mirror of
https://github.com/grblHAL/core.git
synced 2026-02-05 16:50:16 +08:00
106f5fd573
Moved probe signal handling from drivers to the core, improved handling of probe disconnected signal. NOTE: The changes above are quite large, please verify probe operation after installation.
366 lines
9.4 KiB
C
366 lines
9.4 KiB
C
/*
|
|
nuts_bolts.h - Header file for shared definitions, variables, and functions
|
|
|
|
Part of grblHAL
|
|
|
|
Copyright (c) 2017-2025 Terje Io
|
|
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
|
|
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
|
|
grblHAL 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.
|
|
|
|
grblHAL 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 grblHAL. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef _NUTS_BOLTS_H_
|
|
#define _NUTS_BOLTS_H_
|
|
|
|
#include "grbl.h"
|
|
#include "errors.h"
|
|
|
|
#ifndef true
|
|
#define false 0
|
|
#define true 1
|
|
#endif
|
|
|
|
#define Off 0
|
|
#define On 1
|
|
|
|
#define SOME_LARGE_VALUE 1.0E+38f
|
|
#ifndef M_PI
|
|
#define M_PI 3.14159265358979323846f
|
|
#endif
|
|
|
|
#define TOLERANCE_EQUAL 0.0001f
|
|
|
|
#define RADDEG 0.01745329251994329577f // Radians per degree
|
|
#define DEGRAD 57.29577951308232087680f // Degrees per radians
|
|
#define SQRT3 1.73205080756887729353f
|
|
#define SIN120 0.86602540378443864676f
|
|
#define COS120 -0.5f
|
|
#define TAN60 1.73205080756887729353f
|
|
#define SIN30 0.5f
|
|
#define TAN30 0.57735026918962576451f
|
|
#define TAN30_2 0.28867513459481288225f
|
|
|
|
#define ABORTED (sys.abort || sys.cancel)
|
|
|
|
// Convert character to uppercase
|
|
#define CAPS(c) ((c >= 'a' && c <= 'z') ? (c & 0x5F) : c)
|
|
#define LCAPS(c) ((c >= 'A' && c <= 'Z') ? (c | 0x20) : c)
|
|
|
|
#if !(defined(STM32F103xB) || defined(STM32F303xC))
|
|
#ifndef UNUSED
|
|
#define UNUSED(x) (void)(x)
|
|
#endif
|
|
#endif
|
|
|
|
// Axis array index values. Must start with 0 and be continuous.
|
|
#define X_AXIS 0 // Axis indexing value.
|
|
#define Y_AXIS 1
|
|
#define Z_AXIS 2
|
|
#define X_AXIS_BIT bit(X_AXIS)
|
|
#define Y_AXIS_BIT bit(Y_AXIS)
|
|
#define Z_AXIS_BIT bit(Z_AXIS)
|
|
#if N_AXIS > 3
|
|
#define A_AXIS 3
|
|
#define A_AXIS_BIT bit(A_AXIS)
|
|
#endif
|
|
#if N_AXIS > 4
|
|
#define B_AXIS 4
|
|
#define B_AXIS_BIT bit(B_AXIS)
|
|
#endif
|
|
#if N_AXIS > 5
|
|
#define C_AXIS 5
|
|
#define C_AXIS_BIT bit(C_AXIS)
|
|
#endif
|
|
#if N_AXIS > 6
|
|
#define U_AXIS 6
|
|
#define U_AXIS_BIT bit(U_AXIS)
|
|
#endif
|
|
#if N_AXIS == 8
|
|
#define V_AXIS 7
|
|
#define V_AXIS_BIT bit(V_AXIS)
|
|
#endif
|
|
|
|
#if N_AXIS == 3
|
|
#define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT)
|
|
#elif N_AXIS == 4
|
|
#define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT)
|
|
#elif N_AXIS == 5
|
|
#define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT|B_AXIS_BIT)
|
|
#elif N_AXIS == 6
|
|
#define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT|B_AXIS_BIT|C_AXIS_BIT)
|
|
#elif N_AXIS == 7
|
|
#define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT|B_AXIS_BIT|C_AXIS_BIT|U_AXIS_BIT)
|
|
#else
|
|
#define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT|B_AXIS_BIT|C_AXIS_BIT|U_AXIS_BIT|V_AXIS_BIT)
|
|
#endif
|
|
|
|
#ifdef V_AXIS
|
|
#define N_ABC_AXIS 5
|
|
#elif defined(U_AXIS)
|
|
#define N_ABC_AXIS 4
|
|
#elif defined(C_AXIS)
|
|
#define N_ABC_AXIS 3
|
|
#elif defined(B_AXIS)
|
|
#define N_ABC_AXIS 2
|
|
#elif defined(A_AXIS)
|
|
#define N_ABC_AXIS 1
|
|
#else
|
|
#define N_ABC_AXIS 0
|
|
#endif
|
|
|
|
typedef union {
|
|
uint8_t mask;
|
|
uint8_t bits;
|
|
uint8_t value;
|
|
struct {
|
|
uint8_t x :1,
|
|
y :1,
|
|
z :1,
|
|
a :1,
|
|
b :1,
|
|
c :1,
|
|
u :1,
|
|
v :1;
|
|
};
|
|
} axes_signals_t;
|
|
|
|
//! Coordinate data.
|
|
typedef union {
|
|
float values[N_AXIS];
|
|
struct {
|
|
float x;
|
|
float y;
|
|
float z;
|
|
#ifdef A_AXIS
|
|
float a;
|
|
#endif
|
|
#ifdef B_AXIS
|
|
float b;
|
|
#endif
|
|
#ifdef C_AXIS
|
|
float c;
|
|
#endif
|
|
#ifdef U_AXIS
|
|
float u;
|
|
#endif
|
|
#ifdef V_AXIS
|
|
float v;
|
|
#endif
|
|
};
|
|
struct {
|
|
float m0;
|
|
float m1;
|
|
float m2;
|
|
#if N_AXIS > 3
|
|
float m3;
|
|
#endif
|
|
#if N_AXIS > 4
|
|
float m4;
|
|
#endif
|
|
#if N_AXIS > 5
|
|
float m5;
|
|
#endif
|
|
#if N_AXIS > 6
|
|
float m6;
|
|
#endif
|
|
#if N_AXIS == 8
|
|
float m7;
|
|
#endif
|
|
};
|
|
} coord_data_t;
|
|
|
|
typedef union {
|
|
int32_t value[N_AXIS];
|
|
struct {
|
|
int32_t x;
|
|
int32_t y;
|
|
int32_t z;
|
|
#ifdef A_AXIS
|
|
int32_t a;
|
|
#endif
|
|
#ifdef B_AXIS
|
|
int32_t b;
|
|
#endif
|
|
#ifdef C_AXIS
|
|
int32_t c;
|
|
#endif
|
|
#ifdef U_AXIS
|
|
int32_t u;
|
|
#endif
|
|
#ifdef V_AXIS
|
|
int32_t v;
|
|
#endif
|
|
};
|
|
} mpos_t;
|
|
|
|
typedef union {
|
|
float values[2];
|
|
struct {
|
|
float x;
|
|
float y;
|
|
};
|
|
} point_2d_t;
|
|
|
|
#pragma pack(push, 1)
|
|
|
|
//! \brief Limit switches struct, consists of four packed axes_signals_t structs in 32 bits.
|
|
typedef union {
|
|
uint32_t bits;
|
|
struct {
|
|
axes_signals_t min; //!< Min limit switches status, required.
|
|
axes_signals_t max; //!< Max limit switches status, optional.
|
|
axes_signals_t min2; //!< Secondary min limit switch(es) status, required for auto squaring enabled axes.
|
|
axes_signals_t max2; //!< Secondary max limit switches status, optional (of no practical use?).
|
|
};
|
|
} limit_signals_t;
|
|
|
|
//! \brief Home switches struct, consists of two packed axes_signals_t structs.
|
|
typedef struct {
|
|
axes_signals_t a; //!< Primary home switches status, optional. Limit signals are used for homing if not available.
|
|
axes_signals_t b; //!< Secondary home switch(es) status, required for auto squaring enabled axes if primary switches are available.
|
|
} home_signals_t;
|
|
|
|
//! \brief Stepper driver states struct.
|
|
typedef union {
|
|
uint16_t state;
|
|
home_signals_t details; // Stepper driver signals states.
|
|
} stepper_state_t;
|
|
|
|
//! \brief // Stepper driver warning and fault signal states, consists of two packed stepper_state_t structs in 32 bits.
|
|
typedef struct {
|
|
stepper_state_t warning; //!< Stepper drivers warning states.
|
|
stepper_state_t fault; //!< Stepper drivers fault states.
|
|
} stepper_status_t;
|
|
|
|
#pragma pack(pop)
|
|
|
|
// NOTE: the pin_function_t enum must be kept in sync with any changes!
|
|
typedef union {
|
|
uint16_t bits;
|
|
uint16_t mask;
|
|
uint16_t value;
|
|
struct {
|
|
uint16_t reset :1,
|
|
feed_hold :1,
|
|
cycle_start :1,
|
|
safety_door_ajar :1,
|
|
block_delete :1,
|
|
stop_disable :1, //! M1
|
|
e_stop :1,
|
|
probe_disconnected :1,
|
|
motor_fault :1,
|
|
motor_warning :1,
|
|
limits_override :1,
|
|
single_block :1,
|
|
tls_overtravel :1, //! used for probe (toolsetter) protection
|
|
probe_overtravel :1, //! used for probe protection
|
|
probe_triggered :1, //! used for probe protection
|
|
deasserted :1; //! this flag is set if signals are deasserted.
|
|
};
|
|
} control_signals_t;
|
|
|
|
typedef enum {
|
|
DelayMode_Dwell = 0,
|
|
DelayMode_SysSuspend
|
|
} delaymode_t;
|
|
|
|
// Conversions
|
|
#define MM_PER_INCH (25.40f)
|
|
#define INCH_PER_MM (0.0393701f)
|
|
|
|
#define MAX_INT_DIGITS 9 // Maximum number of digits in int32 (and float)
|
|
#define STRLEN_COORDVALUE (MAX_INT_DIGITS + N_DECIMAL_COORDVALUE_INCH + 1) // 8.4 format - excluding terminating null
|
|
|
|
// Useful macros
|
|
#ifndef max
|
|
#define max(a,b) (((a) > (b)) ? (a) : (b))
|
|
#endif
|
|
#ifndef min
|
|
#define min(a,b) (((a) < (b)) ? (a) : (b))
|
|
#endif
|
|
#ifndef constrain
|
|
#define constrain(val, min, max) ((val) < (min) ? (min) : ((val) > (max) ? (max) : (val)))
|
|
#endif
|
|
#define clear_vector(a) memset(a, 0, sizeof(a))
|
|
#define isequal_position_vector(a, b) !memcmp(a, b, sizeof(coord_data_t))
|
|
#define is0_position_vector(a) !memcmp(a, &((coord_data_t){0}), sizeof(coord_data_t))
|
|
|
|
// Bit field and masking macros
|
|
#ifndef bit
|
|
#define bit(n) (1UL << (n))
|
|
#endif
|
|
#define bit_true(x, mask) (x) |= (mask)
|
|
#define bit_false(x, mask) (x) &= ~(mask)
|
|
#define BIT_SET(x, bit, v) { if (v) { x |= (bit); } else { x &= ~(bit); } }
|
|
|
|
#define bit_istrue(x, mask) (((x) & (mask)) != 0)
|
|
#define bit_isfalse(x, mask) (((x) & (mask)) == 0)
|
|
|
|
extern char const *const axis_letter[];
|
|
extern const coord_data_t null_vector;
|
|
|
|
// Converts an uint32 variable to string.
|
|
char *uitoa (uint32_t n);
|
|
|
|
// Converts a float variable to string with the specified number of decimal places.
|
|
char *ftoa (float n, uint8_t decimal_places);
|
|
|
|
// Trim trailing zeros and possibly decimal point
|
|
char *trim_float (char *s);
|
|
|
|
// Returns true if float value is a whole number (integer)
|
|
bool isintf (float value);
|
|
|
|
status_code_t read_uint (const char *line, uint_fast8_t *char_counter, uint32_t *uint_ptr);
|
|
|
|
// 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
|
|
bool read_float (const char *line, uint_fast8_t *char_counter, float *float_ptr);
|
|
|
|
// Non-blocking delay function used for general operation and suspend features.
|
|
bool delay_sec (float seconds, delaymode_t mode);
|
|
|
|
float convert_delta_vector_to_unit_vector(float *vector);
|
|
|
|
// parse ISO8601 datetime
|
|
struct tm *get_datetime (const char *s);
|
|
|
|
char *strcaps (char *s);
|
|
|
|
uint_fast8_t bit_count (uint32_t bits);
|
|
|
|
void dummy_handler (void);
|
|
|
|
#ifdef _WIN32
|
|
|
|
static int ffs (int i)
|
|
{
|
|
int idx = 0;
|
|
|
|
while(i) {
|
|
idx++;
|
|
if(i & 1)
|
|
break;
|
|
i >>= 1;
|
|
}
|
|
|
|
return idx;
|
|
}
|
|
|
|
#endif // _WIN32
|
|
|
|
#endif
|