kopia lustrzana https://github.com/Schildkroet/GRBL-Advanced
139 wiersze
4.8 KiB
C
139 wiersze
4.8 KiB
C
/*
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util.h - Header file for shared definitions, variables, and functions
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Part of Grbl-Advanced
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Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2017-2020 Patrick F.
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Grbl-Advanced is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl-Advanced is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl-Advanced. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef UTIL_H_INCLUDED
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#define UTIL_H_INCLUDED
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#include <stdint.h>
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#include <math.h>
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#include <stdbool.h>
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif // M_PI
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// Bit field and masking macros
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#define BIT(n) (1 << n)
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#define BIT_TRUE_ATOMIC(x,mask) BIT_TRUE(x,mask)
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#define BIT_FALSE_ATOMIC(x,mask) BIT_FALSE(x,mask)
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#define BIT_TOGGLE_ATOMIC(x,mask) (x) ^= (mask)
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#define BIT_TRUE(x,mask) (x) |= (mask)
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#define BIT_FALSE(x,mask) (x) &= ~(mask)
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#define BIT_IS_TRUE(x,mask) ((x & mask) != 0)
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#define BIT_IS_FALSE(x,mask) ((x & mask) == 0)
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#define F_TIMER_STEPPER 24000000UL
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#define N_AXIS 5
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#define N_LINEAR_AXIS 3
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#define X_AXIS 0 // Axis indexing value.
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#define Y_AXIS 1
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#define Z_AXIS 2
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#define A_AXIS 3
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#define B_AXIS 4
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#define X_STEP_BIT 0
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#define Y_STEP_BIT 1
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#define Z_STEP_BIT 2
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#define A_STEP_BIT 3
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#define B_STEP_BIT 4
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#define X_DIRECTION_BIT 0
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#define Y_DIRECTION_BIT 1
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#define Z_DIRECTION_BIT 2
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#define A_DIRECTION_BIT 3
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#define B_DIRECTION_BIT 4
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#define X1_LIMIT_BIT 0
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#define Y1_LIMIT_BIT 1
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#define Z1_LIMIT_BIT 2
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#define X2_LIMIT_BIT 3
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#define Y2_LIMIT_BIT 4
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#define Z2_LIMIT_BIT 5
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#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))
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#define SPINDLE_ENABLE_BIT 0
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#define SPINDLE_DIRECTION_BIT 1
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#define CONTROL_RESET_BIT 0
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#define CONTROL_FEED_HOLD_BIT 1
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#define CONTROL_CYCLE_START_BIT 2
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#define CONTROL_SAFETY_DOOR_BIT 3
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#define CONTROL_MASK ((1<<CONTROL_RESET_BIT) | (1<<CONTROL_FEED_HOLD_BIT) | (1<<CONTROL_CYCLE_START_BIT) | (1<<CONTROL_SAFETY_DOOR_BIT))
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#define CONTROL_BTN_MASK ((1<<CONTROL_RESET_BIT) | (1<<CONTROL_FEED_HOLD_BIT) | (1<<CONTROL_CYCLE_START_BIT))
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#define DELAY_MODE_DWELL 0
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#define DELAY_MODE_SYS_SUSPEND 1
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// CoreXY motor assignments. DO NOT ALTER.
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// NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations.
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#define A_MOTOR X_AXIS // Must be X_AXIS
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#define B_MOTOR Y_AXIS // Must be Y_AXIS
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// Conversions
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#define MM_PER_INCH (25.40)
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#define INCH_PER_MM (0.039370079)
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#define TICKS_PER_MICROSECOND (24UL)
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#define SOME_LARGE_VALUE 1.0E+38
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#define ACCEL_TICKS_PER_SECOND 100
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#define max(a,b) (((a) > (b)) ? (a) : (b))
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#define min(a,b) (((a) < (b)) ? (a) : (b))
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#define clear_vector(a) (memset(a,0,sizeof(a)))
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#define clear_vector_f(a) (memset(a, 0.0, sizeof(a)))
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#define copy_vector(d,s) (memcpy(d,s,sizeof(d)))
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#define isequal_position_vector(a,b) !(memcmp(a, b, sizeof(float)*N_AXIS))
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// Read a floating point value from a string. Line points to the input buffer, char_counter
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// is the indexer pointing to the current character of the line, while float_ptr is
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// a pointer to the result variable. Returns true when it succeeds
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uint8_t Read_Float(const char *line, uint8_t *char_counter, float *float_ptr);
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uint8_t ExtractFloat(const char *line, int start_idx, char *float_char);
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void PrintFloat_CoordValue(float n);
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void PrintFloat_RateValue(float n);
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// Non-blocking delay function used for general operation and suspend features.
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void Delay_sec(float seconds, uint8_t mode);
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// Computes hypotenuse, avoiding avr-gcc's bloated version and the extra error checking.
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bool isEqual_f(float a, float b);
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float convert_delta_vector_to_unit_vector(float *vector);
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float limit_value_by_axis_maximum(float *max_value, float *unit_vec);
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#endif // UTIL_H_INCLUDED
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