Data Structures
struct	gc_modal_t
	NOTE: When this struct is zeroed, the above defines set the defaults for the system. More...

struct	gc_values_t

struct	parser_state_t

struct	parser_block_t

Macros
#define	MODAL_GROUP_G0 0
	Define modal group internal numbers for checking multiple command violations and tracking the. More...

#define	MODAL_GROUP_G1 1
	[G0,G1,G2,G3,G38.2,G38.3,G38.4,G38.5,G80] Motion More...

#define	MODAL_GROUP_G2 2
	[G17,G18,G19] Plane selection More...

#define	MODAL_GROUP_G3 3
	[G90,G91] Distance mode More...

#define	MODAL_GROUP_G4 4
	[G91.1] Arc IJK distance mode More...

#define	MODAL_GROUP_G5 5
	[G93,G94] Feed rate mode More...

#define	MODAL_GROUP_G6 6
	[G20,G21] Units More...

#define	MODAL_GROUP_G7 7
	[G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED. More...

#define	MODAL_GROUP_G8 8
	[G43.1,G49] Tool length offset More...

#define	MODAL_GROUP_G12 9
	[G54,G55,G56,G57,G58,G59] Coordinate system selection More...

#define	MODAL_GROUP_G13 10
	[G61] Control mode More...

#define	MODAL_GROUP_M4 11
	[M0,M1,M2,M30] Stopping More...

#define	MODAL_GROUP_M7 12
	[M3,M4,M5] Spindle turning More...

#define	MODAL_GROUP_M8 13
	[M7,M8,M9] Coolant control More...

#define	NON_MODAL_NO_ACTION 0
	#define OTHER_INPUT_F 14 More...

#define	NON_MODAL_DWELL 4
	G4 (Do not alter value) More...

#define	NON_MODAL_SET_COORDINATE_DATA 10
	G10 (Do not alter value) More...

#define	NON_MODAL_GO_HOME_0 28
	G28 (Do not alter value) More...

#define	NON_MODAL_SET_HOME_0 38
	G28.1 (Do not alter value) More...

#define	NON_MODAL_GO_HOME_1 30
	G30 (Do not alter value) More...

#define	NON_MODAL_SET_HOME_1 40
	G30.1 (Do not alter value) More...

#define	NON_MODAL_ABSOLUTE_OVERRIDE 53
	G53 (Do not alter value) More...

#define	NON_MODAL_SET_COORDINATE_OFFSET 92
	G92 (Do not alter value) More...

#define	NON_MODAL_RESET_COORDINATE_OFFSET 102

#define	MOTION_MODE_SEEK 0
	Modal Group G1: Motion modes. More...

#define	MOTION_MODE_LINEAR 1
	G1 (Do not alter value) More...

#define	MOTION_MODE_CW_ARC 2
	G2 (Do not alter value) More...

#define	MOTION_MODE_CCW_ARC 3
	G3 (Do not alter value) More...

#define	MOTION_MODE_PROBE_TOWARD 140
	G38.2 (Do not alter value) More...

#define	MOTION_MODE_PROBE_TOWARD_NO_ERROR 141
	G38.3 (Do not alter value) More...

#define	MOTION_MODE_PROBE_AWAY 142
	G38.4 (Do not alter value) More...

#define	MOTION_MODE_PROBE_AWAY_NO_ERROR 143
	G38.5 (Do not alter value) More...

#define	MOTION_MODE_NONE 80
	G80 (Do not alter value) More...

#define	PLANE_SELECT_XY 0
	Modal Group G2: Plane select. More...

#define	PLANE_SELECT_ZX 1
	G18 (Do not alter value) More...

#define	PLANE_SELECT_YZ 2
	G19 (Do not alter value) More...

#define	DISTANCE_MODE_ABSOLUTE 0
	Modal Group G3: Distance mode. More...

#define	DISTANCE_MODE_INCREMENTAL 1
	G91 (Do not alter value) More...

#define	DISTANCE_ARC_MODE_INCREMENTAL 0
	Modal Group G4: Arc IJK distance mode. More...

#define	PROGRAM_FLOW_RUNNING 0
	Modal Group M4: Program flow. More...

#define	PROGRAM_FLOW_PAUSED 3
	M0. More...

#define	PROGRAM_FLOW_OPTIONAL_STOP 1
	M1. More...

#define	PROGRAM_FLOW_COMPLETED_M2 2
	NOTE: Not supported, but valid and ignored. More...

#define	PROGRAM_FLOW_COMPLETED_M30 30
	M30 (Do not alter value) More...

#define	FEED_RATE_MODE_UNITS_PER_MIN 0
	Modal Group G5: Feed rate mode. More...

#define	FEED_RATE_MODE_INVERSE_TIME 1
	G93 (Do not alter value) More...

#define	UNITS_MODE_MM 0
	Modal Group G6: Units mode. More...

#define	UNITS_MODE_INCHES 1
	G20 (Do not alter value) More...

#define	CUTTER_COMP_DISABLE 0
	Modal Group G7: Cutter radius compensation mode. More...

#define	CONTROL_MODE_EXACT_PATH 0
	Modal Group G13: Control mode. More...

#define	SPINDLE_DISABLE 0
	Modal Group M7: Spindle control. More...

#define	SPINDLE_ENABLE_CW PL_COND_FLAG_SPINDLE_CW
	M3 (. More...

#define	SPINDLE_ENABLE_CCW PL_COND_FLAG_SPINDLE_CCW
	NOTE: Uses planner condition bit flag) More...

#define	COOLANT_DISABLE 0
	NOTE: Uses planner condition bit flag) More...

#define	COOLANT_FLOOD_ENABLE PL_COND_FLAG_COOLANT_FLOOD
	M8 (. More...

#define	COOLANT_MIST_ENABLE PL_COND_FLAG_COOLANT_MIST
	NOTE: Uses planner condition bit flag) More...

#define	TOOL_LENGTH_OFFSET_CANCEL 0
	NOTE: Uses planner condition bit flag) More...

#define	TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1
	G43.1. More...

#define	WORD_F 0
	Modal Group G12: Active work coordinate system. More...

#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	GC_UPDATE_POS_TARGET 0
	Define g-code parser position updating flags. More...

#define	GC_UPDATE_POS_SYSTEM 1

#define	GC_UPDATE_POS_NONE 2

#define	GC_PROBE_FOUND GC_UPDATE_POS_SYSTEM
	Define probe cycle exit states and assign proper position updating. More...

#define	GC_PROBE_ABORT GC_UPDATE_POS_NONE

#define	GC_PROBE_FAIL_INIT GC_UPDATE_POS_NONE

#define	GC_PROBE_FAIL_END GC_UPDATE_POS_TARGET

#define	GC_PROBE_CHECK_MODE GC_UPDATE_POS_TARGET

#define	GC_PARSER_NONE 0
	Define gcode parser flags for handling special cases. More...

#define	GC_PARSER_JOG_MOTION bit(0)

#define	GC_PARSER_CHECK_MANTISSA bit(1)

#define	GC_PARSER_ARC_IS_CLOCKWISE bit(2)

#define	GC_PARSER_PROBE_IS_AWAY bit(3)

#define	GC_PARSER_PROBE_IS_NO_ERROR bit(4)

#define	GC_PARSER_LASER_FORCE_SYNC bit(5)

#define	GC_PARSER_LASER_DISABLE bit(6)

#define	GC_PARSER_LASER_ISMOTION bit(7)

Functions
void	gc_init ()
	Initialize the parser. More...

uint8_t	gc_execute_line (char *line)
	Execute one block of rs275/ngc/g-code. More...

void	gc_sync_position ()
	Set g-code parser position. Input in steps. More...

Variables
parser_state_t	gc_state
	Declare gc extern struct. More...

Data Structure Documentation

struct gc_modal_t

NOTE: When this struct is zeroed, the above defines set the defaults for the system.

Definition at line 162 of file gcode.h.

Data Fields
uint8_t	coolant	{M7,M8,M9}
uint8_t	coord_select	{G54,G55,G56,G57,G58,G59}
uint8_t	distance	{G90,G91}
uint8_t	feed_rate	{G93,G94}
uint8_t	motion	{G0,G1,G2,G3,G38.2,G80}
uint8_t	plane_select	NOTE: Don't track. Only default supported. {G17,G18,G19}
uint8_t	program_flow	NOTE: Don't track. Only default supported. {M0,M1,M2,M30}
uint8_t	spindle	{M3,M4,M5}
uint8_t	tool_length	NOTE: Don't track. Only default supported. {G43.1,G49}
uint8_t	units	{G20,G21}

struct gc_values_t

Definition at line 181 of file gcode.h.

Data Fields
float	f	Feed.
float	ijk[3]	I,J,K Axis arc offsets.
uint8_t	l	G10 or canned cycles parameters.
int32_t	n	Line number.
float	p	G10 or dwell parameters.
float	r	Arc radius.
float	s	Spindle speed.
uint8_t	t	Tool selection.
float	xyz[3]	X,Y,Z Translational axes.

struct parser_state_t

Definition at line 195 of file gcode.h.

Data Fields
float	coord_offset[N_AXIS]	Retains the G92 coordinate offset (work coordinates) relative to.
float	coord_system[N_AXIS]	Current work coordinate system (G54+). Stores offset from absolute machine.
float	feed_rate	Millimeters/min.
int32_t	line_number	Last line number sent.
gc_modal_t	modal
float	position[N_AXIS]	Where the interpreter considers the tool to be at this point in the code.
float	spindle_speed	RPM.
uint8_t	tool	Tracks tool number. NOT USED.
float	tool_length_offset	Tracks tool length offset value when enabled.

struct parser_block_t

Definition at line 214 of file gcode.h.

Data Fields
gc_modal_t	modal
uint8_t	non_modal_command
gc_values_t	values

Macro Definition Documentation

#define CONTROL_MODE_EXACT_PATH 0

Modal Group G13: Control mode.

G61 (Default: Must be zero)

Definition at line 103 of file gcode.h.

#define COOLANT_DISABLE 0

NOTE: Uses planner condition bit flag)

Modal Group M8: Coolant control M9 (Default: Must be zero)

Definition at line 111 of file gcode.h.

#define COOLANT_FLOOD_ENABLE PL_COND_FLAG_COOLANT_FLOOD

M8 (.

Definition at line 112 of file gcode.h.

#define COOLANT_MIST_ENABLE PL_COND_FLAG_COOLANT_MIST

NOTE: Uses planner condition bit flag)

M7 (

Definition at line 114 of file gcode.h.

#define CUTTER_COMP_DISABLE 0

Modal Group G7: Cutter radius compensation mode.

G40 (Default: Must be zero)

Definition at line 101 of file gcode.h.

#define DISTANCE_ARC_MODE_INCREMENTAL 0

Modal Group G4: Arc IJK distance mode.

G91.1 (Default: Must be zero)

Definition at line 86 of file gcode.h.

#define DISTANCE_MODE_ABSOLUTE 0

Modal Group G3: Distance mode.

G90 (Default: Must be zero)

Definition at line 83 of file gcode.h.

#define DISTANCE_MODE_INCREMENTAL 1

G91 (Do not alter value)

Definition at line 84 of file gcode.h.

#define FEED_RATE_MODE_INVERSE_TIME 1

G93 (Do not alter value)

Definition at line 96 of file gcode.h.

#define FEED_RATE_MODE_UNITS_PER_MIN 0

Modal Group G5: Feed rate mode.

G94 (Default: Must be zero)

Definition at line 95 of file gcode.h.

#define GC_PARSER_ARC_IS_CLOCKWISE bit(2)

Definition at line 153 of file gcode.h.

#define GC_PARSER_CHECK_MANTISSA bit(1)

Definition at line 152 of file gcode.h.

#define GC_PARSER_JOG_MOTION bit(0)

Definition at line 151 of file gcode.h.

#define GC_PARSER_LASER_DISABLE bit(6)

Definition at line 157 of file gcode.h.

#define GC_PARSER_LASER_FORCE_SYNC bit(5)

Definition at line 156 of file gcode.h.

#define GC_PARSER_LASER_ISMOTION bit(7)

Definition at line 158 of file gcode.h.

#define GC_PARSER_NONE 0

Define gcode parser flags for handling special cases.

Must be zero.

Definition at line 150 of file gcode.h.

#define GC_PARSER_PROBE_IS_AWAY bit(3)

Definition at line 154 of file gcode.h.

#define GC_PARSER_PROBE_IS_NO_ERROR bit(4)

Definition at line 155 of file gcode.h.

#define GC_PROBE_ABORT GC_UPDATE_POS_NONE

Definition at line 141 of file gcode.h.

#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_TARGET

Definition at line 147 of file gcode.h.

#define GC_PROBE_FAIL_END GC_UPDATE_POS_TARGET

Definition at line 143 of file gcode.h.

#define GC_PROBE_FAIL_INIT GC_UPDATE_POS_NONE

Definition at line 142 of file gcode.h.

#define GC_PROBE_FOUND GC_UPDATE_POS_SYSTEM

Define probe cycle exit states and assign proper position updating.

Definition at line 140 of file gcode.h.

#define GC_UPDATE_POS_NONE 2

Definition at line 138 of file gcode.h.

#define GC_UPDATE_POS_SYSTEM 1

Definition at line 137 of file gcode.h.

#define GC_UPDATE_POS_TARGET 0

Define g-code parser position updating flags.

Must be zero

Definition at line 136 of file gcode.h.

#define MODAL_GROUP_G0 0

Define modal group internal numbers for checking multiple command violations and tracking the.

NOTE: Modal group define values must be sequential and starting from zero. [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal

Definition at line 32 of file gcode.h.

#define MODAL_GROUP_G1 1

[G0,G1,G2,G3,G38.2,G38.3,G38.4,G38.5,G80] Motion

Definition at line 33 of file gcode.h.

#define MODAL_GROUP_G12 9

[G54,G55,G56,G57,G58,G59] Coordinate system selection

Definition at line 41 of file gcode.h.

#define MODAL_GROUP_G13 10

[G61] Control mode

Definition at line 42 of file gcode.h.

#define MODAL_GROUP_G2 2

[G17,G18,G19] Plane selection

Definition at line 34 of file gcode.h.

#define MODAL_GROUP_G3 3

[G90,G91] Distance mode

Definition at line 35 of file gcode.h.

#define MODAL_GROUP_G4 4

[G91.1] Arc IJK distance mode

Definition at line 36 of file gcode.h.

#define MODAL_GROUP_G5 5

[G93,G94] Feed rate mode

Definition at line 37 of file gcode.h.

#define MODAL_GROUP_G6 6

[G20,G21] Units

Definition at line 38 of file gcode.h.

#define MODAL_GROUP_G7 7

[G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED.

Definition at line 39 of file gcode.h.

#define MODAL_GROUP_G8 8

[G43.1,G49] Tool length offset

Definition at line 40 of file gcode.h.

#define MODAL_GROUP_M4 11

[M0,M1,M2,M30] Stopping

Definition at line 44 of file gcode.h.

#define MODAL_GROUP_M7 12

[M3,M4,M5] Spindle turning

Definition at line 45 of file gcode.h.

#define MODAL_GROUP_M8 13

[M7,M8,M9] Coolant control

Definition at line 46 of file gcode.h.

#define MOTION_MODE_CCW_ARC 3

G3 (Do not alter value)

Definition at line 72 of file gcode.h.

#define MOTION_MODE_CW_ARC 2

G2 (Do not alter value)

Definition at line 71 of file gcode.h.

#define MOTION_MODE_LINEAR 1

G1 (Do not alter value)

Definition at line 70 of file gcode.h.

#define MOTION_MODE_NONE 80

G80 (Do not alter value)

Definition at line 77 of file gcode.h.

#define MOTION_MODE_PROBE_AWAY 142

G38.4 (Do not alter value)

Definition at line 75 of file gcode.h.

#define MOTION_MODE_PROBE_AWAY_NO_ERROR 143

G38.5 (Do not alter value)

Definition at line 76 of file gcode.h.

#define MOTION_MODE_PROBE_TOWARD 140

G38.2 (Do not alter value)

Definition at line 73 of file gcode.h.

#define MOTION_MODE_PROBE_TOWARD_NO_ERROR 141

G38.3 (Do not alter value)

Definition at line 74 of file gcode.h.

#define MOTION_MODE_SEEK 0

Modal Group G1: Motion modes.

G0 (Default: Must be zero)

Definition at line 69 of file gcode.h.

#define NON_MODAL_ABSOLUTE_OVERRIDE 53

G53 (Do not alter value)

Definition at line 65 of file gcode.h.

#define NON_MODAL_DWELL 4

G4 (Do not alter value)

Definition at line 59 of file gcode.h.

#define NON_MODAL_GO_HOME_0 28

G28 (Do not alter value)

Definition at line 61 of file gcode.h.

#define NON_MODAL_GO_HOME_1 30

G30 (Do not alter value)

Definition at line 63 of file gcode.h.

#define NON_MODAL_NO_ACTION 0

#define OTHER_INPUT_F 14

Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used NOTE: Some macro values are assigned specific values to make g-code state reporting and parsing Modal Group G0: Non-modal actions (Default: Must be zero)

Definition at line 58 of file gcode.h.

#define NON_MODAL_RESET_COORDINATE_OFFSET 102

Definition at line 67 of file gcode.h.

#define NON_MODAL_SET_COORDINATE_DATA 10

G10 (Do not alter value)

Definition at line 60 of file gcode.h.

#define NON_MODAL_SET_COORDINATE_OFFSET 92

G92 (Do not alter value)

Definition at line 66 of file gcode.h.

#define NON_MODAL_SET_HOME_0 38

G28.1 (Do not alter value)

Definition at line 62 of file gcode.h.

#define NON_MODAL_SET_HOME_1 40

G30.1 (Do not alter value)

Definition at line 64 of file gcode.h.

#define PLANE_SELECT_XY 0

Modal Group G2: Plane select.

G17 (Default: Must be zero)

Definition at line 79 of file gcode.h.

#define PLANE_SELECT_YZ 2

G19 (Do not alter value)

Definition at line 81 of file gcode.h.

#define PLANE_SELECT_ZX 1

G18 (Do not alter value)

Definition at line 80 of file gcode.h.

#define PROGRAM_FLOW_COMPLETED_M2 2

NOTE: Not supported, but valid and ignored.

M2 (Do not alter value)

Definition at line 92 of file gcode.h.

#define PROGRAM_FLOW_COMPLETED_M30 30

M30 (Do not alter value)

Definition at line 93 of file gcode.h.

#define PROGRAM_FLOW_OPTIONAL_STOP 1

M1.

Definition at line 90 of file gcode.h.

#define PROGRAM_FLOW_PAUSED 3

M0.

Definition at line 89 of file gcode.h.

#define PROGRAM_FLOW_RUNNING 0

Modal Group M4: Program flow.

(Default: Must be zero)

Definition at line 88 of file gcode.h.

#define SPINDLE_DISABLE 0

Modal Group M7: Spindle control.

M5 (Default: Must be zero)

Definition at line 105 of file gcode.h.

#define SPINDLE_ENABLE_CCW PL_COND_FLAG_SPINDLE_CCW

NOTE: Uses planner condition bit flag)

M4 (

Definition at line 108 of file gcode.h.

#define SPINDLE_ENABLE_CW PL_COND_FLAG_SPINDLE_CW

M3 (.

Definition at line 106 of file gcode.h.

#define TOOL_LENGTH_OFFSET_CANCEL 0

NOTE: Uses planner condition bit flag)

Modal Group G8: Tool length offset G49 (Default: Must be zero)

Definition at line 117 of file gcode.h.

#define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1

G43.1.

Definition at line 118 of file gcode.h.

#define UNITS_MODE_INCHES 1

G20 (Do not alter value)

Definition at line 99 of file gcode.h.

#define UNITS_MODE_MM 0

Modal Group G6: Units mode.

G21 (Default: Must be zero)

Definition at line 98 of file gcode.h.

#define WORD_F 0

Modal Group G12: Active work coordinate system.

Define parameter word mapping.

Definition at line 122 of file gcode.h.

#define WORD_I 1

Definition at line 123 of file gcode.h.

#define WORD_J 2

Definition at line 124 of file gcode.h.

#define WORD_K 3

Definition at line 125 of file gcode.h.

#define WORD_L 4

Definition at line 126 of file gcode.h.

#define WORD_N 5

Definition at line 127 of file gcode.h.

#define WORD_P 6

Definition at line 128 of file gcode.h.

#define WORD_R 7

Definition at line 129 of file gcode.h.

#define WORD_S 8

Definition at line 130 of file gcode.h.

#define WORD_T 9

Definition at line 131 of file gcode.h.

#define WORD_X 10

Definition at line 132 of file gcode.h.

#define WORD_Y 11

Definition at line 133 of file gcode.h.

#define WORD_Z 12

Definition at line 134 of file gcode.h.

Function Documentation

uint8_t gc_execute_line ( char * line )

Execute one block of rs275/ngc/g-code.

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 parser 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.

< Initialize the parser block struct.

< Copy current modes

< Tracks G10 P coordinate selection for execution

< XYZ tracking

< IJK tracking

< Tracks G and M command words. Also used for modal group violations.

< Tracks value words.

<

NOTE: $J= already parsed when passed to this function.

< Initialize default line number reported during jog.

STEP 2: Import all g-code words in the block line. 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.

< Bit-value for assigning tracking variables

< Loop until no more g-code words in line.

NOTE: Mantissa is multiplied by 100 to catch non-integer command values. This is more

< Compute mantissa for Gxx.x commands.

NOTE: Rounding must be used to catch small floating point errors.

'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

< Ignore G28.1, G30.1, and G92.1

< Set to zero to indicate valid non-integer G command.

< [Unsupported G38.x command]

< Set to zero to indicate valid non-integer G command.

NOTE: Not required since cutter radius compensation is always disabled. Only here

NOTE: The NIST g-code standard vaguely states that when a tool length offset is changed,

< G49

< G43.1

< Set to zero to indicate valid non-integer G command.

NOTE: G59.x are not supported. (But their int_values would be 60, 61, and 62.)

< Shift to array indexing.

< [Unsupported G command]

NOTE: Variable 'word_bit' is always assigned, if the command is valid.

< Program pause

< Optional stop not supported. Ignore.

< Program end and reset

< [Unsupported M command]

NOTE: Variable 'word_bit' is always assigned, if the command is valid.

NOTE: All remaining letters assign values.

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.

NOTE: For certain commands, P value must be an integer, but none of these commands are supported.

NOTE: Variable 'word_bit' is always assigned, if the non-command letter is valid.

NOTE: Negative value check is done here simply for code-efficiency.

< Flag to indicate parameter assigned.

Definition at line 63 of file gcode.c.

void gc_init ( )

Initialize the parser.

Definition at line 41 of file gcode.c.

void gc_sync_position ( )

Set g-code parser position. Input in steps.

Definition at line 53 of file gcode.c.

Variable Documentation

parser_state_t gc_state

Declare gc extern struct.

Definition at line 35 of file gcode.c.

Data Structures

Macros

Functions

Variables

Data Structure Documentation

Macro Definition Documentation

Function Documentation

Variable Documentation