mirror of
https://github.com/grblHAL/core.git
synced 2026-02-06 00:52:35 +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
/*
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nuts_bolts.h - Header file for shared definitions, variables, and functions
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Part of grblHAL
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Copyright (c) 2017-2025 Terje Io
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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grblHAL 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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grblHAL 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 grblHAL. 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 "grbl.h"
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#include "errors.h"
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#ifndef true
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#define false 0
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#define true 1
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#endif
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#define Off 0
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#define On 1
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#define SOME_LARGE_VALUE 1.0E+38f
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#ifndef M_PI
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#define M_PI 3.14159265358979323846f
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#endif
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#define TOLERANCE_EQUAL 0.0001f
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#define RADDEG 0.01745329251994329577f // Radians per degree
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#define DEGRAD 57.29577951308232087680f // Degrees per radians
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#define SQRT3 1.73205080756887729353f
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#define SIN120 0.86602540378443864676f
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#define COS120 -0.5f
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#define TAN60 1.73205080756887729353f
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#define SIN30 0.5f
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#define TAN30 0.57735026918962576451f
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#define TAN30_2 0.28867513459481288225f
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#define ABORTED (sys.abort || sys.cancel)
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// Convert character to uppercase
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#define CAPS(c) ((c >= 'a' && c <= 'z') ? (c & 0x5F) : c)
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#define LCAPS(c) ((c >= 'A' && c <= 'Z') ? (c | 0x20) : c)
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#if !(defined(STM32F103xB) || defined(STM32F303xC))
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#ifndef UNUSED
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#define UNUSED(x) (void)(x)
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#endif
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#endif
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// Axis array index values. Must start with 0 and be continuous.
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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 X_AXIS_BIT bit(X_AXIS)
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#define Y_AXIS_BIT bit(Y_AXIS)
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#define Z_AXIS_BIT bit(Z_AXIS)
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#if N_AXIS > 3
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#define A_AXIS 3
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#define A_AXIS_BIT bit(A_AXIS)
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#endif
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#if N_AXIS > 4
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#define B_AXIS 4
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#define B_AXIS_BIT bit(B_AXIS)
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#endif
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#if N_AXIS > 5
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#define C_AXIS 5
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#define C_AXIS_BIT bit(C_AXIS)
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#endif
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#if N_AXIS > 6
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#define U_AXIS 6
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#define U_AXIS_BIT bit(U_AXIS)
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#endif
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#if N_AXIS == 8
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#define V_AXIS 7
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#define V_AXIS_BIT bit(V_AXIS)
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#endif
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#if N_AXIS == 3
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#define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT)
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#elif N_AXIS == 4
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#define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT)
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#elif N_AXIS == 5
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#define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT|B_AXIS_BIT)
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#elif N_AXIS == 6
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#define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT|B_AXIS_BIT|C_AXIS_BIT)
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#elif N_AXIS == 7
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#define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT|B_AXIS_BIT|C_AXIS_BIT|U_AXIS_BIT)
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#else
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#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)
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#endif
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#ifdef V_AXIS
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#define N_ABC_AXIS 5
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#elif defined(U_AXIS)
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#define N_ABC_AXIS 4
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#elif defined(C_AXIS)
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#define N_ABC_AXIS 3
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#elif defined(B_AXIS)
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#define N_ABC_AXIS 2
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#elif defined(A_AXIS)
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#define N_ABC_AXIS 1
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#else
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#define N_ABC_AXIS 0
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#endif
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typedef union {
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uint8_t mask;
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uint8_t bits;
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uint8_t value;
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struct {
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uint8_t x :1,
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y :1,
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z :1,
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a :1,
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b :1,
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c :1,
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u :1,
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v :1;
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};
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} axes_signals_t;
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//! Coordinate data.
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typedef union {
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float values[N_AXIS];
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struct {
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float x;
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float y;
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float z;
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#ifdef A_AXIS
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float a;
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#endif
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#ifdef B_AXIS
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float b;
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#endif
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#ifdef C_AXIS
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float c;
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#endif
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#ifdef U_AXIS
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float u;
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#endif
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#ifdef V_AXIS
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float v;
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#endif
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};
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struct {
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float m0;
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float m1;
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float m2;
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#if N_AXIS > 3
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float m3;
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#endif
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#if N_AXIS > 4
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float m4;
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#endif
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#if N_AXIS > 5
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float m5;
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#endif
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#if N_AXIS > 6
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float m6;
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#endif
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#if N_AXIS == 8
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float m7;
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#endif
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};
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} coord_data_t;
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typedef union {
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int32_t value[N_AXIS];
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struct {
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int32_t x;
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int32_t y;
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int32_t z;
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#ifdef A_AXIS
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int32_t a;
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#endif
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#ifdef B_AXIS
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int32_t b;
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#endif
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#ifdef C_AXIS
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int32_t c;
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#endif
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#ifdef U_AXIS
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int32_t u;
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#endif
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#ifdef V_AXIS
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int32_t v;
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#endif
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};
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} mpos_t;
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typedef union {
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float values[2];
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struct {
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float x;
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float y;
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};
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} point_2d_t;
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#pragma pack(push, 1)
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//! \brief Limit switches struct, consists of four packed axes_signals_t structs in 32 bits.
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typedef union {
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uint32_t bits;
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struct {
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axes_signals_t min; //!< Min limit switches status, required.
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axes_signals_t max; //!< Max limit switches status, optional.
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axes_signals_t min2; //!< Secondary min limit switch(es) status, required for auto squaring enabled axes.
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axes_signals_t max2; //!< Secondary max limit switches status, optional (of no practical use?).
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};
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} limit_signals_t;
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//! \brief Home switches struct, consists of two packed axes_signals_t structs.
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typedef struct {
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axes_signals_t a; //!< Primary home switches status, optional. Limit signals are used for homing if not available.
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axes_signals_t b; //!< Secondary home switch(es) status, required for auto squaring enabled axes if primary switches are available.
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} home_signals_t;
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//! \brief Stepper driver states struct.
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typedef union {
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uint16_t state;
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home_signals_t details; // Stepper driver signals states.
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} stepper_state_t;
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//! \brief // Stepper driver warning and fault signal states, consists of two packed stepper_state_t structs in 32 bits.
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typedef struct {
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stepper_state_t warning; //!< Stepper drivers warning states.
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stepper_state_t fault; //!< Stepper drivers fault states.
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} stepper_status_t;
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#pragma pack(pop)
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// NOTE: the pin_function_t enum must be kept in sync with any changes!
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typedef union {
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uint16_t bits;
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uint16_t mask;
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uint16_t value;
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struct {
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uint16_t reset :1,
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feed_hold :1,
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cycle_start :1,
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safety_door_ajar :1,
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block_delete :1,
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stop_disable :1, //! M1
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e_stop :1,
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probe_disconnected :1,
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motor_fault :1,
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motor_warning :1,
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limits_override :1,
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single_block :1,
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tls_overtravel :1, //! used for probe (toolsetter) protection
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probe_overtravel :1, //! used for probe protection
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probe_triggered :1, //! used for probe protection
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deasserted :1; //! this flag is set if signals are deasserted.
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};
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} control_signals_t;
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typedef enum {
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DelayMode_Dwell = 0,
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DelayMode_SysSuspend
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} delaymode_t;
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// Conversions
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#define MM_PER_INCH (25.40f)
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#define INCH_PER_MM (0.0393701f)
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#define MAX_INT_DIGITS 9 // Maximum number of digits in int32 (and float)
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#define STRLEN_COORDVALUE (MAX_INT_DIGITS + N_DECIMAL_COORDVALUE_INCH + 1) // 8.4 format - excluding terminating null
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// Useful macros
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#ifndef max
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#define max(a,b) (((a) > (b)) ? (a) : (b))
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#endif
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#ifndef min
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#define min(a,b) (((a) < (b)) ? (a) : (b))
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#endif
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#ifndef constrain
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#define constrain(val, min, max) ((val) < (min) ? (min) : ((val) > (max) ? (max) : (val)))
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#endif
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#define clear_vector(a) memset(a, 0, sizeof(a))
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#define isequal_position_vector(a, b) !memcmp(a, b, sizeof(coord_data_t))
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#define is0_position_vector(a) !memcmp(a, &((coord_data_t){0}), sizeof(coord_data_t))
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// Bit field and masking macros
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#ifndef bit
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#define bit(n) (1UL << (n))
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#endif
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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_SET(x, bit, v) { if (v) { x |= (bit); } else { x &= ~(bit); } }
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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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extern char const *const axis_letter[];
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extern const coord_data_t null_vector;
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// Converts an uint32 variable to string.
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char *uitoa (uint32_t n);
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// Converts a float variable to string with the specified number of decimal places.
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char *ftoa (float n, uint8_t decimal_places);
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// Trim trailing zeros and possibly decimal point
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char *trim_float (char *s);
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// Returns true if float value is a whole number (integer)
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bool isintf (float value);
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status_code_t read_uint (const char *line, uint_fast8_t *char_counter, uint32_t *uint_ptr);
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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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bool read_float (const char *line, uint_fast8_t *char_counter, float *float_ptr);
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// Non-blocking delay function used for general operation and suspend features.
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bool delay_sec (float seconds, delaymode_t mode);
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float convert_delta_vector_to_unit_vector(float *vector);
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// parse ISO8601 datetime
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struct tm *get_datetime (const char *s);
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char *strcaps (char *s);
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uint_fast8_t bit_count (uint32_t bits);
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void dummy_handler (void);
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#ifdef _WIN32
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static int ffs (int i)
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{
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int idx = 0;
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while(i) {
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idx++;
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if(i & 1)
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break;
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i >>= 1;
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}
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return idx;
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}
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#endif // _WIN32
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#endif
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