* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
* OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
-#include "tinyg.h" // #1
+#include "tinyg.h" // #1
#include "config.h" // #2
#include "controller.h"
#include "gcode_parser.h"
#include "spindle.h"
#include "util.h"
-struct gcodeParserSingleton { // struct to manage globals
- uint8_t modals[MODAL_GROUP_COUNT];// collects modal groups in a block
+struct gcodeParserSingleton { // struct to manage globals
+ uint8_t modals[MODAL_GROUP_COUNT]; // collects modal groups in a block
}; struct gcodeParserSingleton gp;
// local helper functions and macros
#define SET_NON_MODAL(parm,val) ({cm.gn.parm=val; cm.gf.parm=1; break;})
#define EXEC_FUNC(f,v) if((uint8_t)cm.gf.v != false) { status = f(cm.gn.v);}
-/*
- * gc_gcode_parser() - parse a block (line) of gcode
- *
- * Top level of gcode parser. Normalizes block and looks for special cases
- */
-stat_t gc_gcode_parser(char_t *block)
-{
- char_t *str = block; // gcode command or 0 string
- char_t none = 0;
- char_t *com = &none; // gcode comment or 0 string
- char_t *msg = &none; // gcode message or 0 string
- uint8_t block_delete_flag;
+/// Parse a block (line) of gcode
+/// Top level of gcode parser. Normalizes block and looks for special cases
+stat_t gc_gcode_parser(char_t *block) {
+ char_t *str = block; // gcode command or 0 string
+ char_t none = 0;
+ char_t *com = &none; // gcode comment or 0 string
+ char_t *msg = &none; // gcode message or 0 string
+ uint8_t block_delete_flag;
- // don't process Gcode blocks if in alarmed state
- if (cm.machine_state == MACHINE_ALARM) return STAT_MACHINE_ALARMED;
+ // don't process Gcode blocks if in alarmed state
+ if (cm.machine_state == MACHINE_ALARM) return STAT_MACHINE_ALARMED;
- _normalize_gcode_block(str, &com, &msg, &block_delete_flag);
+ _normalize_gcode_block(str, &com, &msg, &block_delete_flag);
- // Block delete omits the line if a / char is present in the first space
- // For now this is unconditional and will always delete
- if (block_delete_flag) return STAT_NOOP;
+ // Block delete omits the line if a / char is present in the first space
+ // For now this is unconditional and will always delete
+ if (block_delete_flag) return STAT_NOOP;
- // queue a "(MSG" response
- if (*msg) cm_message(msg); // queue the message
+ // queue a "(MSG" response
+ if (*msg) cm_message(msg); // queue the message
- return _parse_gcode_block(block);
+ return _parse_gcode_block(block);
}
+
/*
- * _normalize_gcode_block() - normalize a block (line) of gcode in place
+ * Normalize a block (line) of gcode in place
*
* Normalization functions:
* - convert all letters to upper case
* - block_delete_flag is set true if block delete encountered, false otherwise
*/
-static void _normalize_gcode_block(char_t *str, char_t **com, char_t **msg, uint8_t *block_delete_flag)
-{
- char_t *rd = str; // read pointer
- char_t *wr = str; // write pointer
-
- // Preset comments and messages to 0 string
- // Not required if com and msg already point to 0 on entry
-// for (rd = str; *rd != 0; rd++) { if (*rd == 0) { *com = rd; *msg = rd; rd = str;} }
-
- // mark block deletes
- if (*rd == '/') { *block_delete_flag = true; }
- else { *block_delete_flag = false; }
-
- // normalize the command block & find the comment (if any)
- for (; *wr != 0; rd++) {
- if (*rd == 0) { *wr = 0; }
- else if ((*rd == '(') || (*rd == ';')) { *wr = 0; *com = rd+1; }
- else if ((isalnum((char)*rd)) || (strchr("-.", *rd))) { // all valid characters
- *(wr++) = (char_t)toupper((char)*(rd));
- }
- }
+static void _normalize_gcode_block(char_t *str, char_t **com, char_t **msg, uint8_t *block_delete_flag) {
+ char_t *rd = str; // read pointer
+ char_t *wr = str; // write pointer
- // Perform Octal stripping - remove invalid leading zeros in number strings
- rd = str;
- while (*rd != 0) {
- if (*rd == '.') break; // don't strip past a decimal point
- if ((!isdigit(*rd)) && (*(rd+1) == '0') && (isdigit(*(rd+2)))) {
- wr = rd+1;
- while (*wr != 0) { *wr = *(wr+1); wr++;} // copy forward w/overwrite
- continue;
- }
- rd++;
- }
+ // mark block deletes
+ if (*rd == '/') { *block_delete_flag = true; }
+ else { *block_delete_flag = false; }
- // process comments and messages
- if (**com != 0) {
- rd = *com;
- while (isspace(*rd)) { rd++; } // skip any leading spaces before "msg"
- if ((tolower(*rd) == 'm') && (tolower(*(rd+1)) == 's') && (tolower(*(rd+2)) == 'g')) {
- *msg = rd+3;
- }
- for (; *rd != 0; rd++) {
- if (*rd == ')') *rd = 0; // 0 terminate on trailing parenthesis, if any
- }
+ // normalize the command block & find the comment (if any)
+ for (; *wr != 0; rd++) {
+ if (*rd == 0) { *wr = 0; }
+ else if ((*rd == '(') || (*rd == ';')) { *wr = 0; *com = rd+1; }
+ else if ((isalnum((char)*rd)) || (strchr("-.", *rd))) { // all valid characters
+ *(wr++) = (char_t)toupper((char)*(rd));
}
+ }
+
+ // Perform Octal stripping - remove invalid leading zeros in number strings
+ rd = str;
+ while (*rd != 0) {
+ if (*rd == '.') break; // don't strip past a decimal point
+ if ((!isdigit(*rd)) && (*(rd + 1) == '0') && (isdigit(*(rd + 2)))) {
+ wr = rd + 1;
+ while (*wr != 0) {*wr = *(wr + 1); wr++;} // copy forward w/overwrite
+ continue;
+ }
+ rd++;
+ }
+
+ // process comments and messages
+ if (**com != 0) {
+ rd = *com;
+ while (isspace(*rd)) { rd++; } // skip any leading spaces before "msg"
+ if ((tolower(*rd) == 'm') && (tolower(*(rd+1)) == 's') && (tolower(*(rd+2)) == 'g'))
+ *msg = rd + 3;
+
+ for (; *rd != 0; rd++)
+ if (*rd == ')') *rd = 0; // 0 terminate on trailing parenthesis, if any
+ }
}
+
/*
- * _get_next_gcode_word() - get gcode word consisting of a letter and a value
+ * Get gcode word consisting of a letter and a value
*
* This function requires the Gcode string to be normalized.
* Normalization must remove any leading zeros or they will be converted to Octal
* G0X... is not interpreted as hexadecimal. This is trapped.
*/
-static stat_t _get_next_gcode_word(char **pstr, char *letter, float *value)
-{
- if (**pstr == 0)
- return STAT_COMPLETE; // no more words to process
-
- // get letter part
- if(isupper(**pstr) == false)
- return STAT_INVALID_OR_MALFORMED_COMMAND;
- *letter = **pstr;
+static stat_t _get_next_gcode_word(char **pstr, char *letter, float *value) {
+ if (**pstr == 0) return STAT_COMPLETE; // no more words to process
+
+ // get letter part
+ if(isupper(**pstr) == false)
+ return STAT_INVALID_OR_MALFORMED_COMMAND;
+ *letter = **pstr;
+ (*pstr)++;
+
+ // X-axis-becomes-a-hexadecimal-number get-value case, e.g. G0X100 --> G255
+ if ((**pstr == '0') && (*(*pstr+1) == 'X')) {
+ *value = 0;
(*pstr)++;
+ return STAT_OK; // pointer points to X
+ }
- // X-axis-becomes-a-hexadecimal-number get-value case, e.g. G0X100 --> G255
- if ((**pstr == '0') && (*(*pstr+1) == 'X')) {
- *value = 0;
- (*pstr)++;
- return STAT_OK; // pointer points to X
- }
+ // get-value general case
+ char *end;
+ *value = strtof(*pstr, &end);
+ if (end == *pstr) return STAT_BAD_NUMBER_FORMAT; // more robust test then checking for value=0;
+ *pstr = end;
- // get-value general case
- char *end;
- *value = strtof(*pstr, &end);
- if(end == *pstr)
- return STAT_BAD_NUMBER_FORMAT; // more robust test then checking for value=0;
- *pstr = end;
- return STAT_OK; // pointer points to next character after the word
+ return STAT_OK; // pointer points to next character after the word
}
-/*
- * _point() - isolate the decimal point value as an integer
- */
-static uint8_t _point(float value)
-{
- return (uint8_t)(value*10 - trunc(value)*10); // isolate the decimal point as an int
+
+/// Isolate the decimal point value as an integer
+static uint8_t _point(float value) {
+ return (uint8_t)(value * 10 - trunc(value) * 10); // isolate the decimal point as an int
}
-/*
- * _validate_gcode_block() - check for some gross Gcode block semantic violations
- */
-static stat_t _validate_gcode_block()
-{
- // Check for modal group violations. From NIST, section 3.4 "It is an error to put
- // a G-code from group 1 and a G-code from group 0 on the same line if both of them
- // use axis words. If an axis word-using G-code from group 1 is implicitly in effect
- // on a line (by having been activated on an earlier line), and a group 0 G-code that
- // uses axis words appears on the line, the activity of the group 1 G-code is suspended
- // for that line. The axis word-using G-codes from group 0 are G10, G28, G30, and G92"
-
-// if ((gp.modals[MODAL_GROUP_G0] == true) && (gp.modals[MODAL_GROUP_G1] == true)) {
-// return STAT_MODAL_GROUP_VIOLATION;
-// }
-
- // look for commands that require an axis word to be present
-// if ((gp.modals[MODAL_GROUP_G0] == true) || (gp.modals[MODAL_GROUP_G1] == true)) {
-// if (_axis_changed() == false)
-// return STAT_GCODE_AXIS_IS_MISSING;
-// }
- return STAT_OK;
+/// Check for some gross Gcode block semantic violations
+static stat_t _validate_gcode_block() {
+ // Check for modal group violations. From NIST, section 3.4 "It is an error to put
+ // a G-code from group 1 and a G-code from group 0 on the same line if both of them
+ // use axis words. If an axis word-using G-code from group 1 is implicitly in effect
+ // on a line (by having been activated on an earlier line), and a group 0 G-code that
+ // uses axis words appears on the line, the activity of the group 1 G-code is suspended
+ // for that line. The axis word-using G-codes from group 0 are G10, G28, G30, and G92"
+
+ // if ((gp.modals[MODAL_GROUP_G0] == true) && (gp.modals[MODAL_GROUP_G1] == true)) {
+ // return STAT_MODAL_GROUP_VIOLATION;
+ // }
+
+ // look for commands that require an axis word to be present
+ // if ((gp.modals[MODAL_GROUP_G0] == true) || (gp.modals[MODAL_GROUP_G1] == true)) {
+ // if (_axis_changed() == false)
+ // return STAT_GCODE_AXIS_IS_MISSING;
+ // }
+ return STAT_OK;
}
+
/*
- * _parse_gcode_block() - parses one line of 0 terminated G-Code.
+ * Parses one line of 0 terminated G-Code.
*
* All the parser does is load the state values in gn (next model state) and set flags
* in gf (model state flags). The execute routine applies them. The buffer is assumed to
* A number of implicit things happen when the gn struct is zeroed:
* - inverse feed rate mode is canceled - set back to units_per_minute mode
*/
-static stat_t _parse_gcode_block(char_t *buf)
-{
- char *pstr = (char *)buf; // persistent pointer into gcode block for parsing words
- char letter; // parsed letter, eg.g. G or X or Y
- float value = 0; // value parsed from letter (e.g. 2 for G2)
- stat_t status = STAT_OK;
-
- // set initial state for new move
- memset(&gp, 0, sizeof(gp)); // clear all parser values
- memset(&cm.gf, 0, sizeof(GCodeInput_t)); // clear all next-state flags
- memset(&cm.gn, 0, sizeof(GCodeInput_t)); // clear all next-state values
- cm.gn.motion_mode = cm_get_motion_mode(MODEL); // get motion mode from previous block
-
- // extract commands and parameters
- while((status = _get_next_gcode_word(&pstr, &letter, &value)) == STAT_OK) {
- switch(letter) {
- case 'G':
- switch((uint8_t)value) {
- case 0: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_STRAIGHT_TRAVERSE);
- case 1: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_STRAIGHT_FEED);
- case 2: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_CW_ARC);
- case 3: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_CCW_ARC);
- case 4: SET_NON_MODAL (next_action, NEXT_ACTION_DWELL);
- case 10: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_COORD_DATA);
- case 17: SET_MODAL (MODAL_GROUP_G2, select_plane, CANON_PLANE_XY);
- case 18: SET_MODAL (MODAL_GROUP_G2, select_plane, CANON_PLANE_XZ);
- case 19: SET_MODAL (MODAL_GROUP_G2, select_plane, CANON_PLANE_YZ);
- case 20: SET_MODAL (MODAL_GROUP_G6, units_mode, INCHES);
- case 21: SET_MODAL (MODAL_GROUP_G6, units_mode, MILLIMETERS);
- case 28: {
- switch (_point(value)) {
- case 0: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_GOTO_G28_POSITION);
- case 1: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_G28_POSITION);
- case 2: SET_NON_MODAL (next_action, NEXT_ACTION_SEARCH_HOME);
- case 3: SET_NON_MODAL (next_action, NEXT_ACTION_SET_ABSOLUTE_ORIGIN);
- case 4: SET_NON_MODAL (next_action, NEXT_ACTION_HOMING_NO_SET);
- default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
- }
- break;
- }
- case 30: {
- switch (_point(value)) {
- case 0: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_GOTO_G30_POSITION);
- case 1: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_G30_POSITION);
- default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
- }
- break;
- }
- case 38: {
- switch (_point(value)) {
- case 2: SET_NON_MODAL (next_action, NEXT_ACTION_STRAIGHT_PROBE);
- default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
- }
- break;
- }
- case 40: break; // ignore cancel cutter radius compensation
- case 49: break; // ignore cancel tool length offset comp.
- case 53: SET_NON_MODAL (absolute_override, true);
- case 54: SET_MODAL (MODAL_GROUP_G12, coord_system, G54);
- case 55: SET_MODAL (MODAL_GROUP_G12, coord_system, G55);
- case 56: SET_MODAL (MODAL_GROUP_G12, coord_system, G56);
- case 57: SET_MODAL (MODAL_GROUP_G12, coord_system, G57);
- case 58: SET_MODAL (MODAL_GROUP_G12, coord_system, G58);
- case 59: SET_MODAL (MODAL_GROUP_G12, coord_system, G59);
- case 61: {
- switch (_point(value)) {
- case 0: SET_MODAL (MODAL_GROUP_G13, path_control, PATH_EXACT_PATH);
- case 1: SET_MODAL (MODAL_GROUP_G13, path_control, PATH_EXACT_STOP);
- default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
- }
- break;
- }
- case 64: SET_MODAL (MODAL_GROUP_G13,path_control, PATH_CONTINUOUS);
- case 80: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_CANCEL_MOTION_MODE);
-// case 90: SET_MODAL (MODAL_GROUP_G3, distance_mode, ABSOLUTE_MODE);
-// case 91: SET_MODAL (MODAL_GROUP_G3, distance_mode, INCREMENTAL_MODE);
- case 90: {
- switch (_point(value)) {
- case 0: SET_MODAL (MODAL_GROUP_G3, distance_mode, ABSOLUTE_MODE);
- case 1: SET_MODAL (MODAL_GROUP_G3, arc_distance_mode, ABSOLUTE_MODE);
- default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
- }
- break;
- }
- case 91: {
- switch (_point(value)) {
- case 0: SET_MODAL (MODAL_GROUP_G3, distance_mode, INCREMENTAL_MODE);
- case 1: SET_MODAL (MODAL_GROUP_G3, arc_distance_mode, INCREMENTAL_MODE);
- default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
- }
- break;
- }
- case 92: {
- switch (_point(value)) {
- case 0: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_ORIGIN_OFFSETS);
- case 1: SET_NON_MODAL (next_action, NEXT_ACTION_RESET_ORIGIN_OFFSETS);
- case 2: SET_NON_MODAL (next_action, NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS);
- case 3: SET_NON_MODAL (next_action, NEXT_ACTION_RESUME_ORIGIN_OFFSETS);
- default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
- }
- break;
- }
- case 93: SET_MODAL (MODAL_GROUP_G5, feed_rate_mode, INVERSE_TIME_MODE);
- case 94: SET_MODAL (MODAL_GROUP_G5, feed_rate_mode, UNITS_PER_MINUTE_MODE);
-// case 95: SET_MODAL (MODAL_GROUP_G5, feed_rate_mode, UNITS_PER_REVOLUTION_MODE);
- default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
- }
- break;
-
- case 'M':
- switch((uint8_t)value) {
- case 0: case 1: case 60:
- SET_MODAL (MODAL_GROUP_M4, program_flow, PROGRAM_STOP);
- case 2: case 30:
- SET_MODAL (MODAL_GROUP_M4, program_flow, PROGRAM_END);
- case 3: SET_MODAL (MODAL_GROUP_M7, spindle_mode, SPINDLE_CW);
- case 4: SET_MODAL (MODAL_GROUP_M7, spindle_mode, SPINDLE_CCW);
- case 5: SET_MODAL (MODAL_GROUP_M7, spindle_mode, SPINDLE_OFF);
- case 6: SET_NON_MODAL (tool_change, true);
- case 7: SET_MODAL (MODAL_GROUP_M8, mist_coolant, true);
- case 8: SET_MODAL (MODAL_GROUP_M8, flood_coolant, true);
- case 9: SET_MODAL (MODAL_GROUP_M8, flood_coolant, false);
- case 48: SET_MODAL (MODAL_GROUP_M9, override_enables, true);
- case 49: SET_MODAL (MODAL_GROUP_M9, override_enables, false);
- case 50: SET_MODAL (MODAL_GROUP_M9, feed_rate_override_enable, true); // conditionally true
- case 51: SET_MODAL (MODAL_GROUP_M9, spindle_override_enable, true); // conditionally true
- default: status = STAT_MCODE_COMMAND_UNSUPPORTED;
- }
- break;
-
- case 'T': SET_NON_MODAL (tool_select, (uint8_t)trunc(value));
- case 'F': SET_NON_MODAL (feed_rate, value);
- case 'P': SET_NON_MODAL (parameter, value); // used for dwell time, G10 coord select, rotations
- case 'S': SET_NON_MODAL (spindle_speed, value);
- case 'X': SET_NON_MODAL (target[AXIS_X], value);
- case 'Y': SET_NON_MODAL (target[AXIS_Y], value);
- case 'Z': SET_NON_MODAL (target[AXIS_Z], value);
- case 'A': SET_NON_MODAL (target[AXIS_A], value);
- case 'B': SET_NON_MODAL (target[AXIS_B], value);
- case 'C': SET_NON_MODAL (target[AXIS_C], value);
- // case 'U': SET_NON_MODAL (target[AXIS_U], value); // reserved
- // case 'V': SET_NON_MODAL (target[AXIS_V], value); // reserved
- // case 'W': SET_NON_MODAL (target[AXIS_W], value); // reserved
- case 'I': SET_NON_MODAL (arc_offset[0], value);
- case 'J': SET_NON_MODAL (arc_offset[1], value);
- case 'K': SET_NON_MODAL (arc_offset[2], value);
- case 'R': SET_NON_MODAL (arc_radius, value);
- case 'N': SET_NON_MODAL (linenum,(uint32_t)value); // line number
- case 'L': break; // not used for anything
- default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
+static stat_t _parse_gcode_block(char_t *buf) {
+ char *pstr = (char *)buf; // persistent pointer into gcode block for parsing words
+ char letter; // parsed letter, eg.g. G or X or Y
+ float value = 0; // value parsed from letter (e.g. 2 for G2)
+ stat_t status = STAT_OK;
+
+ // set initial state for new move
+ memset(&gp, 0, sizeof(gp)); // clear all parser values
+ memset(&cm.gf, 0, sizeof(GCodeInput_t)); // clear all next-state flags
+ memset(&cm.gn, 0, sizeof(GCodeInput_t)); // clear all next-state values
+ cm.gn.motion_mode = cm_get_motion_mode(MODEL); // get motion mode from previous block
+
+ // extract commands and parameters
+ while((status = _get_next_gcode_word(&pstr, &letter, &value)) == STAT_OK) {
+ switch(letter) {
+ case 'G':
+ switch((uint8_t)value) {
+ case 0: SET_MODAL(MODAL_GROUP_G1, motion_mode, MOTION_MODE_STRAIGHT_TRAVERSE);
+ case 1: SET_MODAL(MODAL_GROUP_G1, motion_mode, MOTION_MODE_STRAIGHT_FEED);
+ case 2: SET_MODAL(MODAL_GROUP_G1, motion_mode, MOTION_MODE_CW_ARC);
+ case 3: SET_MODAL(MODAL_GROUP_G1, motion_mode, MOTION_MODE_CCW_ARC);
+ case 4: SET_NON_MODAL(next_action, NEXT_ACTION_DWELL);
+ case 10: SET_MODAL(MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_COORD_DATA);
+ case 17: SET_MODAL(MODAL_GROUP_G2, select_plane, CANON_PLANE_XY);
+ case 18: SET_MODAL(MODAL_GROUP_G2, select_plane, CANON_PLANE_XZ);
+ case 19: SET_MODAL(MODAL_GROUP_G2, select_plane, CANON_PLANE_YZ);
+ case 20: SET_MODAL(MODAL_GROUP_G6, units_mode, INCHES);
+ case 21: SET_MODAL(MODAL_GROUP_G6, units_mode, MILLIMETERS);
+ case 28:
+ switch (_point(value)) {
+ case 0: SET_MODAL(MODAL_GROUP_G0, next_action, NEXT_ACTION_GOTO_G28_POSITION);
+ case 1: SET_MODAL(MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_G28_POSITION);
+ case 2: SET_NON_MODAL(next_action, NEXT_ACTION_SEARCH_HOME);
+ case 3: SET_NON_MODAL(next_action, NEXT_ACTION_SET_ABSOLUTE_ORIGIN);
+ case 4: SET_NON_MODAL(next_action, NEXT_ACTION_HOMING_NO_SET);
+ default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
- if(status != STAT_OK) break;
+ break;
+
+ case 30:
+ switch (_point(value)) {
+ case 0: SET_MODAL(MODAL_GROUP_G0, next_action, NEXT_ACTION_GOTO_G30_POSITION);
+ case 1: SET_MODAL(MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_G30_POSITION);
+ default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
+ }
+ break;
+
+ case 38:
+ switch (_point(value)) {
+ case 2: SET_NON_MODAL(next_action, NEXT_ACTION_STRAIGHT_PROBE);
+ default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
+ }
+ break;
+
+ case 40: break; // ignore cancel cutter radius compensation
+ case 49: break; // ignore cancel tool length offset comp.
+ case 53: SET_NON_MODAL(absolute_override, true);
+ case 54: SET_MODAL(MODAL_GROUP_G12, coord_system, G54);
+ case 55: SET_MODAL(MODAL_GROUP_G12, coord_system, G55);
+ case 56: SET_MODAL(MODAL_GROUP_G12, coord_system, G56);
+ case 57: SET_MODAL(MODAL_GROUP_G12, coord_system, G57);
+ case 58: SET_MODAL(MODAL_GROUP_G12, coord_system, G58);
+ case 59: SET_MODAL(MODAL_GROUP_G12, coord_system, G59);
+ case 61:
+ switch (_point(value)) {
+ case 0: SET_MODAL(MODAL_GROUP_G13, path_control, PATH_EXACT_PATH);
+ case 1: SET_MODAL(MODAL_GROUP_G13, path_control, PATH_EXACT_STOP);
+ default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
+ }
+ break;
+
+ case 64: SET_MODAL(MODAL_GROUP_G13,path_control, PATH_CONTINUOUS);
+ case 80: SET_MODAL(MODAL_GROUP_G1, motion_mode, MOTION_MODE_CANCEL_MOTION_MODE);
+ // case 90: SET_MODAL(MODAL_GROUP_G3, distance_mode, ABSOLUTE_MODE);
+ // case 91: SET_MODAL(MODAL_GROUP_G3, distance_mode, INCREMENTAL_MODE);
+ case 90:
+ switch (_point(value)) {
+ case 0: SET_MODAL(MODAL_GROUP_G3, distance_mode, ABSOLUTE_MODE);
+ case 1: SET_MODAL(MODAL_GROUP_G3, arc_distance_mode, ABSOLUTE_MODE);
+ default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
+ }
+ break;
+
+ case 91:
+ switch (_point(value)) {
+ case 0: SET_MODAL(MODAL_GROUP_G3, distance_mode, INCREMENTAL_MODE);
+ case 1: SET_MODAL(MODAL_GROUP_G3, arc_distance_mode, INCREMENTAL_MODE);
+ default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
+ }
+ break;
+
+ case 92:
+ switch (_point(value)) {
+ case 0: SET_MODAL(MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_ORIGIN_OFFSETS);
+ case 1: SET_NON_MODAL(next_action, NEXT_ACTION_RESET_ORIGIN_OFFSETS);
+ case 2: SET_NON_MODAL(next_action, NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS);
+ case 3: SET_NON_MODAL(next_action, NEXT_ACTION_RESUME_ORIGIN_OFFSETS);
+ default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
+ }
+ break;
+
+ case 93: SET_MODAL(MODAL_GROUP_G5, feed_rate_mode, INVERSE_TIME_MODE);
+ case 94: SET_MODAL(MODAL_GROUP_G5, feed_rate_mode, UNITS_PER_MINUTE_MODE);
+ // case 95: SET_MODAL(MODAL_GROUP_G5, feed_rate_mode, UNITS_PER_REVOLUTION_MODE);
+ default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
+ }
+ break;
+
+ case 'M':
+ switch ((uint8_t)value) {
+ case 0: case 1: case 60:
+ SET_MODAL(MODAL_GROUP_M4, program_flow, PROGRAM_STOP);
+ case 2: case 30:
+ SET_MODAL(MODAL_GROUP_M4, program_flow, PROGRAM_END);
+ case 3: SET_MODAL(MODAL_GROUP_M7, spindle_mode, SPINDLE_CW);
+ case 4: SET_MODAL(MODAL_GROUP_M7, spindle_mode, SPINDLE_CCW);
+ case 5: SET_MODAL(MODAL_GROUP_M7, spindle_mode, SPINDLE_OFF);
+ case 6: SET_NON_MODAL(tool_change, true);
+ case 7: SET_MODAL(MODAL_GROUP_M8, mist_coolant, true);
+ case 8: SET_MODAL(MODAL_GROUP_M8, flood_coolant, true);
+ case 9: SET_MODAL(MODAL_GROUP_M8, flood_coolant, false);
+ case 48: SET_MODAL(MODAL_GROUP_M9, override_enables, true);
+ case 49: SET_MODAL(MODAL_GROUP_M9, override_enables, false);
+ case 50: SET_MODAL(MODAL_GROUP_M9, feed_rate_override_enable, true); // conditionally true
+ case 51: SET_MODAL(MODAL_GROUP_M9, spindle_override_enable, true); // conditionally true
+ default: status = STAT_MCODE_COMMAND_UNSUPPORTED;
+ }
+ break;
+
+ case 'T': SET_NON_MODAL(tool_select, (uint8_t)trunc(value));
+ case 'F': SET_NON_MODAL(feed_rate, value);
+ case 'P': SET_NON_MODAL(parameter, value); // used for dwell time, G10 coord select, rotations
+ case 'S': SET_NON_MODAL(spindle_speed, value);
+ case 'X': SET_NON_MODAL(target[AXIS_X], value);
+ case 'Y': SET_NON_MODAL(target[AXIS_Y], value);
+ case 'Z': SET_NON_MODAL(target[AXIS_Z], value);
+ case 'A': SET_NON_MODAL(target[AXIS_A], value);
+ case 'B': SET_NON_MODAL(target[AXIS_B], value);
+ case 'C': SET_NON_MODAL(target[AXIS_C], value);
+ // case 'U': SET_NON_MODAL(target[AXIS_U], value); // reserved
+ // case 'V': SET_NON_MODAL(target[AXIS_V], value); // reserved
+ // case 'W': SET_NON_MODAL(target[AXIS_W], value); // reserved
+ case 'I': SET_NON_MODAL(arc_offset[0], value);
+ case 'J': SET_NON_MODAL(arc_offset[1], value);
+ case 'K': SET_NON_MODAL(arc_offset[2], value);
+ case 'R': SET_NON_MODAL(arc_radius, value);
+ case 'N': SET_NON_MODAL(linenum,(uint32_t)value); // line number
+ case 'L': break; // not used for anything
+ default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
- if ((status != STAT_OK) && (status != STAT_COMPLETE)) return status;
- ritorno(_validate_gcode_block());
- return _execute_gcode_block(); // if successful execute the block
+ if (status != STAT_OK) break;
+ }
+
+ if ((status != STAT_OK) && (status != STAT_COMPLETE)) return status;
+ ritorno(_validate_gcode_block());
+
+ return _execute_gcode_block(); // if successful execute the block
}
+
/*
- * _execute_gcode_block() - execute parsed block
+ * Execute parsed block
*
* Conditionally (based on whether a flag is set in gf) call the canonical
- * machining functions in order of execution as per RS274NGC_3 table 8
+ * machining functions in order of execution as per RS274NGC_3 table 8
* (below, with modifications):
*
* 0. record the line number
* Values in gn are in original units and should not be unit converted prior
* to calling the canonical functions (which do the unit conversions)
*/
-
-static stat_t _execute_gcode_block()
-{
- stat_t status = STAT_OK;
-
- cm_set_model_linenum(cm.gn.linenum);
- EXEC_FUNC(cm_set_feed_rate_mode, feed_rate_mode);
- EXEC_FUNC(cm_set_feed_rate, feed_rate);
- EXEC_FUNC(cm_feed_rate_override_factor, feed_rate_override_factor);
- EXEC_FUNC(cm_traverse_override_factor, traverse_override_factor);
- EXEC_FUNC(cm_set_spindle_speed, spindle_speed);
- EXEC_FUNC(cm_spindle_override_factor, spindle_override_factor);
- EXEC_FUNC(cm_select_tool, tool_select); // tool_select is where it's written
- EXEC_FUNC(cm_change_tool, tool_change);
- EXEC_FUNC(cm_spindle_control, spindle_mode); // spindle on or off
- EXEC_FUNC(cm_mist_coolant_control, mist_coolant);
- EXEC_FUNC(cm_flood_coolant_control, flood_coolant); // also disables mist coolant if OFF
- EXEC_FUNC(cm_feed_rate_override_enable, feed_rate_override_enable);
- EXEC_FUNC(cm_traverse_override_enable, traverse_override_enable);
- EXEC_FUNC(cm_spindle_override_enable, spindle_override_enable);
- EXEC_FUNC(cm_override_enables, override_enables);
-
- if (cm.gn.next_action == NEXT_ACTION_DWELL) { // G4 - dwell
- ritorno(cm_dwell(cm.gn.parameter)); // return if error, otherwise complete the block
+static stat_t _execute_gcode_block() {
+ stat_t status = STAT_OK;
+
+ cm_set_model_linenum(cm.gn.linenum);
+ EXEC_FUNC(cm_set_feed_rate_mode, feed_rate_mode);
+ EXEC_FUNC(cm_set_feed_rate, feed_rate);
+ EXEC_FUNC(cm_feed_rate_override_factor, feed_rate_override_factor);
+ EXEC_FUNC(cm_traverse_override_factor, traverse_override_factor);
+ EXEC_FUNC(cm_set_spindle_speed, spindle_speed);
+ EXEC_FUNC(cm_spindle_override_factor, spindle_override_factor);
+ EXEC_FUNC(cm_select_tool, tool_select); // tool_select is where it's written
+ EXEC_FUNC(cm_change_tool, tool_change);
+ EXEC_FUNC(cm_spindle_control, spindle_mode); // spindle on or off
+ EXEC_FUNC(cm_mist_coolant_control, mist_coolant);
+ EXEC_FUNC(cm_flood_coolant_control, flood_coolant); // also disables mist coolant if OFF
+ EXEC_FUNC(cm_feed_rate_override_enable, feed_rate_override_enable);
+ EXEC_FUNC(cm_traverse_override_enable, traverse_override_enable);
+ EXEC_FUNC(cm_spindle_override_enable, spindle_override_enable);
+ EXEC_FUNC(cm_override_enables, override_enables);
+
+ if (cm.gn.next_action == NEXT_ACTION_DWELL) // G4 - dwell
+ ritorno(cm_dwell(cm.gn.parameter)); // return if error, otherwise complete the block
+
+ EXEC_FUNC(cm_select_plane, select_plane);
+ EXEC_FUNC(cm_set_units_mode, units_mode);
+ //--> cutter radius compensation goes here
+ //--> cutter length compensation goes here
+ EXEC_FUNC(cm_set_coord_system, coord_system);
+ EXEC_FUNC(cm_set_path_control, path_control);
+ EXEC_FUNC(cm_set_distance_mode, distance_mode);
+ //--> set retract mode goes here
+
+ switch (cm.gn.next_action) {
+ case NEXT_ACTION_SET_G28_POSITION: status = cm_set_g28_position(); break; // G28.1
+ case NEXT_ACTION_GOTO_G28_POSITION: status = cm_goto_g28_position(cm.gn.target, cm.gf.target); break; // G28
+ case NEXT_ACTION_SET_G30_POSITION: status = cm_set_g30_position(); break; // G30.1
+ case NEXT_ACTION_GOTO_G30_POSITION: status = cm_goto_g30_position(cm.gn.target, cm.gf.target); break; // G30
+
+ case NEXT_ACTION_SEARCH_HOME: status = cm_homing_cycle_start(); break; // G28.2
+ case NEXT_ACTION_SET_ABSOLUTE_ORIGIN: status = cm_set_absolute_origin(cm.gn.target, cm.gf.target); break; // G28.3
+ case NEXT_ACTION_HOMING_NO_SET: status = cm_homing_cycle_start_no_set(); break; // G28.4
+
+ case NEXT_ACTION_STRAIGHT_PROBE: status = cm_straight_probe(cm.gn.target, cm.gf.target); break; // G38.2
+
+ case NEXT_ACTION_SET_COORD_DATA: status = cm_set_coord_offsets(cm.gn.parameter, cm.gn.target, cm.gf.target); break;
+ case NEXT_ACTION_SET_ORIGIN_OFFSETS: status = cm_set_origin_offsets(cm.gn.target, cm.gf.target); break;
+ case NEXT_ACTION_RESET_ORIGIN_OFFSETS: status = cm_reset_origin_offsets(); break;
+ case NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS: status = cm_suspend_origin_offsets(); break;
+ case NEXT_ACTION_RESUME_ORIGIN_OFFSETS: status = cm_resume_origin_offsets(); break;
+
+ case NEXT_ACTION_DEFAULT:
+ cm_set_absolute_override(MODEL, cm.gn.absolute_override); // apply override setting to gm struct
+ switch (cm.gn.motion_mode) {
+ case MOTION_MODE_CANCEL_MOTION_MODE: cm.gm.motion_mode = cm.gn.motion_mode; break;
+ case MOTION_MODE_STRAIGHT_TRAVERSE: status = cm_straight_traverse(cm.gn.target, cm.gf.target); break;
+ case MOTION_MODE_STRAIGHT_FEED: status = cm_straight_feed(cm.gn.target, cm.gf.target); break;
+ case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
+ // gf.radius sets radius mode if radius was collected in gn
+ status = cm_arc_feed(cm.gn.target, cm.gf.target, cm.gn.arc_offset[0], cm.gn.arc_offset[1],
+ cm.gn.arc_offset[2], cm.gn.arc_radius, cm.gn.motion_mode);
+ break;
}
- EXEC_FUNC(cm_select_plane, select_plane);
- EXEC_FUNC(cm_set_units_mode, units_mode);
- //--> cutter radius compensation goes here
- //--> cutter length compensation goes here
- EXEC_FUNC(cm_set_coord_system, coord_system);
- EXEC_FUNC(cm_set_path_control, path_control);
- EXEC_FUNC(cm_set_distance_mode, distance_mode);
- //--> set retract mode goes here
-
- switch (cm.gn.next_action) {
- case NEXT_ACTION_SET_G28_POSITION: { status = cm_set_g28_position(); break;} // G28.1
- case NEXT_ACTION_GOTO_G28_POSITION: { status = cm_goto_g28_position(cm.gn.target, cm.gf.target); break;} // G28
- case NEXT_ACTION_SET_G30_POSITION: { status = cm_set_g30_position(); break;} // G30.1
- case NEXT_ACTION_GOTO_G30_POSITION: { status = cm_goto_g30_position(cm.gn.target, cm.gf.target); break;} // G30
-
- case NEXT_ACTION_SEARCH_HOME: { status = cm_homing_cycle_start(); break;} // G28.2
- case NEXT_ACTION_SET_ABSOLUTE_ORIGIN: { status = cm_set_absolute_origin(cm.gn.target, cm.gf.target); break;}// G28.3
- case NEXT_ACTION_HOMING_NO_SET: { status = cm_homing_cycle_start_no_set(); break;} // G28.4
-
- case NEXT_ACTION_STRAIGHT_PROBE: { status = cm_straight_probe(cm.gn.target, cm.gf.target); break;} // G38.2
-
- case NEXT_ACTION_SET_COORD_DATA: { status = cm_set_coord_offsets(cm.gn.parameter, cm.gn.target, cm.gf.target); break;}
- case NEXT_ACTION_SET_ORIGIN_OFFSETS: { status = cm_set_origin_offsets(cm.gn.target, cm.gf.target); break;}
- case NEXT_ACTION_RESET_ORIGIN_OFFSETS: { status = cm_reset_origin_offsets(); break;}
- case NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS: { status = cm_suspend_origin_offsets(); break;}
- case NEXT_ACTION_RESUME_ORIGIN_OFFSETS: { status = cm_resume_origin_offsets(); break;}
-
- case NEXT_ACTION_DEFAULT: {
- cm_set_absolute_override(MODEL, cm.gn.absolute_override); // apply override setting to gm struct
- switch (cm.gn.motion_mode) {
- case MOTION_MODE_CANCEL_MOTION_MODE: { cm.gm.motion_mode = cm.gn.motion_mode; break;}
- case MOTION_MODE_STRAIGHT_TRAVERSE: { status = cm_straight_traverse(cm.gn.target, cm.gf.target); break;}
- case MOTION_MODE_STRAIGHT_FEED: { status = cm_straight_feed(cm.gn.target, cm.gf.target); break;}
- case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
- // gf.radius sets radius mode if radius was collected in gn
- { status = cm_arc_feed(cm.gn.target, cm.gf.target, cm.gn.arc_offset[0], cm.gn.arc_offset[1],
- cm.gn.arc_offset[2], cm.gn.arc_radius, cm.gn.motion_mode); break;}
- }
- }
- }
- cm_set_absolute_override(MODEL, false); // un-set absolute override once the move is planned
-
- // do the program stops and ends : M0, M1, M2, M30, M60
- if (cm.gf.program_flow == true) {
- if (cm.gn.program_flow == PROGRAM_STOP) {
- cm_program_stop();
- } else {
- cm_program_end();
- }
- }
- return status;
+ }
+ cm_set_absolute_override(MODEL, false); // un-set absolute override once the move is planned
+
+ // do the program stops and ends : M0, M1, M2, M30, M60
+ if (cm.gf.program_flow == true) {
+ if (cm.gn.program_flow == PROGRAM_STOP) cm_program_stop();
+ else cm_program_end();
+ }
+
+ return status;
}
-/***********************************************************************************
- * CONFIGURATION AND INTERFACE FUNCTIONS
- * Functions to get and set variables from the cfgArray table
- ***********************************************************************************/
+stat_t gc_get_gc(nvObj_t *nv) {
+ ritorno(nv_copy_string(nv, cs.saved_buf));
+ nv->valuetype = TYPE_STRING;
-stat_t gc_get_gc(nvObj_t *nv)
-{
- ritorno(nv_copy_string(nv, cs.saved_buf));
- nv->valuetype = TYPE_STRING;
- return STAT_OK;
+ return STAT_OK;
}
-stat_t gc_run_gc(nvObj_t *nv)
-{
- return gc_gcode_parser(*nv->stringp);
+
+stat_t gc_run_gc(nvObj_t *nv) {
+ return gc_gcode_parser(*nv->stringp);
}
projects / bbctrl-firmware / commitdiff