grblHAL core  20250412
nuts_bolts.h
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1 /*
2  nuts_bolts.h - Header file for shared definitions, variables, and functions
3 
4  Part of grblHAL
5 
6  Copyright (c) 2017-2025 Terje Io
7  Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
8  Copyright (c) 2009-2011 Simen Svale Skogsrud
9 
10  grblHAL is free software: you can redistribute it and/or modify
11  it under the terms of the GNU General Public License as published by
12  the Free Software Foundation, either version 3 of the License, or
13  (at your option) any later version.
14 
15  grblHAL is distributed in the hope that it will be useful,
16  but WITHOUT ANY WARRANTY; without even the implied warranty of
17  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  GNU General Public License for more details.
19 
20  You should have received a copy of the GNU General Public License
21  along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
22 */
23 
24 #ifndef _NUTS_BOLTS_H_
25 #define _NUTS_BOLTS_H_
26 
27 #include "grbl.h"
28 #include "errors.h"
29 
30 #ifndef true
31 #define false 0
32 #define true 1
33 #endif
34 
35 #define Off 0
36 #define On 1
37 
38 #define SOME_LARGE_VALUE 1.0E+38f
39 #ifndef M_PI
40 #define M_PI 3.14159265358979323846f
41 #endif
42 
43 #define TOLERANCE_EQUAL 0.0001f
44 
45 #define RADDEG 0.01745329251994329577f // Radians per degree
46 #define DEGRAD 57.29577951308232087680f // Degrees per radians
47 #define SQRT3 1.73205080756887729353f
48 #define SIN120 0.86602540378443864676f
49 #define COS120 -0.5f
50 #define TAN60 1.73205080756887729353f
51 #define SIN30 0.5f
52 #define TAN30 0.57735026918962576451f
53 #define TAN30_2 0.28867513459481288225f
54 
55 #define ABORTED (sys.abort || sys.cancel)
56 
57 // Convert character to uppercase
58 #define CAPS(c) ((c >= 'a' && c <= 'z') ? (c & 0x5F) : c)
59 #define LCAPS(c) ((c >= 'A' && c <= 'Z') ? (c | 0x20) : c)
60 
61 #if !(defined(STM32F103xB) || defined(STM32F303xC))
62 #ifndef UNUSED
63 #define UNUSED(x) (void)(x)
64 #endif
65 #endif
66 
67 // Axis array index values. Must start with 0 and be continuous.
68 #define X_AXIS 0 // Axis indexing value.
69 #define Y_AXIS 1
70 #define Z_AXIS 2
71 #define X_AXIS_BIT bit(X_AXIS)
72 #define Y_AXIS_BIT bit(Y_AXIS)
73 #define Z_AXIS_BIT bit(Z_AXIS)
74 #if N_AXIS > 3
75 #define A_AXIS 3
76 #define A_AXIS_BIT bit(A_AXIS)
77 #endif
78 #if N_AXIS > 4
79 #define B_AXIS 4
80 #define B_AXIS_BIT bit(B_AXIS)
81 #endif
82 #if N_AXIS > 5
83 #define C_AXIS 5
84 #define C_AXIS_BIT bit(C_AXIS)
85 #endif
86 #if N_AXIS > 6
87 #define U_AXIS 6
88 #define U_AXIS_BIT bit(U_AXIS)
89 #endif
90 #if N_AXIS == 8
91 #define V_AXIS 7
92 #define V_AXIS_BIT bit(V_AXIS)
93 #endif
94 
95 #if N_AXIS == 3
96 #define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT)
97 #elif N_AXIS == 4
98 #define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT)
99 #elif N_AXIS == 5
100 #define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT|B_AXIS_BIT)
101 #elif N_AXIS == 6
102 #define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT|B_AXIS_BIT|C_AXIS_BIT)
103 #elif N_AXIS == 7
104 #define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT|B_AXIS_BIT|C_AXIS_BIT|U_AXIS_BIT)
105 #else
106 #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)
107 #endif
108 
109 #ifdef V_AXIS
110 #define N_ABC_AXIS 5
111 #elif defined(U_AXIS)
112 #define N_ABC_AXIS 4
113 #elif defined(C_AXIS)
114 #define N_ABC_AXIS 3
115 #elif defined(B_AXIS)
116 #define N_ABC_AXIS 2
117 #elif defined(A_AXIS)
118 #define N_ABC_AXIS 1
119 #else
120 #define N_ABC_AXIS 0
121 #endif
122 
123 extern char const *const axis_letter[];
124 
125 typedef union {
126  uint8_t mask;
127  uint8_t bits;
128  uint8_t value;
129  struct {
130  uint8_t x :1,
131  y :1,
132  z :1,
133  a :1,
134  b :1,
135  c :1,
136  u :1,
137  v :1;
138  };
140 
141 typedef union {
142  int32_t value[N_AXIS];
143  struct {
144  int32_t x;
145  int32_t y;
146  int32_t z;
147 #ifdef A_AXIS
148  int32_t a;
149 #endif
150 #ifdef B_AXIS
151  int32_t b;
152 #endif
153 #ifdef C_AXIS
154  int32_t c;
155 #endif
156 #ifdef U_AXIS
157  int32_t u;
158 #endif
159 #ifdef V_AXIS
160  int32_t v;
161 #endif
162  };
163 } mpos_t;
164 
165 typedef union {
166  float values[2];
167  struct {
168  float x;
169  float y;
170  };
171 } point_2d_t;
172 
173 #pragma pack(push, 1)
174 
176 typedef union {
177  uint32_t bits;
178  struct {
183  };
185 
187 typedef struct {
191 
193 typedef union {
194  uint16_t state;
195  home_signals_t details; // Stepper driver signals states.
197 
199 typedef struct {
203 
204 #pragma pack(pop)
205 
206 typedef enum {
210 
211 // Conversions
212 #define MM_PER_INCH (25.40f)
213 #define INCH_PER_MM (0.0393701f)
214 
215 #define MAX_INT_DIGITS 9 // Maximum number of digits in int32 (and float)
216 #define STRLEN_COORDVALUE (MAX_INT_DIGITS + N_DECIMAL_COORDVALUE_INCH + 1) // 8.4 format - excluding terminating null
217 
218 // Useful macros
219 #ifndef max
220 #define max(a,b) (((a) > (b)) ? (a) : (b))
221 #endif
222 #ifndef min
223 #define min(a,b) (((a) < (b)) ? (a) : (b))
224 #endif
225 #ifndef constrain
226 #define constrain(val, min, max) ((val) < (min) ? (min) : ((val) > (max) ? (max) : (val)))
227 #endif
228 #define clear_vector(a) memset(a, 0, sizeof(a))
229 #define isequal_position_vector(a, b) !memcmp(a, b, sizeof(coord_data_t))
230 #define is0_position_vector(a) !memcmp(a, &((coord_data_t){0}), sizeof(coord_data_t))
231 
232 // Bit field and masking macros
233 #ifndef bit
234 #define bit(n) (1UL << (n))
235 #endif
236 #define bit_true(x, mask) (x) |= (mask)
237 #define bit_false(x, mask) (x) &= ~(mask)
238 #define BIT_SET(x, bit, v) { if (v) { x |= (bit); } else { x &= ~(bit); } }
239 
240 #define bit_istrue(x, mask) (((x) & (mask)) != 0)
241 #define bit_isfalse(x, mask) (((x) & (mask)) == 0)
242 
243 // Converts an uint32 variable to string.
244 char *uitoa (uint32_t n);
245 
246 // Converts a float variable to string with the specified number of decimal places.
247 char *ftoa (float n, uint8_t decimal_places);
248 
249 // Trim trailing zeros and possibly decimal point
250 char *trim_float (char *s);
251 
252 // Returns true if float value is a whole number (integer)
253 bool isintf (float value);
254 
255 status_code_t read_uint (char *line, uint_fast8_t *char_counter, uint32_t *uint_ptr);
256 
257 // Read a floating point value from a string. Line points to the input buffer, char_counter
258 // is the indexer pointing to the current character of the line, while float_ptr is
259 // a pointer to the result variable. Returns true when it succeeds
260 bool read_float (char *line, uint_fast8_t *char_counter, float *float_ptr);
261 
262 // Non-blocking delay function used for general operation and suspend features.
263 bool delay_sec (float seconds, delaymode_t mode);
264 
265 float convert_delta_vector_to_unit_vector(float *vector);
266 
267 // parse ISO8601 datetime
268 struct tm *get_datetime (const char *s);
269 
270 char *strcaps (char *s);
271 
272 uint_fast8_t bit_count (uint32_t bits);
273 
274 void dummy_handler (void);
275 
276 #ifdef _WIN32
277 
278 static int ffs (int i)
279 {
280  int idx = 0;
281 
282  while(i) {
283  idx++;
284  if(i & 1)
285  break;
286  i >>= 1;
287  }
288 
289  return idx;
290 }
291 
292 #endif // _WIN32
293 
294 #endif
#define N_AXIS
Defines number of axes supported - minimum 3, maximum 8. If more than 3 axes are configured a complia...
Definition: config.h:42
status_code_t
Definition: errors.h:30
float convert_delta_vector_to_unit_vector(float *vector)
Definition: nuts_bolts.c:332
struct tm * get_datetime(const char *s)
Definition: nuts_bolts.c:354
char * strcaps(char *s)
Definition: nuts_bolts.c:415
bool isintf(float value)
Definition: nuts_bolts.c:307
bool read_float(char *line, uint_fast8_t *char_counter, float *float_ptr)
Definition: nuts_bolts.c:242
char const *const axis_letter[]
Definition: nuts_bolts.c:62
status_code_t read_uint(char *line, uint_fast8_t *char_counter, uint32_t *uint_ptr)
Definition: nuts_bolts.c:184
char * ftoa(float n, uint8_t decimal_places)
Definition: nuts_bolts.c:115
uint_fast8_t bit_count(uint32_t bits)
Definition: nuts_bolts.c:431
char * uitoa(uint32_t n)
Definition: nuts_bolts.c:96
delaymode_t
Definition: nuts_bolts.h:206
@ DelayMode_SysSuspend
Definition: nuts_bolts.h:208
@ DelayMode_Dwell
Definition: nuts_bolts.h:207
bool delay_sec(float seconds, delaymode_t mode)
Definition: nuts_bolts.c:313
char * trim_float(char *s)
Definition: nuts_bolts.c:170
void dummy_handler(void)
Definition: nuts_bolts.c:443
Home switches struct, consists of two packed axes_signals_t structs.
Definition: nuts_bolts.h:187
axes_signals_t a
Primary home switches status, optional. Limit signals are used for homing if not available.
Definition: nuts_bolts.h:188
axes_signals_t b
Secondary home switch(es) status, required for auto squaring enabled axes if primary switches are ava...
Definition: nuts_bolts.h:189
// Stepper driver warning and fault signal states, consists of two packed stepper_state_t structs in ...
Definition: nuts_bolts.h:199
stepper_state_t warning
Stepper drivers warning states.
Definition: nuts_bolts.h:200
stepper_state_t fault
Stepper drivers fault states.
Definition: nuts_bolts.h:201
Definition: vfs.h:47
Definition: nuts_bolts.h:125
uint8_t u
Definition: nuts_bolts.h:136
uint8_t x
Definition: nuts_bolts.h:130
uint8_t y
Definition: nuts_bolts.h:131
uint8_t c
Definition: nuts_bolts.h:135
uint8_t b
Definition: nuts_bolts.h:134
uint8_t v
Definition: nuts_bolts.h:137
uint8_t bits
Definition: nuts_bolts.h:127
uint8_t value
Definition: nuts_bolts.h:128
uint8_t mask
Definition: nuts_bolts.h:126
uint8_t z
Definition: nuts_bolts.h:132
uint8_t a
Definition: nuts_bolts.h:133
Limit switches struct, consists of four packed axes_signals_t structs in 32 bits.
Definition: nuts_bolts.h:176
axes_signals_t min
Min limit switches status, required.
Definition: nuts_bolts.h:179
axes_signals_t min2
Secondary min limit switch(es) status, required for auto squaring enabled axes.
Definition: nuts_bolts.h:181
axes_signals_t max2
Secondary max limit switches status, optional (of no practical use?).
Definition: nuts_bolts.h:182
axes_signals_t max
Max limit switches status, optional.
Definition: nuts_bolts.h:180
uint32_t bits
Definition: nuts_bolts.h:177
Definition: nuts_bolts.h:141
int32_t z
Definition: nuts_bolts.h:146
int32_t y
Definition: nuts_bolts.h:145
int32_t x
Definition: nuts_bolts.h:144
Definition: nuts_bolts.h:165
float y
Definition: nuts_bolts.h:169
float x
Definition: nuts_bolts.h:168
Stepper driver states struct.
Definition: nuts_bolts.h:193
home_signals_t details
Definition: nuts_bolts.h:195
uint16_t state
Definition: nuts_bolts.h:194