/*
  util.h - Header file for shared definitions, variables, and functions
  Part of Grbl-Advanced

  Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
  Copyright (c) 2017-2020 Patrick F.

  Grbl-Advanced 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-Advanced 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-Advanced.  If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef UTIL_H_INCLUDED
#define UTIL_H_INCLUDED

#include <stdint.h>
#include <math.h>
#include <stdbool.h>


#ifndef M_PI
    #define M_PI        3.14159265358979323846
#endif // M_PI


// Bit field and masking macros
#define BIT(n)                      (1 << n)
#define BIT_TRUE_ATOMIC(x,mask)     BIT_TRUE(x,mask)
#define BIT_FALSE_ATOMIC(x,mask)    BIT_FALSE(x,mask)
#define BIT_TOGGLE_ATOMIC(x,mask)   (x) ^= (mask)
#define BIT_TRUE(x,mask)            (x) |= (mask)
#define BIT_FALSE(x,mask)           (x) &= ~(mask)
#define BIT_IS_TRUE(x,mask)         ((x & mask) != 0)
#define BIT_IS_FALSE(x,mask)        ((x & mask) == 0)


#define F_CPU                       96000000UL
#define F_TIMER_STEPPER             24000000UL

#define N_AXIS                      5
#define N_LINEAR_AXIS               3

#define X_AXIS                      0 // Axis indexing value.
#define Y_AXIS                      1
#define Z_AXIS                      2
#define A_AXIS                      3
#define B_AXIS                      4

#define X_STEP_BIT                  0
#define Y_STEP_BIT                  1
#define Z_STEP_BIT                  2
#define A_STEP_BIT                  3
#define B_STEP_BIT                  4

#define X_DIRECTION_BIT             0
#define Y_DIRECTION_BIT             1
#define Z_DIRECTION_BIT             2
#define A_DIRECTION_BIT             3
#define B_DIRECTION_BIT             4

#define X1_LIMIT_BIT                0
#define Y1_LIMIT_BIT                1
#define Z1_LIMIT_BIT                2
#define X2_LIMIT_BIT                3
#define Y2_LIMIT_BIT                4
#define Z2_LIMIT_BIT                5
#define LIMIT_MASK                  ((1<<X1_LIMIT_BIT) | (1<<Y1_LIMIT_BIT) | (1<<Z1_LIMIT_BIT) | (1<<X2_LIMIT_BIT) | (1<<Y2_LIMIT_BIT) | (1<<Z2_LIMIT_BIT))

#define SPINDLE_ENABLE_BIT          0
#define SPINDLE_DIRECTION_BIT       1

#define CONTROL_RESET_BIT           0
#define CONTROL_FEED_HOLD_BIT       1
#define CONTROL_CYCLE_START_BIT     2
#define CONTROL_SAFETY_DOOR_BIT     3
#define CONTROL_MASK                ((1<<CONTROL_RESET_BIT) | (1<<CONTROL_FEED_HOLD_BIT) | (1<<CONTROL_CYCLE_START_BIT) | (1<<CONTROL_SAFETY_DOOR_BIT))


#define DELAY_MODE_DWELL            0
#define DELAY_MODE_SYS_SUSPEND      1


// CoreXY motor assignments. DO NOT ALTER.
// NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations.
#ifdef COREXY
#define A_MOTOR                    X_AXIS // Must be X_AXIS
#define B_MOTOR                    Y_AXIS // Must be Y_AXIS
#endif


// Conversions
#define MM_PER_INCH                 (25.40)
#define INCH_PER_MM                 (0.0393701)
#define TICKS_PER_MICROSECOND       (24UL)


#define SOME_LARGE_VALUE            1.0E+38


#define ACCEL_TICKS_PER_SECOND      100


#define max(a,b)                    (((a) > (b)) ? (a) : (b))
#define min(a,b)                    (((a) < (b)) ? (a) : (b))


#define clear_vector(a)                 (memset(a,0,sizeof(a)))
#define clear_vector_f(a)               (memset(a, 0.0, sizeof(a)))
#define copy_vector(d,s)                (memcpy(d,s,sizeof(d)))

#define isequal_position_vector(a,b)    !(memcmp(a, b, sizeof(float)*N_AXIS))


// Read a floating point value from a string. Line points to the input buffer, char_counter
// is the indexer pointing to the current character of the line, while float_ptr is
// a pointer to the result variable. Returns true when it succeeds
uint8_t Read_Float(char *line, uint8_t *char_counter, float *float_ptr);

uint8_t ExtractFloat(char *line, int start_idx, char *float_char);

// Non-blocking delay function used for general operation and suspend features.
void Delay_sec(float seconds, uint8_t mode);

// Computes hypotenuse, avoiding avr-gcc's bloated version and the extra error checking.
float hypot_f(float x, float y);
bool isEqual_f(float a, float b);
float convert_delta_vector_to_unit_vector(float *vector);
float limit_value_by_axis_maximum(float *max_value, float *unit_vec);


#endif // UTIL_H_INCLUDED