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nuts_bolts.h
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nuts_bolts.h
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/*
nuts_bolts.h - Header file for shared definitions, variables, and functions
Part of Grbl
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl 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 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. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef nuts_bolts_h
#define nuts_bolts_h
#define false 0
#define true 1
#define SOME_LARGE_VALUE 1.0E+38
// Axis array index values. Must start with 0 and be continuous.
#define N_AXIS 3 // Number of axes
#define X_AXIS 0 // Axis indexing value.
#define Y_AXIS 1
#define Z_AXIS 2
// #define A_AXIS 3
// 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 (F_CPU/1000000)
#define DELAY_MODE_DWELL 0
#define DELAY_MODE_SYS_SUSPEND 1
// Useful macros
#define clear_vector(a) memset(a, 0, sizeof(a))
#define clear_vector_float(a) memset(a, 0.0, sizeof(float)*N_AXIS)
// #define clear_vector_long(a) memset(a, 0.0, sizeof(long)*N_AXIS)
#define max(a,b) (((a) > (b)) ? (a) : (b))
#define min(a,b) (((a) < (b)) ? (a) : (b))
#define isequal_position_vector(a,b) !(memcmp(a, b, sizeof(float)*N_AXIS))
// Bit field and masking macros
#define bit(n) (1 << n)
#define bit_true(x,mask) (x) |= (mask)
#define bit_false(x,mask) (x) &= ~(mask)
#define bit_istrue(x,mask) ((x & mask) != 0)
#define bit_isfalse(x,mask) ((x & mask) == 0)
// 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);
// Non-blocking delay function used for general operation and suspend features.
void delay_sec(float seconds, uint8_t mode);
// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms().
void delay_ms(uint16_t ms);
// Delays variable-defined microseconds. Compiler compatibility fix for _delay_us().
void delay_us(uint32_t us);
// Computes hypotenuse, avoiding avr-gcc's bloated version and the extra error checking.
float hypot_f(float x, float y);
float convert_delta_vector_to_unit_vector(float *vector);
float limit_value_by_axis_maximum(float *max_value, float *unit_vec);
#endif