gcode.h

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/*
  gcode.h - rs274/ngc parser.
  Part of Grbl

  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/>.
*/

#ifndef gcode_h
#define gcode_h

// 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).
// 
#define MODAL_GROUP_G0 0 
#define MODAL_GROUP_G1 1 
#define MODAL_GROUP_G2 2 
#define MODAL_GROUP_G3 3 
#define MODAL_GROUP_G4 4 
#define MODAL_GROUP_G5 5 
#define MODAL_GROUP_G6 6 
#define MODAL_GROUP_G7 7 
#define MODAL_GROUP_G8 8 
#define MODAL_GROUP_G12 9 
#define MODAL_GROUP_G13 10 

#define MODAL_GROUP_M4 11  
#define MODAL_GROUP_M7 12 
#define MODAL_GROUP_M8 13 
// #define OTHER_INPUT_S 15
// #define OTHER_INPUT_T 16
// internally by the parser to know which command to execute.
// 
// compile a litte smaller. Necessary due to being completely out of flash on the 328p. Although not
// ideal, just be careful with values that state 'do not alter' and check both report.c and gcode.c 
// to see how they are used, if you need to alter them.
#define NON_MODAL_NO_ACTION 0 
#define NON_MODAL_DWELL 4 
#define NON_MODAL_SET_COORDINATE_DATA 10 
#define NON_MODAL_GO_HOME_0 28 
#define NON_MODAL_SET_HOME_0 38 
#define NON_MODAL_GO_HOME_1 30 
#define NON_MODAL_SET_HOME_1 40 
#define NON_MODAL_ABSOLUTE_OVERRIDE 53 
#define NON_MODAL_SET_COORDINATE_OFFSET 92 
#define NON_MODAL_RESET_COORDINATE_OFFSET 102 //G92.1 (Do not alter value)
#define MOTION_MODE_SEEK 0 
#define MOTION_MODE_LINEAR 1 
#define MOTION_MODE_CW_ARC 2  
#define MOTION_MODE_CCW_ARC 3  
#define MOTION_MODE_PROBE_TOWARD 140 
#define MOTION_MODE_PROBE_TOWARD_NO_ERROR 141 
#define MOTION_MODE_PROBE_AWAY 142 
#define MOTION_MODE_PROBE_AWAY_NO_ERROR 143 
#define MOTION_MODE_NONE 80 
#define PLANE_SELECT_XY 0 
#define PLANE_SELECT_ZX 1 
#define PLANE_SELECT_YZ 2 
#define DISTANCE_MODE_ABSOLUTE 0 
#define DISTANCE_MODE_INCREMENTAL 1 
#define DISTANCE_ARC_MODE_INCREMENTAL 0 
#define PROGRAM_FLOW_RUNNING 0 
#define PROGRAM_FLOW_PAUSED 3 
#define PROGRAM_FLOW_OPTIONAL_STOP 1 
#define PROGRAM_FLOW_COMPLETED_M2  2 
#define PROGRAM_FLOW_COMPLETED_M30 30 
#define FEED_RATE_MODE_UNITS_PER_MIN  0 
#define FEED_RATE_MODE_INVERSE_TIME   1 
#define UNITS_MODE_MM 0 
#define UNITS_MODE_INCHES 1 
#define CUTTER_COMP_DISABLE 0 
#define CONTROL_MODE_EXACT_PATH 0 
#define SPINDLE_DISABLE 0 
#define SPINDLE_ENABLE_CW   PL_COND_FLAG_SPINDLE_CW 
#define SPINDLE_ENABLE_CCW  PL_COND_FLAG_SPINDLE_CCW 
#define COOLANT_DISABLE 0 
#define COOLANT_FLOOD_ENABLE  PL_COND_FLAG_COOLANT_FLOOD 
#define COOLANT_MIST_ENABLE   PL_COND_FLAG_COOLANT_MIST  
#define TOOL_LENGTH_OFFSET_CANCEL 0 
#define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 
// 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 GC_UPDATE_POS_TARGET   0 
#define GC_UPDATE_POS_SYSTEM   1
#define GC_UPDATE_POS_NONE     2
#define GC_PROBE_FOUND      GC_UPDATE_POS_SYSTEM
#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
#ifdef SET_CHECK_MODE_PROBE_TO_START
  #define GC_PROBE_CHECK_MODE   GC_UPDATE_POS_NONE  
#else
  #define GC_PROBE_CHECK_MODE   GC_UPDATE_POS_TARGET
#endif
#define GC_PARSER_NONE                  0 
#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)

typedef struct {
  uint8_t motion;          
  uint8_t feed_rate;       
  uint8_t units;           
  uint8_t distance;        
// uint8_t distance_arc; //!< {G91.1} 
  uint8_t plane_select;    
// uint8_t cutter_comp;  //!< {G40} 
  uint8_t tool_length;     
  uint8_t coord_select;    
// uint8_t control;      //!< {G61} 
  uint8_t program_flow;    
  uint8_t coolant;         
  uint8_t spindle;         
} gc_modal_t;

typedef struct {
  float f;         
  float ijk[3];    
  uint8_t l;       
  int32_t n;       
  float p;         
// float q;      //!< G82 peck drilling
  float r;         
  float s;         
  uint8_t t;       
  float xyz[3];    
} gc_values_t;


typedef struct {
  gc_modal_t modal;

  float spindle_speed;          
  float feed_rate;              
  uint8_t tool;                 
  int32_t line_number;          

  float position[N_AXIS];       

  float coord_system[N_AXIS];    
// position in mm. Loaded from EEPROM when called.
  float coord_offset[N_AXIS];    
// machine zero in mm. Non-persistent. Cleared upon reset and boot.
  float tool_length_offset;      
} parser_state_t;
extern parser_state_t gc_state;


typedef struct {
  uint8_t non_modal_command;
  gc_modal_t modal;
  gc_values_t values;
} parser_block_t;

void gc_init();
uint8_t gc_execute_line(char *line);
void gc_sync_position();

#endif