| /* |
| 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 |