kopia lustrzana https://github.com/gnea/grbl
88 wiersze
3.0 KiB
C
88 wiersze
3.0 KiB
C
/*
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nuts_bolts.h - Header file for shared definitions, variables, and functions
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Part of Grbl
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl 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 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. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef nuts_bolts_h
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#define nuts_bolts_h
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#define false 0
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#define true 1
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#define SOME_LARGE_VALUE 1.0E+38
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// Axis array index values. Must start with 0 and be continuous.
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#define N_AXIS 3 // Number of axes
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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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// 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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#ifdef COREXY
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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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#endif
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// Conversions
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#define MM_PER_INCH (25.40)
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#define INCH_PER_MM (0.0393701)
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#define TICKS_PER_MICROSECOND (F_CPU/1000000)
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#define DELAY_MODE_DWELL 0
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#define DELAY_MODE_SYS_SUSPEND 1
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// Useful macros
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#define clear_vector(a) memset(a, 0, sizeof(a))
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#define clear_vector_float(a) memset(a, 0.0, sizeof(float)*N_AXIS)
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// #define clear_vector_long(a) memset(a, 0.0, sizeof(long)*N_AXIS)
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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 isequal_position_vector(a,b) !(memcmp(a, b, sizeof(float)*N_AXIS))
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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(x,mask) (x) |= (mask)
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#define bit_false(x,mask) (x) &= ~(mask)
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#define bit_istrue(x,mask) ((x & mask) != 0)
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#define bit_isfalse(x,mask) ((x & mask) == 0)
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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(char *line, uint8_t *char_counter, float *float_ptr);
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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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// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms().
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void delay_ms(uint16_t ms);
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// Delays variable-defined microseconds. Compiler compatibility fix for _delay_us().
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void delay_us(uint32_t us);
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// Computes hypotenuse, avoiding avr-gcc's bloated version and the extra error checking.
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float hypot_f(float x, float y);
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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
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