03e2ca7cd5
- ALPHA status. - Multitasking ability with run-time command executions for real-time control and feedback. - Decelerating feed hold and resume during operation. - System abort/reset, which immediately kills all movement and re-initializes grbl. - Re-structured grbl to easily allow for new features: Status reporting, jogging, backlash compensation. (To be completed in the following releases.) - Resized TX/RX serial buffers (32/128 bytes) - Increased planner buffer size to 20 blocks. - Updated documentation.
63 lines
2.3 KiB
C
63 lines
2.3 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) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011 Sungeun K. Jeon
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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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#include <string.h>
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#include <stdint.h>
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#include <stdbool.h>
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#define false 0
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#define true 1
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#define X_AXIS 0
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#define Y_AXIS 1
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#define Z_AXIS 2
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#define clear_vector(a) memset(a, 0, sizeof(a))
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#define clear_vector_double(a) memset(a, 0.0, sizeof(a))
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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 system state bit map. Used internally by runtime protocol as runtime command flags.
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// NOTE: The system state is an unsigned 8-bit volatile variable and has a 8 flag limit. The default
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// flags are always false, so the runtime protocol only needs to check for a non-zero state value to
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// know when there is a runtime command to execute.
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#define BIT_STATUS_REPORT 1 // bit 00000001
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#define BIT_CYCLE_START 2 // bit 00000010
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#define BIT_FEED_HOLD 4 // bit 00000100
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#define BIT_RESET 8 // bit 00001000
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#define BIT_REPLAN_CYCLE 16 // bit 00010000
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// #define 32 // bit 00100000
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// #define 64 // bit 01000000
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// #define 128 // bit 10000000
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// Define global system variables
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extern uint8_t sys_abort; // Global system abort flag
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extern volatile uint8_t sys_state; // Global system state variable
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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 double_ptr is
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// a pointer to the result variable. Returns true when it succeeds
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int read_double(char *line, uint8_t *char_counter, double *double_ptr);
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#endif
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