d27dd13a54
- Fixed a premature step end bug dating back to Simen's 0.7b edge version is fixed, from which this code is forked from. Caused by Timer2 constantly overflowing calling the Step Reset Interrupt every 128usec. Now Timer2 is always disabled after a step end and should free up some cycles for the main program. Could be more than one way to fix this problem. I'm open to suggestions. - _delay_ms() refactored to accept only constants to comply with current compilers. square() removed since not available with some compilers.
90 lines
3.7 KiB
C
90 lines
3.7 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 MM_PER_INCH (25.4)
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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_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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// 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_toggle(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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// Define system executor bit map. Used internally by runtime protocol as runtime command flags,
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// which notifies the main program to execute the specified runtime command asynchronously.
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// NOTE: The system executor uses an unsigned 8-bit volatile variable (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 value to
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// know when there is a runtime command to execute.
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#define EXEC_STATUS_REPORT bit(0) // bitmask 00000001
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#define EXEC_CYCLE_START bit(1) // bitmask 00000010
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#define EXEC_CYCLE_STOP bit(2) // bitmask 00000100
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#define EXEC_FEED_HOLD bit(3) // bitmask 00001000
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#define EXEC_RESET bit(4) // bitmask 00010000
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// #define bit(5) // bitmask 00100000
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// #define bit(6) // bitmask 01000000
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// #define bit(7) // bitmask 10000000
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// Define global system variables
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typedef struct {
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uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
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uint8_t feed_hold; // Feed hold flag. Held true during feed hold. Released when ready to resume.
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uint8_t auto_start; // Planner auto-start flag. Toggled off during feed hold. Defaulted by settings.
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int32_t position[3]; // Real-time machine (aka home) position vector in steps.
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// NOTE: This may need to be a volatile variable, if problems arise.
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int32_t coord_offset[3]; // Retains the G92 coordinate offset (work coordinates) relative to
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// machine zero in steps.
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volatile uint8_t cycle_start; // Cycle start flag. Set by stepper subsystem or main program.
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volatile uint8_t execute; // Global system runtime executor bitflag variable. See EXEC bitmasks.
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} system_t;
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extern system_t sys;
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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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// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms().
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void delay_ms(uint16_t ms);
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#endif
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