gcode.h File Reference

#include "nuts_bolts.h"
#include "coolant_control.h"
#include "spindle_control.h"
#include "errors.h"
#include "vfs.h"

Go to the source code of this file.

Data Structures
struct	output_command
	Data for M62, M63 and M67 commands when executed synchronized with motion. More...
struct	gc_ccomp_t
union	gc_parser_flags_t
	Parser flags for special cases. More...
union	gc_override_flags_t
	Override flags. More...
struct	coord_system_t
	Coordinate data including id. More...
struct	gc_values_t
	G- and M-code parameter values. More...
union	parameter_words_t
	Parameter words found by parser - do NOT change order! More...
union	spindle_cond_t
struct	spindle_t
struct	spindle_modal_t
struct	gc_modal_t
struct	gc_override_values_t
struct	gc_modal_snapshot_t
	Data for G70-G73. More...
struct	gc_canned_t
	Data for canned cycles. More...
struct	gc_thread_data
struct	tool_data_t
	Tool data. More...
struct	tool_table_entry_t
	Tool table entry. More...
struct	tool_pocket_t
struct	rotation_t
struct	g66_arguments
struct	parser_state_t
	Parser state. More...
struct	scale_factor_t
struct	parser_block_t
	Parser block structure. More...

Macros
#define	MAX_OFFSET_ENTRIES   4
#define	gc_sync_position()   system_convert_array_steps_to_mpos (gc_state.position, sys.position)
#define	sync_position()   plan_sync_position(); system_convert_array_steps_to_mpos (gc_state.position, sys.position)

Typedefs
typedef int32_t	tool_id_t
typedef int16_t	pocket_id_t
typedef uint16_t	macro_id_t
typedef int8_t	offset_id_t
typedef struct output_command	output_command_t
	Data for M62, M63 and M67 commands when executed synchronized with motion. More...
typedef struct g66_arguments	g66_arguments_t

Enumerations
enum	non_modal_t {   NonModal_NoAction = 0 , NonModal_Dwell = 4 , NonModal_Settings = 10 , NonModal_GoHome_0 = 28 ,   NonModal_SetHome_0 = 38 , NonModal_GoHome_1 = 30 , NonModal_SetHome_1 = 40 , NonModal_AbsoluteOverride = 53 ,   NonModal_SetCoordinateOffset = 92 , NonModal_ResetCoordinateOffset = 102 , NonModal_ClearCoordinateOffset = 112 , NonModal_RestoreCoordinateOffset = 122 }
enum	tool_action_t { ToolAction_None = 0 , ToolAction_Change = 6 , ToolAction_Set = 61 }
enum	macro_call_t {   MacroCall_End = 0 , MacroCall_NonModal = 65 , MacroCall_Modal = 66 , MacroCall_Modal1 = 166 ,   MacroCall_NonModal98 = 98 }
enum	modal_state_action_t {   ModalState_NoAction = 0 , ModalState_Save = 70 , ModalState_Invalidate = 71 , ModalState_Restore = 72 ,   ModalState_SaveAutoRestore = 73 }
enum	motion_mode_t {   MotionMode_Seek = 0 , MotionMode_Linear = 1 , MotionMode_CwArc = 2 , MotionMode_CcwArc = 3 ,   MotionMode_CubicSpline = 5 , MotionMode_QuadraticSpline = 51 , MotionMode_SpindleSynchronized = 33 , MotionMode_RigidTapping = 331 ,   MotionMode_DrillChipBreak = 73 , MotionMode_Threading = 76 , MotionMode_CannedCycle81 = 81 , MotionMode_CannedCycle82 = 82 ,   MotionMode_CannedCycle83 = 83 , MotionMode_CannedCycle84 = 84 , MotionMode_CannedCycle85 = 85 , MotionMode_CannedCycle86 = 86 ,   MotionMode_CannedCycle89 = 89 , MotionMode_ProbeToward = 140 , MotionMode_ProbeTowardNoError = 141 , MotionMode_ProbeAway = 142 ,   MotionMode_ProbeAwayNoError = 143 , MotionMode_None = 80 }
enum	plane_select_t { PlaneSelect_XY = 0 , PlaneSelect_ZX = 1 , PlaneSelect_YZ = 2 }
enum	feed_mode_t { FeedMode_UnitsPerMin = 0 , FeedMode_InverseTime = 1 , FeedMode_UnitsPerRev = 2 }
enum	ccomp_mode_t { CComp_Off = 0 , CComp_Left , CComp_Right }
enum	tool_offset_mode_t { ToolLengthOffset_Cancel = 0 , ToolLengthOffset_Enable = 1 , ToolLengthOffset_EnableDynamic = 2 , ToolLengthOffset_ApplyAdditional = 3 }
enum	cc_retract_mode_t { CCRetractMode_Previous = 0 , CCRetractMode_RPos = 1 }
enum	coord_system_id_t {   CoordinateSystem_G54 = 0 , CoordinateSystem_G55 , CoordinateSystem_G56 , CoordinateSystem_G57 ,   CoordinateSystem_G58 , CoordinateSystem_G59 , CoordinateSystem_G59_1 , CoordinateSystem_G59_2 ,   CoordinateSystem_G59_3 , N_WorkCoordinateSystems , CoordinateSystem_G28 = N_WorkCoordinateSystems , CoordinateSystem_G30 ,   CoordinateSystem_G92 , N_CoordinateSystems }
enum	control_mode_t { ControlMode_ExactPath = 0 , ControlMode_ExactStop = 1 , ControlMode_PathBlending = 2 }
enum	program_flow_t {   ProgramFlow_Running = 0 , ProgramFlow_Paused = 3 , ProgramFlow_OptionalStop = 1 , ProgramFlow_CompletedM2 = 2 ,   ProgramFlow_CompletedM30 = 30 , ProgramFlow_CompletedM60 = 60 , ProgramFlow_Return = 99 , ProgramFlow_EndPercent = 255 }
enum	override_mode_t {   Override_FeedSpeedEnable = 48 , Override_FeedSpeedDisable = 49 , Override_FeedRate = 50 , Override_SpindleSpeed = 51 ,   Override_FeedHold = 53 , Override_Parking = 56 }
enum	io_mcode_t {   IoMCode_OutputOnSynced = 62 , IoMCode_OutputOffSynced = 63 , IoMCode_OutputOnImmediate = 64 , IoMCode_OutputOffImmediate = 65 ,   IoMCode_WaitOnInput = 66 , IoMCode_AnalogOutSynced = 67 , IoMCode_AnalogOutImmediate = 68 }
enum	user_mcode_t {   OpenPNP_SetPinState = 42 , UserMCode_Generic1 = 101 , UserMCode_Generic2 = 102 , UserMCode_Generic3 = 103 ,   UserMCode_Generic4 = 104 , Fan_On = 106 , Fan_Off = 107 , OpenPNP_GetCurrentPosition = 114 ,   OpenPNP_FirmwareInfo = 115 , Trinamic_DebugReport = 122 , Trinamic_ReadRegister = 123 , Trinamic_WriteRegister = 124 ,   LaserPPI_Enable = 126 , LaserPPI_Rate = 127 , LaserPPI_PulseLength = 128 , Laser_Overdrive = 129 ,   OpenPNP_GetPinState = 143 , OpenPNP_GetADCScaled = 144 , OpenPNP_SetADCScaling = 145 , RGB_WriteLEDs = 150 ,   Plasma_SelectMaterial = 190 , OpenPNP_SetJerk = 20130 , OpenPNP_SetAcceleration = 204 , SetFeedOverrides = 220 ,   PWMServo_SetPosition = 280 , RGB_Inspection_Light = 356 , OpenPNP_FinishMoves = 400 , Probe_Deploy = 401 ,   Probe_Stow = 402 , OpenPNP_SettingsReset = 502 , Trinamic_ModeToggle = 569 , Macro_Execute0 = 810 ,   Macro_Execute1 = 811 , Macro_Execute2 = 812 , Macro_Execute3 = 813 , Macro_Execute4 = 814 ,   Macro_Execute5 = 815 , Macro_Execute6 = 816 , Macro_Execute7 = 817 , Macro_Execute8 = 818 ,   Macro_Execute9 = 819 , Trinamic_StepperCurrent = 906 , Trinamic_ReportPrewarnFlags = 911 , Trinamic_ClearPrewarnFlags = 912 ,   Trinamic_HybridThreshold = 913 , Trinamic_HomingSensitivity = 914 , Trinamic_ChopperTiming = 919 , Sienci_Atci_Enable = 960 ,   Spindle_Select = UserMCode_Generic4 }
enum	wait_mode_t {   WaitMode_Immediate = 0 , WaitMode_Rise , WaitMode_Fall , WaitMode_High ,   WaitMode_Low , WaitMode_Max }
	M66 Allowed L-parameter values. More...
enum	pos_update_t { GCUpdatePos_Target = 0 , GCUpdatePos_System , GCUpdatePos_None }
	Parser position updating flags. More...
enum	gc_probe_t {   GCProbe_Found = GCUpdatePos_System , GCProbe_Abort = GCUpdatePos_None , GCProbe_FailInit = GCUpdatePos_None , GCProbe_FailEnd = GCUpdatePos_Target ,   GCProbe_CheckMode = GCUpdatePos_Target }
enum	gc_taper_type { Taper_None = 0 , Taper_Entry , Taper_Exit , Taper_Both }
	Thread taper types. More...

Functions
void	gc_init (bool stop)
char *	gc_normalize_block (char *block, status_code_t *status, char **message)
status_code_t	gc_execute_block (char *block)
bool	gc_laser_ppi_enable (uint_fast16_t ppi, uint_fast16_t pulse_length)
parser_state_t *	gc_get_state (void)
axes_signals_t	gc_get_g51_state (void)
float *	gc_get_scaling (void)
float	gc_get_offset (uint_fast8_t idx, bool real_time)
char *	gc_coord_system_to_str (coord_system_id_t id)
void	gc_clear_output_commands (output_command_t *cmd)
spindle_t *	gc_spindle_get (spindle_num_t spindle)
void	gc_spindle_off (void)
void	gc_coolant (coolant_state_t state)
void	gc_set_tool_offset (tool_offset_mode_t mode, uint_fast8_t idx, int32_t offset)
plane_t *	gc_get_plane_data (plane_t *plane, plane_select_t select)
axes_signals_t	gc_claim_axis_words (parser_block_t *gc_block, axes_signals_t validate)
size_t	gc_macro_get_pos (macro_id_t id, vfs_file_t *file)
parameter_words_t	gc_get_g65_arguments (void)
bool	gc_modal_state_restore (gc_modal_snapshot_t *snapshot)

Variables
parser_state_t	gc_state

Macro Definition Documentation

gc_sync_position

#define gc_sync_position

(

)

system_convert_array_steps_to_mpos (gc_state.position, sys.position)

MAX_OFFSET_ENTRIES

#define MAX_OFFSET_ENTRIES   4

sync_position

#define sync_position

(

)

plan_sync_position(); system_convert_array_steps_to_mpos (gc_state.position, sys.position)

Typedef Documentation

g66_arguments_t

typedef struct g66_arguments g66_arguments_t

macro_id_t

typedef uint16_t macro_id_t

offset_id_t

typedef int8_t offset_id_t

output_command_t

typedef struct output_command output_command_t

Data for M62, M63 and M67 commands when executed synchronized with motion.

pocket_id_t

typedef int16_t pocket_id_t

tool_id_t

typedef int32_t tool_id_t

Enumeration Type Documentation

cc_retract_mode_t

enum cc_retract_mode_t

Modal Group G10: Canned cycle return mode

Do not alter values!

Enumerator
CCRetractMode_Previous	0 - G98 - Default, must be zero
CCRetractMode_RPos	1 - G99

ccomp_mode_t

enum ccomp_mode_t

Enumerator
CComp_Off	0 - G40 - Default, must be zero
CComp_Left	1 - G41, G41.1
CComp_Right	2 - G42, G42.1

control_mode_t

enum control_mode_t

Modal Group G13: Control mode

Do not alter values!

Enumerator
ControlMode_ExactPath	0 - G61 - Default, must be zero
ControlMode_ExactStop	1 - G61.1
ControlMode_PathBlending	2 - G64

coord_system_id_t

enum coord_system_id_t

Modal Group G12 and G0: Coordinate system identificators

Do not alter values!

Enumerator
CoordinateSystem_G54	0 - G54 (G12)
CoordinateSystem_G55	1 - G55 (G12)
CoordinateSystem_G56	2 - G56 (G12)
CoordinateSystem_G57	3 - G57 (G12)
CoordinateSystem_G58	4 - G58 (G12)
CoordinateSystem_G59	5 - G59 (G12)
CoordinateSystem_G59_1	6 - G59.1 (G12) - availability depending on COMPATIBILITY_LEVEL <= 1
CoordinateSystem_G59_2	7 - G59.2 (G12) - availability depending on COMPATIBILITY_LEVEL <= 1
CoordinateSystem_G59_3	8 - G59.3 (G12) - availability depending on COMPATIBILITY_LEVEL <= 1
N_WorkCoordinateSystems	9 when COMPATIBILITY_LEVEL <= 1, 6 otherwise
CoordinateSystem_G28	9 - G28 (G0) when COMPATIBILITY_LEVEL <= 1, 6 otherwise
CoordinateSystem_G30	10 - G30 (G0) when COMPATIBILITY_LEVEL <= 1, 7 otherwise
CoordinateSystem_G92	11 - G92 (G0) when COMPATIBILITY_LEVEL <= 1, 8 otherwise
N_CoordinateSystems	12 when COMPATIBILITY_LEVEL <= 1, 9 otherwise

feed_mode_t

enum feed_mode_t

Modal Group G5: Feed rate mode

Do not alter values!

Enumerator
FeedMode_UnitsPerMin	0 - G94 - Default, must be zero
FeedMode_InverseTime	1 - G93
FeedMode_UnitsPerRev	2 - G95

gc_probe_t

enum gc_probe_t

Probe cycle exit states, used for proper proper position updating.

Assigned from pos_update_t enum values.

Enumerator
GCProbe_Found	1
GCProbe_Abort	2
GCProbe_FailInit	2
GCProbe_FailEnd	0
GCProbe_CheckMode	0

gc_taper_type

enum gc_taper_type

Thread taper types.

Enumerator
Taper_None	0
Taper_Entry	1
Taper_Exit	2
Taper_Both	3

io_mcode_t

enum io_mcode_t

Modal Group M10: i/o control

Enumerator
IoMCode_OutputOnSynced	62 - M62
IoMCode_OutputOffSynced	63 - M63
IoMCode_OutputOnImmediate	64 - M64
IoMCode_OutputOffImmediate	65 - M65
IoMCode_WaitOnInput	66 - M66
IoMCode_AnalogOutSynced	67 - M67
IoMCode_AnalogOutImmediate	68 - M68

macro_call_t

enum macro_call_t

Enumerator
MacroCall_End	0 - Default, must be zero (G67)
MacroCall_NonModal	65 - G65
MacroCall_Modal	66 - G66
MacroCall_Modal1	166 - G66.1
MacroCall_NonModal98	98 - M98

modal_state_action_t

enum modal_state_action_t

Enumerator
ModalState_NoAction	0 - Default, must be zero
ModalState_Save	70 - M70
ModalState_Invalidate	71 - M71
ModalState_Restore	72 - M72
ModalState_SaveAutoRestore	73 - M73

motion_mode_t

enum motion_mode_t

Modal Group G1: Motion modes

Do not alter values!

Enumerator
MotionMode_Seek	0 - G0 - Default, must be zero
MotionMode_Linear	1 - G1
MotionMode_CwArc	2 - G2
MotionMode_CcwArc	3 - G3
MotionMode_CubicSpline	5 - G5
MotionMode_QuadraticSpline	51 - G5.1
MotionMode_SpindleSynchronized	33 - G33
MotionMode_RigidTapping	331 - G33.1
MotionMode_DrillChipBreak	73 - G73
MotionMode_Threading	76 - G76
MotionMode_CannedCycle81	81 - G81, drill
MotionMode_CannedCycle82	82 - G82, drill with dwell
MotionMode_CannedCycle83	83 - G83, peck drill
MotionMode_CannedCycle84	83 - G84, right hand tapping - experimental
MotionMode_CannedCycle85	85 - G85, not implemented
MotionMode_CannedCycle86	86 - G86, not implemented
MotionMode_CannedCycle89	89 - G89, not implemented
MotionMode_ProbeToward	140 - G38.2
MotionMode_ProbeTowardNoError	141 - G38.3
MotionMode_ProbeAway	142 - G38.4
MotionMode_ProbeAwayNoError	143 - G38.5
MotionMode_None	80 - G80

non_modal_t

enum non_modal_t

Modal Group G0: Non-modal actions

Do not alter values!

Enumerator
NonModal_NoAction	0 - Default, must be zero
NonModal_Dwell	4 - G4
NonModal_Settings	10 - G10
NonModal_GoHome_0	28 - G28
NonModal_SetHome_0	38 - G28.1
NonModal_GoHome_1	30 - G30
NonModal_SetHome_1	40 - G30.1
NonModal_AbsoluteOverride	53 - G53
NonModal_SetCoordinateOffset	92 - G92
NonModal_ResetCoordinateOffset	102 - G92.1
NonModal_ClearCoordinateOffset	112 - G92.2
NonModal_RestoreCoordinateOffset	122 - G92.3

override_mode_t

enum override_mode_t

Enumerator
Override_FeedSpeedEnable	48 - M48
Override_FeedSpeedDisable	49 - M49
Override_FeedRate	50 - M50
Override_SpindleSpeed	51 - M51
Override_FeedHold	53 - M53
Override_Parking	56 - M56

plane_select_t

enum plane_select_t

Modal Group G2: Plane select

Do not alter values!

Enumerator
PlaneSelect_XY	0 - G17 - Default, must be zero
PlaneSelect_ZX	1 - G18
PlaneSelect_YZ	2 - G19

pos_update_t

enum pos_update_t

Parser position updating flags.

Enumerator
GCUpdatePos_Target	0
GCUpdatePos_System	1
GCUpdatePos_None	2

program_flow_t

enum program_flow_t

Modal Group M4: Program flow

Do not alter values!

Enumerator
ProgramFlow_Running	0 - Default, must be zero
ProgramFlow_Paused	3 - M0
ProgramFlow_OptionalStop	1 - M1
ProgramFlow_CompletedM2	2 - M2
ProgramFlow_CompletedM30	30 - M30
ProgramFlow_CompletedM60	60 - M60
ProgramFlow_Return	99 - M99
ProgramFlow_EndPercent	255 - %

tool_action_t

enum tool_action_t

Enumerator
ToolAction_None	0 - Default, must be zero
ToolAction_Change	6 - M6
ToolAction_Set	61 - M61

tool_offset_mode_t

enum tool_offset_mode_t

Modal Group G8: Tool length offset

Do not alter values!

Enumerator
ToolLengthOffset_Cancel	0 - G49 - Default, must be zero
ToolLengthOffset_Enable	1 - G43
ToolLengthOffset_EnableDynamic	2 - G43.1
ToolLengthOffset_ApplyAdditional	3 - G43.2

user_mcode_t

enum user_mcode_t

Modal Group M10: User/driver/plugin defined M commands NOTE: Not used by the core, may be used by private user code, drivers or plugins.

Enumerator
OpenPNP_SetPinState	42 - M42
UserMCode_Generic1	101 - For private use only
UserMCode_Generic2	102 - For private use only
UserMCode_Generic3	103 - For private use only
UserMCode_Generic4	104 - For private use only
Fan_On	106 - M106, Marlin format
Fan_Off	107 - M107, Marlin format
OpenPNP_GetCurrentPosition	114 - M114
OpenPNP_FirmwareInfo	115 - M115
Trinamic_DebugReport	122 - M122, Marlin format
Trinamic_ReadRegister	123 - M123
Trinamic_WriteRegister	124 - M124
LaserPPI_Enable	126 - M126
LaserPPI_Rate	127 - M127
LaserPPI_PulseLength	128 - M128
Laser_Overdrive	129 - M129
OpenPNP_GetPinState	143 - M143
OpenPNP_GetADCScaled	144 - M144
OpenPNP_SetADCScaling	145 - M145
RGB_WriteLEDs	150 - M150, Marlin format
Plasma_SelectMaterial	150 - M190, LinuxCNC format
OpenPNP_SetJerk	20130 - M201.3
OpenPNP_SetAcceleration	204 - M204
SetFeedOverrides	220 - M220, Marlin format
PWMServo_SetPosition	280 - M280, Marlin format
RGB_Inspection_Light	356 - M356
OpenPNP_FinishMoves	400 - M400
Probe_Deploy	401 - M401, Marlin format
Probe_Stow	402 - M402, Marlin format
OpenPNP_SettingsReset	502 - M502
Trinamic_ModeToggle	569 - M569, Marlin format
Macro_Execute0	810 - M810, Marlin format
Macro_Execute1	811 - M811, Marlin format
Macro_Execute2	812 - M812, Marlin format
Macro_Execute3	813 - M813, Marlin format
Macro_Execute4	814 - M814, Marlin format
Macro_Execute5	815 - M815, Marlin format
Macro_Execute6	816 - M816, Marlin format
Macro_Execute7	817 - M817, Marlin format
Macro_Execute8	818 - M818, Marlin format
Macro_Execute9	819 - M819, Marlin format
Trinamic_StepperCurrent	906 - M906, Marlin format
Trinamic_ReportPrewarnFlags	911 - M911, Marlin format
Trinamic_ClearPrewarnFlags	912 - M912, Marlin format
Trinamic_HybridThreshold	913 - M913, Marlin format
Trinamic_HomingSensitivity	914 - M914, Marlin format
Trinamic_ChopperTiming	919 - M919, Marlin format
Sienci_Atci_Enable	960 - M960
Spindle_Select	Value to be assigned later!

wait_mode_t

enum wait_mode_t

M66 Allowed L-parameter values.

Enumerator
WaitMode_Immediate	0 - This is the only mode allowed for analog inputs
WaitMode_Rise	1
WaitMode_Fall	2
WaitMode_High	3
WaitMode_Low	4
WaitMode_Max	For internal use.

Function Documentation

gc_claim_axis_words()

axes_signals_t gc_claim_axis_words	(	parser_block_t *	gc_block,
		axes_signals_t	validate
	)

gc_clear_output_commands()

void gc_clear_output_commands

(

output_command_t *

cmd

)

gc_coolant()

void gc_coolant

(

coolant_state_t

state

)

gc_coord_system_to_str()

char* gc_coord_system_to_str

(

coord_system_id_t

id

)

gc_execute_block()

status_code_t gc_execute_block

(

char *

block

)

gc_get_g51_state()

axes_signals_t gc_get_g51_state

(

void

)

gc_get_g65_arguments()

parameter_words_t gc_get_g65_arguments

(

void

)

gc_get_offset()

float gc_get_offset	(	uint_fast8_t	idx,
		bool	real_time
	)

gc_get_plane_data()

plane_t* gc_get_plane_data	(	plane_t *	plane,
		plane_select_t	select
	)

gc_get_scaling()

float* gc_get_scaling

(

void

)

gc_get_state()

parser_state_t* gc_get_state

(

void

)

gc_init()

void gc_init

(

bool

stop

)

gc_laser_ppi_enable()

bool gc_laser_ppi_enable	(	uint_fast16_t	ppi,
		uint_fast16_t	pulse_length
	)

gc_macro_get_pos()

size_t gc_macro_get_pos	(	macro_id_t	id,
		vfs_file_t *	file
	)

gc_modal_state_restore()

bool gc_modal_state_restore

(

gc_modal_snapshot_t *

snapshot

)

gc_normalize_block()

char* gc_normalize_block	(	char *	block,
		status_code_t *	status,
		char **	message
	)

gc_set_tool_offset()

void gc_set_tool_offset	(	tool_offset_mode_t	mode,
		uint_fast8_t	idx,
		int32_t	offset
	)

gc_spindle_get()

spindle_t* gc_spindle_get

(

spindle_num_t

spindle

)

gc_spindle_off()

void gc_spindle_off

(

void

)

Variable Documentation

gc_state

parser_state_t gc_state

extern