal.coord_system.xyz, gc_block.values.coord_data.xyz, sizeof(gc_state.modal.coord_system.xyz));
|
|
system_flag_wco_change();
|
|
}
|
|
break;
|
|
|
|
case NonModal_GoHome_0:
|
|
case NonModal_GoHome_1:
|
|
// Move to intermediate position before going home. Obeys current coordinate system and offsets
|
|
// and absolute and incremental modes.
|
|
plan_data.condition.rapid_motion = On; // Set rapid motion condition flag.
|
|
if (axis_command)
|
|
mc_line(gc_block.values.xyz, &plan_data);
|
|
mc_line(gc_block.values.coord_data.xyz, &plan_data);
|
|
memcpy(gc_state.position, gc_block.values.coord_data.xyz, sizeof(gc_state.position));
|
|
set_scaling(1.0f);
|
|
break;
|
|
|
|
case NonModal_SetHome_0:
|
|
settings_write_coord_data(CoordinateSystem_G28, &gc_state.position);
|
|
break;
|
|
|
|
case NonModal_SetHome_1:
|
|
settings_write_coord_data(CoordinateSystem_G30, &gc_state.position);
|
|
break;
|
|
|
|
case NonModal_SetCoordinateOffset: // G92
|
|
gc_state.g92_coord_offset_applied = true; // TODO: check for all zero?
|
|
memcpy(gc_state.g92_coord_offset, gc_block.values.xyz, sizeof(gc_state.g92_coord_offset));
|
|
if(!settings.flags.g92_is_volatile)
|
|
settings_write_coord_data(CoordinateSystem_G92, &gc_state.g92_coord_offset); // Save G92 offsets to non-volatile storage
|
|
system_flag_wco_change();
|
|
break;
|
|
|
|
case NonModal_ResetCoordinateOffset: // G92.1
|
|
gc_state.g92_coord_offset_applied = false;
|
|
clear_vector(gc_state.g92_coord_offset); // Disable G92 offsets by zeroing offset vector.
|
|
if(!settings.flags.g92_is_volatile)
|
|
settings_write_coord_data(CoordinateSystem_G92, &gc_state.g92_coord_offset); // Save G92 offsets to non-volatile storage
|
|
system_flag_wco_change();
|
|
break;
|
|
|
|
case NonModal_ClearCoordinateOffset: // G92.2
|
|
gc_state.g92_coord_offset_applied = false;
|
|
clear_vector(gc_state.g92_coord_offset); // Disable G92 offsets by zeroing offset vector.
|
|
system_flag_wco_change();
|
|
break;
|
|
|
|
case NonModal_RestoreCoordinateOffset: // G92.3
|
|
gc_state.g92_coord_offset_applied = true; // TODO: check for all zero?
|
|
settings_read_coord_data(CoordinateSystem_G92, &gc_state.g92_coord_offset); // Restore G92 offsets from non-volatile storage
|
|
system_flag_wco_change();
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
|
|
// [20. Motion modes ]:
|
|
// NOTE: Commands G10,G28,G30,G92 lock out and prevent axis words from use in motion modes.
|
|
// Enter motion modes only if there are axis words or a motion mode command word in the block.
|
|
gc_state.modal.motion = gc_block.modal.motion;
|
|
gc_state.modal.canned_cycle_active = gc_block.modal.canned_cycle_active;
|
|
|
|
if (gc_state.modal.motion != MotionMode_None && axis_command == AxisCommand_MotionMode) {
|
|
|
|
plan_data.output_commands = output_commands;
|
|
output_commands = NULL;
|
|
|
|
pos_update_t gc_update_pos = GCUpdatePos_Target;
|
|
|
|
switch(gc_state.modal.motion) {
|
|
|
|
case MotionMode_Linear:
|
|
if(gc_state.modal.feed_mode == FeedMode_UnitsPerRev) {
|
|
plan_data.condition.spindle.synchronized = On;
|
|
//?? gc_state.distance_per_rev = plan_data.feed_rate;
|
|
// check initial feed rate - fail if zero?
|
|
}
|
|
mc_line(gc_block.values.xyz, &plan_data);
|
|
break;
|
|
|
|
case MotionMode_Seek:
|
|
plan_data.condition.rapid_motion = On; // Set rapid motion condition flag.
|
|
mc_line(gc_block.values.xyz, &plan_data);
|
|
break;
|
|
|
|
case MotionMode_CwArc:
|
|
case MotionMode_CcwArc:
|
|
// fail if spindle synchronized motion?
|
|
mc_arc(gc_block.values.xyz, &plan_data, gc_state.position, gc_block.values.ijk, gc_block.values.r,
|
|
plane, gc_parser_flags.arc_is_clockwise ? gc_block.arc_turns : - gc_block.arc_turns);
|
|
break;
|
|
|
|
case MotionMode_CubicSpline:
|
|
{
|
|
point_2d cp1 = {
|
|
.x = gc_state.position[X_AXIS] + gc_block.values.ijk[X_AXIS],
|
|
.y = gc_state.position[Y_AXIS] + gc_block.values.ijk[Y_AXIS]
|
|
};
|
|
point_2d cp2 = {
|
|
.x = gc_block.values.xyz[X_AXIS] + gc_state.modal.spline_pq[X_AXIS],
|
|
.y = gc_block.values.xyz[Y_AXIS] + gc_state.modal.spline_pq[Y_AXIS]
|
|
};
|
|
mc_cubic_b_spline(gc_block.values.xyz, &plan_data, gc_state.position, cp1.values, cp2.values);
|
|
}
|
|
break;
|
|
|
|
case MotionMode_QuadraticSpline:
|
|
{
|
|
point_2d cp1 = {
|
|
.x = gc_state.position[X_AXIS] + (gc_block.values.ijk[X_AXIS] * 2.0f) / 3.0f,
|
|
.y = gc_state.position[Y_AXIS] + (gc_block.values.ijk[Y_AXIS] * 2.0f) / 3.0f
|
|
};
|
|
point_2d cp2 = {
|
|
.x = gc_block.values.xyz[X_AXIS] + ((gc_state.position[X_AXIS] + gc_block.values.ijk[X_AXIS] - gc_block.values.xyz[X_AXIS]) * 2.0f) / 3.0f,
|
|
.y = gc_block.values.xyz[Y_AXIS] + ((gc_state.position[Y_AXIS] + gc_block.values.ijk[Y_AXIS] - gc_block.values.xyz[Y_AXIS]) * 2.0f) / 3.0f
|
|
};
|
|
mc_cubic_b_spline(gc_block.values.xyz, &plan_data, gc_state.position, cp1.values, cp2.values);
|
|
}
|
|
break;
|
|
|
|
case MotionMode_SpindleSynchronized:
|
|
{
|
|
protocol_buffer_synchronize(); // Wait until any previous moves are finished.
|
|
|
|
gc_override_flags_t overrides = sys.override.control; // Save current override disable status.
|
|
|
|
status_code_t status = init_sync_motion(&plan_data, gc_block.values.k);
|
|
if(status != Status_OK)
|
|
FAIL(status);
|
|
|
|
plan_data.condition.spindle.synchronized = On;
|
|
|
|
mc_line(gc_block.values.xyz, &plan_data);
|
|
|
|
protocol_buffer_synchronize(); // Wait until synchronized move is finished,
|
|
sys.override.control = overrides; // then restore previous override disable status.
|
|
}
|
|
break;
|
|
|
|
case MotionMode_Threading:
|
|
{
|
|
protocol_buffer_synchronize(); // Wait until any previous moves are finished.
|
|
|
|
gc_override_flags_t overrides = sys.override.control; // Save current override disable status.
|
|
|
|
status_code_t status = init_sync_motion(&plan_data, thread.pitch);
|
|
if(status != Status_OK)
|
|
FAIL(status);
|
|
|
|
mc_thread(&plan_data, gc_state.position, &thread, overrides.feed_hold_disable);
|
|
|
|
sys.override.control = overrides; // then restore previous override disable status.
|
|
}
|
|
break;
|
|
|
|
case MotionMode_DrillChipBreak:
|
|
case MotionMode_CannedCycle81:
|
|
case MotionMode_CannedCycle82:
|
|
case MotionMode_CannedCycle83:;
|
|
plan_data.spindle.rpm = gc_block.values.s;
|
|
gc_state.canned.retract_mode = gc_state.modal.retract_mode;
|
|
mc_canned_drill(gc_state.modal.motion, gc_block.values.xyz, &plan_data, gc_state.position, plane, gc_block.values.l, &gc_state.canned);
|
|
break;
|
|
|
|
case MotionMode_ProbeToward:
|
|
case MotionMode_ProbeTowardNoError:
|
|
case MotionMode_ProbeAway:
|
|
case MotionMode_ProbeAwayNoError:
|
|
// NOTE: gc_block.values.xyz is returned from mc_probe_cycle with the updated position value. So
|
|
// upon a successful probing cycle, the machine position and the returned value should be the same.
|
|
plan_data.condition.no_feed_override = !settings.probe.allow_feed_override;
|
|
gc_update_pos = (pos_update_t)mc_probe_cycle(gc_block.values.xyz, &plan_data, gc_parser_flags);
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
|
|
// Do not update position on cancel (already done in protocol_exec_rt_system)
|
|
if(sys.cancel)
|
|
gc_update_pos = GCUpdatePos_None;
|
|
|
|
// Clean out any remaining output commands (may linger on error)
|
|
while(plan_data.output_commands) {
|
|
output_command_t *next = plan_data.output_commands;
|
|
free(plan_data.output_commands);
|
|
plan_data.output_commands = next;
|
|
}
|
|
|
|
// As far as the parser is concerned, the position is now == target. In reality the
|
|
// motion control system might still be processing the action and the real tool position
|
|
// in any intermediate location.
|
|
if (gc_update_pos == GCUpdatePos_Target)
|
|
memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_state.position)); // gc_state.position[] = gc_block.values.xyz[]
|
|
else if (gc_update_pos == GCUpdatePos_System)
|
|
gc_sync_position(); // gc_state.position[] = sys.position
|
|
// == GCUpdatePos_None
|
|
}
|
|
|
|
if(plan_data.message) {
|
|
report_message(plan_data.message, Message_Plain);
|
|
free(plan_data.message);
|
|
}
|
|
|
|
// [21. Program flow ]:
|
|
// M0,M1,M2,M30,M60: Perform non-running program flow actions. During a program pause, the buffer may
|
|
// refill and can only be resumed by the cycle start run-time command.
|
|
gc_state.modal.program_flow = gc_block.modal.program_flow;
|
|
|
|
if (gc_state.modal.program_flow || sys.flags.single_block) {
|
|
|
|
protocol_buffer_synchronize(); // Sync and finish all remaining buffered motions before moving on.
|
|
|
|
if (gc_state.modal.program_flow == ProgramFlow_Paused || gc_block.modal.program_flow == ProgramFlow_OptionalStop || gc_block.modal.program_flow == ProgramFlow_CompletedM60 || sys.flags.single_block) {
|
|
if (!check_mode) {
|
|
if(gc_block.modal.program_flow == ProgramFlow_CompletedM60 && hal.pallet_shuttle)
|
|
hal.pallet_shuttle();
|
|
system_set_exec_state_flag(EXEC_FEED_HOLD); // Use feed hold for program pause.
|
|
protocol_execute_realtime(); // Execute suspend.
|
|
}
|
|
} else { // == ProgramFlow_Completed
|
|
// Upon program complete, only a subset of g-codes reset to certain defaults, according to
|
|
// LinuxCNC's program end descriptions and testing. Only modal groups [G-code 1,2,3,5,7,12]
|
|
// and [M-code 7,8,9] reset to [G1,G17,G90,G94,G40,G54,M5,M9,M48]. The remaining modal groups
|
|
// [G-code 4,6,8,10,13,14,15] and [M-code 4,5,6] and the modal words [F,S,T,H] do not reset.
|
|
|
|
if(!check_mode && gc_block.modal.program_flow == ProgramFlow_CompletedM30 && hal.pallet_shuttle)
|
|
hal.pallet_shuttle();
|
|
|
|
gc_state.file_run = false;
|
|
gc_state.modal.motion = MotionMode_Linear;
|
|
gc_block.modal.canned_cycle_active = false;
|
|
gc_state.modal.plane_select = PlaneSelect_XY;
|
|
// gc_state.modal.plane_select = settings.flags.lathe_mode ? PlaneSelect_ZX : PlaneSelect_XY;
|
|
gc_state.modal.spindle_rpm_mode = SpindleSpeedMode_RPM; // NOTE: not compliant with linuxcnc (?)
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gc_state.modal.distance_incremental = false;
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|
gc_state.modal.feed_mode = FeedMode_UnitsPerMin;
|
|
// TODO: check gc_state.distance_per_rev = 0.0f;
|
|
// gc_state.modal.cutter_comp = CUTTER_COMP_DISABLE; // Not supported.
|
|
gc_state.modal.coord_system.id = CoordinateSystem_G54;
|
|
gc_state.modal.spindle = (spindle_state_t){0};
|
|
gc_state.modal.coolant = (coolant_state_t){0};
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|
gc_state.modal.override_ctrl.feed_rate_disable = Off;
|
|
gc_state.modal.override_ctrl.spindle_rpm_disable = Off;
|
|
if(settings.parking.flags.enabled)
|
|
gc_state.modal.override_ctrl.parking_disable = settings.parking.flags.enable_override_control &&
|
|
settings.parking.flags.deactivate_upon_init;
|
|
sys.override.control = gc_state.modal.override_ctrl;
|
|
|
|
if(settings.flags.restore_overrides) {
|
|
sys.override.feed_rate = DEFAULT_FEED_OVERRIDE;
|
|
sys.override.rapid_rate = DEFAULT_RAPID_OVERRIDE;
|
|
sys.override.spindle_rpm = DEFAULT_SPINDLE_RPM_OVERRIDE;
|
|
}
|
|
|
|
// Execute coordinate change and spindle/coolant stop.
|
|
if (!check_mode) {
|
|
|
|
if (!(settings_read_coord_data(gc_state.modal.coord_system.id, &gc_state.modal.coord_system.xyz)))
|
|
FAIL(Status_SettingReadFail);
|
|
|
|
#if COMPATIBILITY_LEVEL <= 1
|
|
float g92_offset_stored[N_AXIS];
|
|
if(settings_read_coord_data(CoordinateSystem_G92, &g92_offset_stored) && !isequal_position_vector(g92_offset_stored, gc_state.g92_coord_offset))
|
|
settings_write_coord_data(CoordinateSystem_G92, &gc_state.g92_coord_offset); // Save G92 offsets to non-volatile storage
|
|
#endif
|
|
|
|
system_flag_wco_change(); // Set to refresh immediately just in case something altered.
|
|
hal.spindle.set_state(gc_state.modal.spindle, 0.0f);
|
|
hal.coolant.set_state(gc_state.modal.coolant);
|
|
sys.report.spindle = sys.report.coolant = On; // Set to report change immediately
|
|
}
|
|
|
|
if(grbl.on_program_completed)
|
|
grbl.on_program_completed(gc_state.modal.program_flow, check_mode);
|
|
|
|
// Clear any pending output commands
|
|
while(output_commands) {
|
|
output_command_t *next = output_commands->next;
|
|
free(output_commands);
|
|
output_commands = next;
|
|
}
|
|
|
|
grbl.report.feedback_message(Message_ProgramEnd);
|
|
}
|
|
gc_state.modal.program_flow = ProgramFlow_Running; // Reset program flow.
|
|
}
|
|
|
|
#if NGC_EXPRESSIONS_ENABLE
|
|
if(ngc_param_count) do {
|
|
ngc_param_count--;
|
|
ngc_param_set(ngc_params[ngc_param_count].id, ngc_params[ngc_param_count].value);
|
|
} while(ngc_param_count);
|
|
#endif
|
|
|
|
// TODO: % to denote start of program.
|
|
|
|
return Status_OK;
|
|
}
|