2.4.1 gcode.h
#define MODAL_GROUP_G0 0 // [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] 非模态指
//组
#define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G38.2,G38.3,G38.4,G38.5,G80] 运动指令
#define MODAL_GROUP_G2 2 // [G17,G18,G19] 坐标平面
#define MODAL_GROUP_G3 3 // [G90,G91] 绝对/相对坐标
#define MODAL_GROUP_G4 4 // [G91.1] 圆弧 IJK 方式
#define MODAL_GROUP_G5 5 // [G93,G94] 进给模式
#define MODAL_GROUP_G6 6 // [G20,G21] 单位
#define MODAL_GROUP_G7 7 // [G40] 刀具半径补偿
#define MODAL_GROUP_G8 8 // [G43.1,G49] 刀长补
#define MODAL_GROUP_G12 9 // [G54,G55,G56,G57,G58,G59] 坐标系
#define MODAL_GROUP_G13 10 // [G61] 准停控制
#define MODAL_GROUP_M4 11 // [M0,M1,M2,M30] 停止
#define MODAL_GROUP_M7 12 // [M3,M4,M5] 主轴控制
#define MODAL_GROUP_M8 13 // [M7,M8,M9] 冷却控制
#define MODAL_GROUP_M9 14 // [M56] 倍率控制
// 组 G0: 定义G代码的代号,如定义NON_MODAL_DWELL为4,表示G4(不要改)
#define NON_MODAL_NO_ACTION 0 // (Default: Must be zero)
#define NON_MODAL_DWELL 4 // G4 (Do not alter value)
#define NON_MODAL_SET_COORDINATE_DATA 10 // G10 (Do not alter value)
#define NON_MODAL_GO_HOME_0 28 // G28 (Do not alter value)
#define NON_MODAL_SET_HOME_0 38 // G28.1 (Do not alter value)
#define NON_MODAL_GO_HOME_1 30 // G30 (Do not alter value)
#define NON_MODAL_SET_HOME_1 40 // G30.1 (Do not alter value)
#define NON_MODAL_ABSOLUTE_OVERRIDE 53 // G53 (Do not alter value)
#define NON_MODAL_SET_COORDINATE_OFFSET 92 // G92 (Do not alter value)
#define NON_MODAL_RESET_COORDINATE_OFFSET 102 //G92.1 (Do not alter value)
// 组 G1: 同上(不要改)
#define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero)
#define MOTION_MODE_LINEAR 1 // G1 (Do not alter value)
#define MOTION_MODE_CW_ARC 2 // G2 (Do not alter value)
#define MOTION_MODE_CCW_ARC 3 // G3 (Do not alter value)
#define MOTION_MODE_PROBE_TOWARD 140 // G38.2 (Do not alter value)
#define MOTION_MODE_PROBE_TOWARD_NO_ERROR 141 // G38.3 (Do not alter value)
#define MOTION_MODE_PROBE_AWAY 142 // G38.4 (Do not alter value)
#define MOTION_MODE_PROBE_AWAY_NO_ERROR 143 // G38.5 (Do not alter value)
#define MOTION_MODE_NONE 80 // G80 (Do not alter value)
// 组 G2:
#define PLANE_SELECT_XY 0 // G17 (Default: Must be zero)
#define PLANE_SELECT_ZX 1 // G18 (Do not alter value)
#define PLANE_SELECT_YZ 2 // G19 (Do not alter value)
// 组G3: Distance mode
#define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero)
#define DISTANCE_MODE_INCREMENTAL 1 // G91 (Do not alter value)
// 组G4: Arc IJK distance mode
#define DISTANCE_ARC_MODE_INCREMENTAL 0 // G91.1 (Default: Must be zero)
// 组 M4: Program flow
#define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero)
#define PROGRAM_FLOW_PAUSED 3 // M0
#define PROGRAM_FLOW_OPTIONAL_STOP 1 // M1 NOTE: Not supported, but valid and ignored.
#define PROGRAM_FLOW_COMPLETED_M2 2 // M2 (Do not alter value)
#define PROGRAM_FLOW_COMPLETED_M30 30 // M30 (Do not alter value)
// 组 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 (Do not alter value)
// 组 G6: Units mode
#define UNITS_MODE_MM 0 // G21 (Default: Must be zero)
#define UNITS_MODE_INCHES 1 // G20 (Do not alter value)
// 组G7: Cutter radius compensation mode
#define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero)
// 组G13: Control mode
#define CONTROL_MODE_EXACT_PATH 0 // G61 (Default: Must be zero)
// 组M7: Spindle control
#define SPINDLE_DISABLE 0 // M5 (Default: Must be zero)
#define SPINDLE_ENABLE_CW PL_COND_FLAG_SPINDLE_CW // M3 (NOTE: Uses planner condition bit flag)
#define SPINDLE_ENABLE_CCW PL_COND_FLAG_SPINDLE_CCW // M4 (NOTE: Uses planner condition bit flag)
// 组M8: Coolant control
#define COOLANT_DISABLE 0 // M9 (Default: Must be zero)
#define COOLANT_FLOOD_ENABLE PL_COND_FLAG_COOLANT_FLOOD // M8 (NOTE: Uses planner condition bit flag)
#define COOLANT_MIST_ENABLE PL_COND_FLAG_COOLANT_MIST // M7 (NOTE: Uses planner condition bit flag)
//组 G8: Tool length offset
#define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero)
#define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1
//组 M9: Override control
#ifdef DEACTIVATE_PARKING_UPON_INIT
#define OVERRIDE_DISABLED 0 // (Default: Must be zero)
#define OVERRIDE_PARKING_MOTION 1 // M56
#else
#define OVERRIDE_PARKING_MOTION 0 // M56 (Default: Must be zero)
#define OVERRIDE_DISABLED 1 // Parking disabled.
#endif
// 定义参数表.
#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
// 解释器位置更新标志
#define GC_UPDATE_POS_TARGET 0 // Must be zero
#define GC_UPDATE_POS_SYSTEM 1
#define GC_UPDATE_POS_NONE 2
// 探测循环,分别为发现物体,中止和初始化失败
#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
//解释器状态标志
#define GC_PARSER_NONE 0 // Must be zero.
#define GC_PARSER_JOG_MOTION bit(0) //JOG
#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; // {G0,G1,G2,G3,G38.2,G80}
uint8_t feed_rate; // {G93,G94}
uint8_t units; // {G20,G21}
uint8_t distance; // {G90,G91}
// uint8_t distance_arc; // {G91.1} NOTE: Don't track. Only default supported.
uint8_t plane_select; // {G17,G18,G19}
// uint8_t cutter_comp; // {G40} NOTE: Don't track. Only default supported.
uint8_t tool_length; // {G43.1,G49}
uint8_t coord_select; // {G54,G55,G56,G57,G58,G59}
// uint8_t control; // {G61} NOTE: Don't track. Only default supported.
uint8_t program_flow; // {M0,M1,M2,M30}
uint8_t coolant; // {M7,M8,M9}
uint8_t spindle; // {M3,M4,M5}
uint8_t override; // {M56}
} gc_modal_t; //保存G代码模态
typedef struct {
float f; // 进给
float ijk[3]; // I,J,K 圆弧偏移
uint8_t l; // G10 or canned cycles parameters
int32_t n; // 行号
float p; // G10 or dwell parameters
// float q; // G82 peck drilling
float r; // 圆弧半径
float s; // 主轴转速
uint8_t t; //刀具号
float xyz[3]; // X,Y,Z
} gc_values_t; //保存G代码的参数
typedef struct {
gc_modal_t modal;
float spindle_speed; // 转速
float feed_rate; // 进给Millimeters/min
uint8_t tool; // 刀号 (未用).
int32_t line_number; //行号
float position[N_AXIS]; // 位置
float coord_system[N_AXIS]; // 当前工件坐标系G54 mm.
float coord_offset[N_AXIS]; // 保留相对于机床零点的G92坐标偏移,单位为毫米。
float tool_length_offset; // 刀长补.
} parser_state_t;
extern parser_state_t gc_state; //解释器状态
typedef struct {
uint8_t non_modal_command;
gc_modal_t modal;
gc_values_t values;
} parser_block_t; //解释器行数据
2.4.2 gcode.c
#define MAX_LINE_NUMBER 10000000 //最大行号
#define MAX_TOOL_NUMBER 255 // 最大刀具号
#define AXIS_COMMAND_NONE 0 //不是运动指令
#define AXIS_COMMAND_NON_MODAL 1 //非模态
#define AXIS_COMMAND_MOTION_MODE 2 //运动指令
#define AXIS_COMMAND_TOOL_LENGTH_OFFSET 3 //刀补
parser_state_t gc_state;
parser_block_t gc_block;
#define FAIL(status) return(status);
//初始化
void gc_init()
{
memset(&gc_state, 0, sizeof(parser_state_t));//清空状态寄存器
// 装载G54数据.
if (!(settings_read_coord_data(gc_state.modal.coord_select,gc_state.coord_system))) {
report_status_message(STATUS_SETTING_READ_FAIL);
}
}
//同步G代码解释器的位置. 把系统位置赋给解释器
void gc_sync_position()
{