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gcode.h
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/*
gcode.h - rs274/ngc parser.
Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef gcode_h
#define gcode_h
#include "system.h"
// Define modal group internal numbers for checking multiple command violations and tracking the
// type of command that is called in the block. A modal group is a group of g-code commands that are
// mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute
// a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online,
// and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc).
// NOTE: Modal group define values must be sequential and starting from zero.
#define MODAL_GROUP_G0 0 // [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal
#define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G38.2,G80] Motion
#define MODAL_GROUP_G2 2 // [G17,G18,G19] Plane selection
#define MODAL_GROUP_G3 3 // [G90,G91] Distance mode
#define MODAL_GROUP_G5 4 // [G93,G94] Feed rate mode
#define MODAL_GROUP_G6 5 // [G20,G21] Units
#define MODAL_GROUP_G8 6 // [G43,G43.1,G49] Tool length offset
#define MODAL_GROUP_G12 7 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
#define MODAL_GROUP_M4 8 // [M0,M1,M2,M30] Stopping
#define MODAL_GROUP_M7 9 // [M3,M4,M5] Spindle turning
#define MODAL_GROUP_M8 10 // [M7,M8,M9] Coolant control
#define OTHER_INPUT_F 11
#define OTHER_INPUT_S 12
#define OTHER_INPUT_T 13
// Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
// internally by the parser to know which command to execute.
// Modal Group G0: Non-modal actions
#define NON_MODAL_NO_ACTION 0 // (Default: Must be zero)
#define NON_MODAL_DWELL 1 // G4
#define NON_MODAL_SET_COORDINATE_DATA 2 // G10
#define NON_MODAL_GO_HOME_0 3 // G28
#define NON_MODAL_SET_HOME_0 4 // G28.1
#define NON_MODAL_GO_HOME_1 5 // G30
#define NON_MODAL_SET_HOME_1 6 // G30.1
#define NON_MODAL_ABSOLUTE_OVERRIDE 7 // G53
#define NON_MODAL_SET_COORDINATE_OFFSET 8 // G92
#define NON_MODAL_RESET_COORDINATE_OFFSET 9 //G92.1
// Modal Group G1: Motion modes
#define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero)
#define MOTION_MODE_LINEAR 1 // G1
#define MOTION_MODE_CW_ARC 2 // G2
#define MOTION_MODE_CCW_ARC 3 // G3
#define MOTION_MODE_PROBE 4 // G38.2
#define MOTION_MODE_NONE 5 // G80
// Modal Group G2: Plane select
#define PLANE_SELECT_XY 0 // G17 (Default: Must be zero)
#define PLANE_SELECT_ZX 1 // G18
#define PLANE_SELECT_YZ 2 // G19
// Modal Group G3: Distance mode
#define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero)
#define DISTANCE_MODE_INCREMENTAL 1 // G91
// Modal Group M4: Program flow
#define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero)
#define PROGRAM_FLOW_PAUSED 1 // M0, M1
#define PROGRAM_FLOW_COMPLETED 2 // M2, M30
// Modal Group G5: Feed rate mode
#define FEED_RATE_MODE_UNITS_PER_MIN 0 // G94 (Default: Must be zero)
#define FEED_RATE_MODE_INVERSE_TIME 1 // G93
// Modal Group G6: Units mode
#define UNITS_MODE_MM 0 // G21 (Default: Must be zero)
#define UNITS_MODE_INCHES 1 // G20
#define UNITS_MODE_STEP 2 // G66 - keyme extension
// Modal Group M7: Spindle control
#define SPINDLE_DISABLE 0 // M5 (Default: Must be zero)
#define SPINDLE_ENABLE_CW 1 // M3
#define SPINDLE_ENABLE_CCW 2 // M4
// Modal Group M8: Coolant control
#define COOLANT_DISABLE 0 // M9 (Default: Must be zero)
#define COOLANT_MIST_ENABLE 1 // M7
#define COOLANT_FLOOD_ENABLE 2 // M8
// Modal Group G8: Tool length offset
#define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero)
#define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1
// Modal Group G12: Active work coordinate system
// N/A: Stores coordinate system value (54-59) to change to.
#define WORD_F 0
#define WORD_I 1
#define WORD_J 2
#define WORD_K 3
#define WORD_L 4
#define WORD_N 5
#define WORD_P 6
#define WORD_R 7
#define WORD_S 8
#define WORD_T 9
#define WORD_X 10
#define WORD_Y 11
#define WORD_Z 12
#define WORD_C 13
// NOTE: When this struct is zeroed, the above defines set the defaults for the system.
typedef struct {
uint8_t motion; // {G0,G1,G2,G3,G80}
uint8_t feed_rate; // {G93,G94}
uint8_t units; // {G20,G21}
uint8_t distance; // {G90,G91}
uint8_t plane_select; // {G17,G18,G19}
uint8_t tool_length; // {G43.1,G49}
uint8_t coord_select; // {G54,G55,G56,G57,G58,G59}
uint8_t program_flow; // {M0,M1,M2,M30}
uint8_t coolant; // {M7,M8,M9}
uint8_t spindle; // {M3,M4,M5}
} gc_modal_t;
typedef struct {
float f; // Feed
float ijk[3]; // I,J,K Axis arc offsets
uint8_t l; // G10 or canned cycles parameters
linenumber_t n; // Line number
float p; // G10 or dwell parameters
// float q; // G82 peck drilling
float r; // Arc radius
float s; // Spindle speed
// uint8_t t; // Tool selection
float xyz[N_AXIS]; // X,Y,Z Translational axes
} gc_values_t;
typedef struct {
gc_modal_t modal;
float spindle_speed; // RPM
float feed_rate; // Millimeters/min
uint8_t tool; // Tracks tool number. NOT USED.
float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code
float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine
// position in mm. Loaded from EEPROM when called.
float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to
// machine zero in mm. Non-persistent. Cleared upon reset and boot.
float tool_length_offset; // Tracks tool length offset value when enabled.
} parser_state_t;
extern parser_state_t gc_state;
typedef struct {
// uint16_t command_words; // NOTE: If this bitflag variable fills, G and M words can be separated.
// uint16_t value_words;
uint8_t non_modal_command;
gc_modal_t modal;
gc_values_t values;
} parser_block_t;
extern parser_block_t gc_block;
// Initialize the parser
void gc_init();
// Execute one block of rs275/ngc/g-code
uint8_t gc_execute_line(char *line);
// Set g-code parser position. Input in steps.
void gc_sync_position();
#endif