118 lines
5.1 KiB
C
118 lines
5.1 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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The MIT License (MIT)
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GRBL(tm) - Embedded CNC g-code interpreter and motion-controller
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011-2012 Sungeun K. Jeon
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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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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#include "config.h"
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#include "defaults.h"
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#include "pin_map.h"
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#define false 0
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#define true 1
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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 MM_PER_INCH (25.40)
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#define INCH_PER_MM (0.0393701)
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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 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 EXEC_ALARM bit(5) // bitmask 00100000
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#define EXEC_CRIT_EVENT bit(6) // bitmask 01000000
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// #define bit(7) // bitmask 10000000
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// Define system state bit map. The state variable primarily tracks the individual functions
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// of Grbl to manage each without overlapping. It is also used as a messaging flag for
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// critical events.
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#define STATE_IDLE 0 // Must be zero.
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#define STATE_INIT 1 // Initial power up state.
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#define STATE_QUEUED 2 // Indicates buffered blocks, awaiting cycle start.
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#define STATE_CYCLE 3 // Cycle is running
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#define STATE_HOLD 4 // Executing feed hold
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#define STATE_HOMING 5 // Performing homing cycle
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#define STATE_ALARM 6 // In alarm state. Locks out all g-code processes. Allows settings access.
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#define STATE_CHECK_MODE 7 // G-code check mode. Locks out planner and motion only.
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// #define STATE_JOG 8 // Jogging mode is unique like homing.
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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 state; // Tracks the current state of Grbl.
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volatile uint8_t execute; // Global system runtime executor bitflag variable. See EXEC bitmasks.
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int32_t position[N_AXIS]; // 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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uint8_t auto_start; // Planner auto-start flag. Toggled off during feed hold. Defaulted by settings.
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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 float_ptr is
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// a pointer to the result variable. Returns true when it succeeds
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int read_float(char *line, uint8_t *char_counter, float *float_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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// Delays variable-defined microseconds. Compiler compatibility fix for _delay_us().
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void delay_us(uint32_t us);
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// Syncs Grbl's gcode and planner position variables with the system position.
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void sys_sync_current_position();
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#endif
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