mirror of
https://github.com/grblHAL/core.git
synced 2026-08-17 16:41:45 +08:00
Terje Io
35431d1bd3
Improved handling of some VFS file system actions (unlink, mkdirv and rmdir), added support for truncate. Changed some kinematics API function signatures for readability/debugability. The ioports implementation has been changed to allow for consecutive pin numbers for external (expander based) I/O. See changelog for details.
536 lines
13 KiB
C
536 lines
13 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) 2017-2026 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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#define IS_AXIS_LETTER(c) (AXIS3_LETTER == c || AXIS4_LETTER == c || AXIS5_LETTER == c || AXIS6_LETTER == c || AXIS7_LETTER == c)
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#define IS_AXIS_LETTER_VALID(c) (c == 'A' || c == 'B' || c == 'C' || c == 'U' || c == 'V' || c == 'W')
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//#define AXIS_LETTER_FN_IDX(c) ((c >= 'X' && c <= 'Z') ? ((c - 'X') << 1) : ((c >= 'A' && c <= 'C') ? c - 'A' + 6 : ((c >= 'U' && c <= 'W') ? c - 'U' + 9 : -1)))
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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 AXIS3_IDX 3
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#define AXIS3_BIT bit(AXIS3_IDX)
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#endif
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#if N_AXIS > 4
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#define AXIS4_IDX 4
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#define AXIS4_BIT bit(AXIS4_IDX)
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#endif
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#if N_AXIS > 5
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#define AXIS5_IDX 5
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#define AXIS5_BIT bit(AXIS5_IDX)
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#endif
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#if N_AXIS > 6
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#define AXIS6_IDX 6
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#define AXIS6_BIT bit(AXIS6_IDX)
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#endif
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#if N_AXIS == 8
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#define AXIS7_IDX 7
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#define AXIS7_BIT bit(AXIS7_IDX)
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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|AXIS3_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|AXIS3_BIT|AXIS4_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|AXIS3_BIT|AXIS4_BIT|AXIS5_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|AXIS3_BIT|AXIS4_BIT|AXIS5_BIT|AXIS6_BIT)
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#else
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#define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|AXIS3_BIT|AXIS4_BIT|AXIS5_BIT|AXIS6_BIT|AXIS7_BIT)
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#endif
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#ifdef AXIS7_IDX
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#define N_ABC_AXIS 5
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#elif defined(AXIS6_IDX)
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#define N_ABC_AXIS 4
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#elif defined(AXIS5_IDX)
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#define N_ABC_AXIS 3
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#elif defined(AXIS4_IDX)
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#define N_ABC_AXIS 2
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#elif defined(AXIS3_IDX)
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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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#define AXIS0_LETTER 'X'
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#define AXIS1_LETTER 'Y'
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#define AXIS2_LETTER 'Z'
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#if N_AXIS > 3
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#if AXIS_REMAP_ABC2UVW
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#define AXIS3_LETTER 'U'
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#elif !defined(AXIS3_LETTER)
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#define AXIS3_LETTER 'A'
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#elif !IS_AXIS_LETTER_VALID(AXIS3_LETTER)
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#error "Illegal axis letter assigned!"
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#endif
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#else
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#define AXIS3_LETTER 0
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#endif
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#if N_AXIS > 4
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#if AXIS_REMAP_ABC2UVW
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#define AXIS4_LETTER 'V'
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#elif !defined(AXIS4_LETTER)
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#define AXIS4_LETTER 'B'
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#elif !IS_AXIS_LETTER_VALID(AXIS4_LETTER)
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#error "Illegal axis letter assigned!"
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#endif
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#else
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#define AXIS4_LETTER 0
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#endif
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#if N_AXIS > 5
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#if AXIS_REMAP_ABC2UVW
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#define AXIS5_LETTER 'W'
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#elif !defined(AXIS5_LETTER)
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#define AXIS5_LETTER 'C'
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#elif !IS_AXIS_LETTER_VALID(AXIS5_LETTER)
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#error "Illegal axis letter assigned!"
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#endif
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#else
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#define AXIS5_LETTER 0
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#endif
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#if N_AXIS > 6
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#if !defined(AXIS6_LETTER)
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#define AXIS6_LETTER 'U'
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#elif !IS_AXIS_LETTER_VALID(AXIS6_LETTER)
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#error "Illegal axis letter assigned!"
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#endif
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#else
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#define AXIS6_LETTER 0
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#endif
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#if N_AXIS > 7
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#if !defined(AXIS7_LETTER)
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#define AXIS7_LETTER 'V'
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#elif !IS_AXIS_LETTER_VALID(AXIS7_LETTER)
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#error "Illegal axis letter assigned!"
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#endif
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#else
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#define AXIS7_LETTER 0
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#endif
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#if N_AXIS == 4
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#define AXIS_LETTER_TO_IDX(c) AXIS3_IDX
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#elif N_AXIS == 5
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#define AXIS_LETTER_TO_IDX(c) \
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(c == AXIS3_LETTER ? AXIS3_IDX : \
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(c == AXIS4_LETTER ? AXIS4_IDX : -1))
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#elif N_AXIS == 6
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#define AXIS_LETTER_TO_IDX(c) \
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(c == AXIS3_LETTER ? AXIS3_IDX : \
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(c == AXIS4_LETTER ? AXIS4_IDX : \
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(c == AXIS5_LETTER ? AXIS5_IDX : -1)))
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#elif N_AXIS == 7
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#define AXIS_LETTER_TO_IDX(c) \
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(c == AXIS3_LETTER ? AXIS3_IDX : \
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(c == AXIS4_LETTER ? AXIS4_IDX : \
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(c == AXIS5_LETTER ? AXIS5_IDX : \
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(c == AXIS6_LETTER ? AXIS6_IDX : -1))))
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#elif N_AXIS == 8
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#define AXIS_LETTER_TO_IDX(c) \
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(c == AXIS3_LETTER ? AXIS3_IDX : \
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(c == AXIS4_LETTER ? AXIS4_IDX : \
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(c == AXIS5_LETTER ? AXIS5_IDX : \
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(c == AXIS6_LETTER ? AXIS6_IDX : \
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(c == AXIS7_LETTER ? AXIS7_IDX : -1)))))
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#endif
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#if IS_AXIS_LETTER('A')
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#define A_AXIS AXIS_LETTER_TO_IDX('A')
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#define A_AXIS_BIT bit(A_AXIS)
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#endif
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#if IS_AXIS_LETTER('B')
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#define B_AXIS AXIS_LETTER_TO_IDX('B')
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#define B_AXIS_BIT bit(B_AXIS)
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#endif
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#if IS_AXIS_LETTER('C')
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#define C_AXIS AXIS_LETTER_TO_IDX('C')
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#define C_AXIS_BIT bit(C_AXIS)
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#endif
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#if !LATHE_UVW_OPTION
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#if IS_AXIS_LETTER('U')
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#define U_AXIS AXIS_LETTER_TO_IDX('U')
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#define U_AXIS_BIT bit(U_AXIS)
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#endif
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#if IS_AXIS_LETTER('V')
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#define V_AXIS AXIS_LETTER_TO_IDX('V')
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#define V_AXIS_BIT bit(V_AXIS)
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#endif
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#if IS_AXIS_LETTER('W')
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#define W_AXIS AXIS_LETTER_TO_IDX('W')
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#define W_AXIS_BIT bit(W_AXIS)
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#endif
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#endif
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typedef uint32_t line_number_t;
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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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#if N_AXIS > 3
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#ifdef A_AXIS
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, a :1
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#endif
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#ifdef B_AXIS
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, b :1
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#endif
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#ifdef C_AXIS
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, c :1
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#endif
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#ifdef U_AXIS
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, u :1
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#endif
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#ifdef V_AXIS
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, v :1
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#endif
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#ifdef W_AXIS
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, w :1
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#endif
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#endif
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;
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};
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struct {
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uint8_t a0 :1,
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a1 :1,
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a2 :1,
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a3 :1,
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a4 :1,
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a5 :1,
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a6 :1,
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a7 :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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#if N_AXIS > 3
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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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#ifdef W_AXIS
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float w;
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#endif
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#endif
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};
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} coord_data_t;
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//! Coordinate system data.
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typedef struct {
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coord_data_t coord;
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#ifdef ROTATION_ENABLE
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float rotation;
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#endif
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} coord_system_data_t;
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typedef union {
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int32_t values[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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#if N_AXIS > 3
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#ifdef B_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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#ifdef W_AXIS
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int32_t w;
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#endif
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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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typedef union {
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float values[3];
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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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};
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} point_3d_t;
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//! Axis index to plane assignment.
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typedef union {
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uint8_t axis[3];
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struct {
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uint8_t axis_0;
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uint8_t axis_1;
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uint8_t axis_linear;
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};
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} plane_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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|
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// Trim trailing zeros and possibly decimal point
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|
char *trim_float (char *s);
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|
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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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|
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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
|
|
// 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);
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|
|
|
// 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);
|
|
|
|
void rotate (coord_data_t *pt, plane_t plane, float angle /*rad*/);
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|
|
|
// 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;
|
|
}
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|
|
|
#endif // _WIN32
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|
|
|
#endif
|