nuts_bolts.h

/*
  nuts_bolts.h - Header file for shared definitions, variables, and functions
  Part of Horus Firmware

  Copyright (c) 2014-2015 Mundo Reader S.L.

  Horus Firmware 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.

  Horus Firmware 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 Horus Firmware.  If not, see <http://www.gnu.org/licenses/>.
*/
/* 
  This file is based on work from Grbl v0.9, distributed under the 
  terms of the GPLv3. See COPYING for more details.
    Copyright (c) 2009-2011 Simen Svale Skogsrud
    Copyright (c) 2011-2014 Sungeun K. Jeon
*/

#ifndef nuts_bolts_h
#define nuts_bolts_h

#define false 0
#define true 1

#define N_AXIS 3 // Number of axes
#define X_AXIS 0 // Axis indexing value. Must start with 0 and be continuous.
#define Y_AXIS 1
#define Z_AXIS 2
// #define A_AXIS 3

#define MM_PER_INCH (25.40)
#define INCH_PER_MM (0.0393701)

#define TICKS_PER_MICROSECOND (F_CPU/1000000)

// Useful macros
#define clear_vector(a) memset(a, 0, sizeof(a))
#define clear_vector_float(a) memset(a, 0.0, sizeof(float)*N_AXIS)
// #define clear_vector_long(a) memset(a, 0.0, sizeof(long)*N_AXIS)
#define max(a,b) (((a) > (b)) ? (a) : (b))
#define min(a,b) (((a) < (b)) ? (a) : (b))

// Bit field and masking macros
#define bit(n) (1 << n) 
#define bit_true_atomic(x,mask) {uint8_t sreg = SREG; cli(); (x) |= (mask); SREG = sreg; }
#define bit_false_atomic(x,mask) {uint8_t sreg = SREG; cli(); (x) &= ~(mask); SREG = sreg; }
#define bit_toggle_atomic(x,mask) {uint8_t sreg = SREG; cli(); (x) ^= (mask); SREG = sreg; }
#define bit_true(x,mask) (x) |= (mask)
#define bit_false(x,mask) (x) &= ~(mask)
#define bit_istrue(x,mask) ((x & mask) != 0)
#define bit_isfalse(x,mask) ((x & mask) == 0)

// 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
uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr);

// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms().
void delay_ms(uint16_t ms);

// Delays variable-defined microseconds. Compiler compatibility fix for _delay_us().
void delay_us(uint32_t us);

// Computes hypotenuse, avoiding avr-gcc's bloated version and the extra error checking.
float hypot_f(float x, float y);

#endif