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gcode.c
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/*
gcode.c - rs274/ngc parser.
Part of grblHAL
Copyright (c) 2017-2023 Terje Io
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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/>.
*/
#include <math.h>
#include <string.h>
#include <stdlib.h>
#include "hal.h"
#include "motion_control.h"
#include "protocol.h"
#include "state_machine.h"
#if NGC_EXPRESSIONS_ENABLE
#include "ngc_expr.h"
#include "ngc_params.h"
#include "ngc_flowctrl.h"
#endif
// NOTE: Max line number is defined by the g-code standard to be 99999. It seems to be an
// arbitrary value, and some GUIs may require more. So we increased it based on a max safe
// value when converting a float (7.2 digit precision)s to an integer.
#define MAX_LINE_NUMBER 10000000
#if N_TOOLS
#define MAX_TOOL_NUMBER N_TOOLS // Limited by max unsigned 8-bit value
#else
#define MAX_TOOL_NUMBER 4294967294 // Limited by max unsigned 32-bit value - 1
#endif
#define MACH3_SCALING
// Do not change, must be same as axis indices
#define I_VALUE X_AXIS
#define J_VALUE Y_AXIS
#define K_VALUE Z_AXIS
// Define modal groups internal bitfield 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).
typedef union {
uint32_t mask;
struct {
uint32_t G0 :1, //!< [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal
G1 :1, //!< [G0,G1,G2,G3,G33,G33.1,G38.2,G38.3,G38.4,G38.5,G76,G80] Motion
G2 :1, //!< [G17,G18,G19] Plane selection
G3 :1, //!< [G90,G91] Distance mode
G4 :1, //!< [G91.1] Arc IJK distance mode
G5 :1, //!< [G93,G94,G95] Feed rate mode
G6 :1, //!< [G20,G21] Units
G7 :1, //!< [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED.
G8 :1, //!< [G43,G43.1,G49] Tool length offset
G10 :1, //!< [G98,G99] Return mode in canned cycles
G11 :1, //!< [G50,G51] Scaling
G12 :1, //!< [G54,G55,G56,G57,G58,G59,G59.1,G59.2,G59.3] Coordinate system selection
G13 :1, //!< [G61] Control mode
G14 :1, //!< [G96,G97] Spindle Speed Mode
G15 :1, //!< [G7,G8] Lathe Diameter Mode
M4 :1, //!< [M0,M1,M2,M30] Stopping
M6 :1, //!< [M6] Tool change
M7 :1, //!< [M3,M4,M5] Spindle turning
M8 :1, //!< [M7,M8,M9] Coolant control
M9 :1, //!< [M49,M50,M51,M53,M56] Override control
M10 :1; //!< User defined M commands
};
} modal_groups_t;
typedef enum {
AxisCommand_None = 0,
AxisCommand_NonModal,
AxisCommand_MotionMode,
AxisCommand_ToolLengthOffset,
AxisCommand_Scaling
} axis_command_t;
typedef struct {
parameter_words_t parameter;
modal_groups_t modal_group;
} word_bit_t;
typedef union {
uint_fast8_t mask;
struct {
uint_fast8_t i :1,
j :1,
k :1;
};
} ijk_words_t;
// Declare gc extern struct
parser_state_t gc_state, *saved_state = NULL;
#if N_TOOLS
tool_data_t tool_table[N_TOOLS + 1];
#else
tool_data_t tool_table;
#endif
#define FAIL(status) return(status);
static gc_thread_data thread;
static output_command_t *output_commands = NULL; // Linked list
static scale_factor_t scale_factor = {
.ijk[X_AXIS] = 1.0f,
.ijk[Y_AXIS] = 1.0f,
.ijk[Z_AXIS] = 1.0f
#ifdef A_AXIS
, .ijk[A_AXIS] = 1.0f
#endif
#ifdef B_AXIS
, .ijk[B_AXIS] = 1.0f
#endif
#ifdef C_AXIS
, .ijk[C_AXIS] = 1.0f
#endif
#ifdef U_AXIS
, .ijk[U_AXIS] = 1.0f
#endif
#ifdef V_AXIS
, .ijk[V_AXIS] = 1.0f
#endif
};
// Simple hypotenuse computation function.
inline static float hypot_f (float x, float y)
{
return sqrtf(x * x + y * y);
}
inline static bool motion_is_lasercut (motion_mode_t motion)
{
return motion == MotionMode_Linear || motion == MotionMode_CwArc || motion == MotionMode_CcwArc || motion == MotionMode_CubicSpline || motion == MotionMode_QuadraticSpline;
}
parser_state_t *gc_get_state (void)
{
return &gc_state;
}
static void set_scaling (float factor)
{
uint_fast8_t idx = N_AXIS;
axes_signals_t state = gc_get_g51_state();
do {
scale_factor.ijk[--idx] = factor;
#ifdef MACH3_SCALING
scale_factor.xyz[idx] = 0.0f;
#endif
} while(idx);
gc_state.modal.scaling_active = factor != 1.0f;
if(state.value != gc_get_g51_state().value)
system_add_rt_report(Report_Scaling);
}
float *gc_get_scaling (void)
{
return scale_factor.ijk;
}
axes_signals_t gc_get_g51_state (void)
{
uint_fast8_t idx = N_AXIS;
axes_signals_t scaled = {0};
do {
scaled.value <<= 1;
if(scale_factor.ijk[--idx] != 1.0f)
scaled.value |= 0x01;
} while(idx);
return scaled;
}
float gc_get_offset (uint_fast8_t idx)
{
return gc_state.modal.coord_system.xyz[idx] + gc_state.g92_coord_offset[idx] + gc_state.tool_length_offset[idx];
}
inline static float gc_get_block_offset (parser_block_t *gc_block, uint_fast8_t idx)
{
return gc_block->modal.coord_system.xyz[idx] + gc_state.g92_coord_offset[idx] + gc_state.tool_length_offset[idx];
}
void gc_set_tool_offset (tool_offset_mode_t mode, uint_fast8_t idx, int32_t offset)
{
bool tlo_changed = false;
switch(mode) {
case ToolLengthOffset_Cancel:
idx = N_AXIS;
do {
idx--;
tlo_changed |= gc_state.tool_length_offset[idx] != 0.0f;
gc_state.tool_length_offset[idx] = 0.0f;
#ifndef N_TOOLS
gc_state.tool->offset[idx] = 0.0f;
#endif
} while(idx);
break;
case ToolLengthOffset_EnableDynamic:
{
float new_offset = offset / settings.axis[idx].steps_per_mm;
tlo_changed |= gc_state.tool_length_offset[idx] != new_offset;
gc_state.tool_length_offset[idx] = new_offset;
#ifndef N_TOOLS
gc_state.tool->offset[idx] = new_offset;
#endif
}
break;
default:
break;
}
gc_state.modal.tool_offset_mode = mode;
if(tlo_changed) {
system_add_rt_report(Report_ToolOffset);
system_flag_wco_change();
}
}
plane_t *gc_get_plane_data (plane_t *plane, plane_select_t select)
{
switch (select) {
case PlaneSelect_XY:
plane->axis_0 = X_AXIS;
plane->axis_1 = Y_AXIS;
plane->axis_linear = Z_AXIS;
break;
case PlaneSelect_ZX:
plane->axis_0 = Z_AXIS;
plane->axis_1 = X_AXIS;
plane->axis_linear = Y_AXIS;
break;
default: // case PlaneSelect_YZ:
plane->axis_0 = Y_AXIS;
plane->axis_1 = Z_AXIS;
plane->axis_linear = X_AXIS;
}
return plane;
}
void gc_init (void)
{
#if COMPATIBILITY_LEVEL > 1
memset(&gc_state, 0, sizeof(parser_state_t));
#if N_TOOLS
gc_state.tool = &tool_table[0];
#else
memset(&tool_table, 0, sizeof(tool_table));
gc_state.tool = &tool_table;
#endif
#else
if(sys.cold_start) {
memset(&gc_state, 0, sizeof(parser_state_t));
#if N_TOOLS
gc_state.tool = &tool_table[0];
#else
memset(&tool_table, 0, sizeof(tool_table));
gc_state.tool = &tool_table;
#endif
} else {
memset(&gc_state, 0, offsetof(parser_state_t, g92_coord_offset));
gc_state.tool_pending = gc_state.tool->tool;
if(hal.tool.select)
hal.tool.select(gc_state.tool, false);
// TODO: restore offsets, tool offset mode?
}
#endif
// Clear any pending output commands
while(output_commands) {
output_command_t *next = output_commands->next;
free(output_commands);
output_commands = next;
}
// Load default override status
gc_state.modal.override_ctrl = sys.override.control;
gc_state.spindle.hal = spindle_get(0);
set_scaling(1.0f);
// Load default G54 coordinate system.
if (!settings_read_coord_data(gc_state.modal.coord_system.id, &gc_state.modal.coord_system.xyz))
grbl.report.status_message(Status_SettingReadFail);
if (sys.cold_start && !settings.flags.g92_is_volatile && !settings_read_coord_data(CoordinateSystem_G92, &gc_state.g92_coord_offset))
grbl.report.status_message(Status_SettingReadFail);
if(grbl.on_wco_changed && (!sys.cold_start ||
!is0_position_vector(gc_state.modal.coord_system.xyz) ||
!is0_position_vector(gc_state.g92_coord_offset)))
grbl.on_wco_changed();
#if NGC_EXPRESSIONS_ENABLE
ngc_flowctrl_init();
#endif
// if(settings.flags.lathe_mode)
// gc_state.modal.plane_select = PlaneSelect_ZX;
}
// Set dynamic laser power mode to PPI (Pulses Per Inch)
// Returns true if driver uses hardware implementation.
// Driver support for pulsing the laser on signal is required for this to work.
bool gc_laser_ppi_enable (uint_fast16_t ppi, uint_fast16_t pulse_length)
{
gc_state.is_laser_ppi_mode = ppi > 0 && pulse_length > 0;
return grbl.on_laser_ppi_enable && grbl.on_laser_ppi_enable(ppi, pulse_length);
}
void gc_spindle_off (void)
{
gc_state.spindle.rpm = 0.0f;
gc_state.modal.spindle.state.value = 0;
spindle_all_off();
system_add_rt_report(Report_Spindle);
}
void gc_coolant_off (void)
{
gc_state.modal.coolant.value = 0;
hal.coolant.set_state(gc_state.modal.coolant);
system_add_rt_report(Report_Coolant);
}
spindle_ptrs_t *gc_spindle_get (void)
{
return gc_state.spindle.hal;
}
static tool_data_t *tool_get_pending (uint32_t tool)
{
#if N_TOOLS
return &tool_table[tool];
#else
static tool_data_t tool_data = {0};
memcpy(&tool_data, gc_state.tool, sizeof(tool_data_t));
tool_data.tool = tool;
return &tool_data;
#endif
}
static inline void tool_set (tool_data_t *tool)
{
#if N_TOOLS
gc_state.tool = tool;
#else
gc_state.tool->tool = tool->tool;
#endif
}
// Add output command to linked list
static bool add_output_command (output_command_t *command)
{
output_command_t *add_cmd;
if((add_cmd = malloc(sizeof(output_command_t)))) {
memcpy(add_cmd, command, sizeof(output_command_t));
if(output_commands == NULL)
output_commands = add_cmd;
else {
output_command_t *cmd = output_commands;
while(cmd->next)
cmd = cmd->next;
cmd->next = add_cmd;
}
}
return add_cmd != NULL;
}
static status_code_t init_sync_motion (plan_line_data_t *pl_data, float pitch)
{
pl_data->condition.inverse_time = Off;
pl_data->feed_rate = gc_state.distance_per_rev = pitch;
pl_data->spindle.css = NULL; // Switch off CSS.
pl_data->overrides = sys.override.control; // Use current override flags and
pl_data->overrides.sync = On; // set to sync overrides on execution of motion.
// Disable feed rate and spindle overrides for the duration of the cycle.
pl_data->overrides.spindle_rpm_disable = sys.override.control.spindle_rpm_disable = On;
pl_data->overrides.feed_rate_disable = sys.override.control.feed_rate_disable = On;
pl_data->spindle.hal->param->override_pct = DEFAULT_SPINDLE_RPM_OVERRIDE;
// TODO: need for gc_state.distance_per_rev to be reset on modal change?
float feed_rate = pl_data->feed_rate * pl_data->spindle.hal->get_data(SpindleData_RPM)->rpm;
if(feed_rate == 0.0f)
FAIL(Status_GcodeSpindleNotRunning); // [Spindle not running]
if(feed_rate > settings.axis[Z_AXIS].max_rate * 0.9f)
FAIL(Status_GcodeMaxFeedRateExceeded); // [Feed rate too high]
return Status_OK;
}
// Output and free previously allocated message
static void output_message (char *message)
{
if(grbl.on_gcode_message)
grbl.on_gcode_message(message);
if(*message)
report_message(message, Message_Plain);
free(message);
}
#if NGC_EXPRESSIONS_ENABLE
#define NGC_N_ASSIGN_PARAMETERS_PER_BLOCK 10
static ngc_param_t ngc_params[NGC_N_ASSIGN_PARAMETERS_PER_BLOCK];
static status_code_t read_parameter (char *line, uint_fast8_t *char_counter, float *value)
{
char c = *(line + *char_counter);
status_code_t status = Status_OK;
if(c == '#') {
(*char_counter)++;
if(*(line + *char_counter) == '<') {
(*char_counter)++;
char *pos = line = line + *char_counter;
while(*line && *line != '>')
line++;
*char_counter += line - pos + 1;
if(*line == '>') {
*line = '\0';
if(!ngc_named_param_get(pos, value))
status = Status_BadNumberFormat;
*line = '>';
} else
status = Status_BadNumberFormat;
} else if (read_float(line, char_counter, value)) {
if(!ngc_param_get((ngc_param_id_t)*value, value))
status = Status_BadNumberFormat;
} else
status = Status_BadNumberFormat;
} else if(c == '[')
status = ngc_eval_expression(line, char_counter, value);
else if(!read_float(line, char_counter, value))
*value = NAN;
return status;
}
#endif // NGC_EXPRESSIONS_ENABLE
// Remove whitespace, control characters, comments and if block delete is active block delete lines
// else the block delete character. Remaining characters are converted to upper case.
// If the driver handles message comments then the first is extracted and returned in a dynamically
// allocated memory block, the caller must free this after the message has been processed.
char *gc_normalize_block (char *block, char **message)
{
char c, *s1, *s2, *comment = NULL;
// Remove leading whitespace & control characters
while(*block && *block <= ' ')
block++;
if(*block == ';' || (*block == '/' && sys.flags.block_delete_enabled)) {
*block = '\0';
return block;
}
if(*block == '/')
block++;
s1 = s2 = block;
while((c = *s1) != '\0') {
if(c > ' ') switch(c) {
case ';':
if(!comment) {
*s1 = '\0';
continue;
}
break;
case '(':
// TODO: generate error if a left parenthesis is found inside a comment...
comment = s1;
break;
case ')':
if(comment && !gc_state.skip_blocks) {
*s1 = '\0';
if(!hal.driver_cap.no_gcode_message_handling) {
size_t len = s1 - comment - 4;
if(message && *message == NULL && !strncmp(comment, "(MSG,", 5) && (*message = malloc(len))) {
comment += 5;
// Trim leading spaces
while(*comment == ' ') {
comment++;
len--;
}
memcpy(*message, comment, len);
}
#if NGC_EXPRESSIONS_ENABLE
// Debug message string substitution
if(message && *message == NULL && !strncmp(comment, "(DEBUG,", 7)) {
if(settings.flags.ngc_debug_out) {
float value;
char *s3;
uint_fast8_t char_counter = 0;
len = 0;
comment += 7;
// Trim leading spaces
while(*comment == ' ')
comment++;
// Calculate length of substituted string
while((c = comment[char_counter++])) {
if(c == '#') {
char_counter--;
if(read_parameter(comment, &char_counter, &value) == Status_OK)
len += strlen(ftoa(value, 6));
else
len += 3; // "N/A"
} else
len++;
}
// Perform substitution
if((s3 = *message = malloc(len + 1))) {
*s3 = '\0';
char_counter = 0;
while((c = comment[char_counter++])) {
if(c == '#') {
char_counter--;
if(read_parameter(comment, &char_counter, &value) == Status_OK)
strcat(s3, ftoa(value, 6));
else
strcat(s3, "N/A");
s3 = strchr(s3, '\0');
} else {
*s3++ = c;
*s3 = '\0';
}
}
}
}
*comment = '\0'; // Do not generate grbl.on_gcode_comment event!
}
#endif // NGC_EXPRESSIONS_ENABLE
}
if(*comment && *message == NULL && grbl.on_gcode_comment)
grbl.on_gcode_comment(comment);
}
comment = NULL;
break;
default:
if(comment == NULL)
*s2++ = CAPS(c);
break;
}
#if NGC_EXPRESSIONS_ENABLE
if(comment && s1 - comment < (strncmp(comment, "(DEBU,", 5) ? 5 : 7))
*s1 = CAPS(c);
#else
if(comment && s1 - comment < 5)
*s1 = CAPS(c);
#endif
s1++;
}
*s2 = '\0';
return block;
}
// 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,
.o = 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
static const parameter_words_t o_label = {
.o = On
};
uint_fast8_t ngc_param_count = 0;
// NOTE: this array has to match the parameter_words_t order!
PROGMEM static const gc_value_ptr_t gc_value_ptr[] = {
{ NULL, ValueType_NA }, // $
#if N_AXIS > 3
{ &gc_block.values.xyz[A_AXIS], ValueType_Float },
#else
{ NULL, ValueType_NA },
#endif
#if N_AXIS > 4
{ &gc_block.values.xyz[B_AXIS], ValueType_Float },
#else
{ NULL, ValueType_NA },
#endif
#if N_AXIS > 5
{ &gc_block.values.xyz[C_AXIS], ValueType_Float },
#else
{ NULL, ValueType_NA },
#endif
{ &gc_block.values.ijk[I_VALUE], ValueType_Float },
{ &gc_block.values.ijk[J_VALUE], ValueType_Float },
{ &gc_block.values.ijk[K_VALUE], ValueType_Float },
{ &gc_block.values.d, ValueType_Float },
{ &gc_block.values.e, ValueType_Float },
{ &gc_block.values.f, ValueType_Float },
{ NULL, ValueType_NA }, // G
{ &gc_block.values.h, ValueType_UInt32 },
{ NULL, ValueType_NA }, // L
{ &gc_block.values.m, ValueType_Float },
{ NULL, ValueType_NA }, // N
{ NULL, ValueType_NA }, // O
{ NULL, ValueType_NA }, // P
{ &gc_block.values.q, ValueType_Float },
{ &gc_block.values.r, ValueType_Float },
{ &gc_block.values.s, ValueType_Float },
{ &gc_block.values.t, ValueType_UInt32 },
#if N_AXIS > 6
{ &gc_block.values.xyz[U_AXIS], ValueType_Float },
#else
{ NULL, ValueType_NA },
#endif
#if N_AXIS > 7
{ &gc_block.values.xyz[V_AXIS], ValueType_Float },
#else
{ NULL, ValueType_NA },
#endif
{ NULL, ValueType_NA }, // W
{ &gc_block.values.xyz[X_AXIS], ValueType_Float },
{ &gc_block.values.xyz[Y_AXIS], ValueType_Float },
{ &gc_block.values.xyz[Z_AXIS], ValueType_Float }
};
#endif
char *message = NULL;
block = gc_normalize_block(block, &message);
if(block[0] == '\0') {
if(message)
output_message(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)
output_message(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, spindle_programmed = false;
axis_command_t axis_command = AxisCommand_None;
io_mcode_t port_command = (io_mcode_t)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 `$J=` */ : 0;
char letter;
float value;
uint32_t int_value = 0;
uint_fast16_t mantissa = 0;
bool is_user_mcode = false;
word_bit_t word_bit = { .parameter = {0}, .modal_group = {0} }; // Bit-value for assigning tracking variables
while ((letter = block[char_counter++]) != '\0') { // Loop until no more g-code words in block.
// Import the next g-code word, expecting a letter followed by a value. Otherwise, error out.
#if NGC_EXPRESSIONS_ENABLE
status_code_t status;
if(letter == '#') {
if(gc_state.skip_blocks)
return Status_OK;
if(block[char_counter] == '<') {
char *s = &block[++char_counter];
while(*s && *s != '>')
s++;
if(*s && *(s + 1) == '=') {
char *name = &block[char_counter];
*s++ = '\0';
s++;
char_counter += s - name;
if((status = read_parameter(block, &char_counter, &value)) != Status_OK)
FAIL(status); // [Expected parameter value]
if(!ngc_named_param_set(name, value))
FAIL(Status_BadNumberFormat); // [Expected equal sign]
}
} else {
float param;
if (!read_float(block, &char_counter, ¶m))
FAIL(Status_BadNumberFormat); // [Expected parameter number]
if (block[char_counter++] != '=')
FAIL(Status_BadNumberFormat); // [Expected equal sign]
if((status = read_parameter(block, &char_counter, &value)) != Status_OK)
FAIL(status); // [Expected parameter value]
if(ngc_param_count < NGC_N_ASSIGN_PARAMETERS_PER_BLOCK && ngc_param_is_rw((ngc_param_id_t)param)) {
ngc_params[ngc_param_count].id = (ngc_param_id_t)param;
ngc_params[ngc_param_count++].value = value;
} else
FAIL(Status_BadNumberFormat); // [Expected parameter value]
}
continue;
}
if((gc_block.words.mask & o_label.mask) && (gc_block.words.mask & ~o_label.mask) == 0) {
char_counter--;
return ngc_flowctrl(gc_block.values.o, block, &char_counter, &gc_state.skip_blocks);
}
if((letter < 'A' && letter != '$') || letter > 'Z')
FAIL(Status_ExpectedCommandLetter); // [Expected word letter]
if((status = read_parameter(block, &char_counter, &value)) != Status_OK)
return status;
if(gc_state.skip_blocks && letter != 'O')
return Status_OK;
if(!is_user_mcode && isnanf(value))
FAIL(Status_BadNumberFormat); // [Expected word value]
#else
if((letter < 'A' && letter != '$') || 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 compromise 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(settings.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(mantissa != 0)
FAIL(Status_GcodeUnsupportedCommand); // [G33.1 not yet 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;
// if(mantissa == 10)
// gc_block.modal.motion = MotionMode_RigidTapping;
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;