You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
349 lines
11 KiB
349 lines
11 KiB
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program 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.
|
|
*
|
|
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
#pragma once
|
|
|
|
#define NUM_AXIS 4
|
|
#define ABCE 4
|
|
#define XYZE 4
|
|
#define ABC 3
|
|
#define XYZ 3
|
|
|
|
#define _AXIS(A) (A##_AXIS)
|
|
|
|
#define _XMIN_ 100
|
|
#define _YMIN_ 200
|
|
#define _ZMIN_ 300
|
|
#define _XMAX_ 101
|
|
#define _YMAX_ 201
|
|
#define _ZMAX_ 301
|
|
|
|
#define _FORCE_INLINE_ __attribute__((__always_inline__)) __inline__
|
|
#define FORCE_INLINE __attribute__((always_inline)) inline
|
|
#define _UNUSED __attribute__((unused))
|
|
#define _O0 __attribute__((optimize("O0")))
|
|
#define _Os __attribute__((optimize("Os")))
|
|
#define _O1 __attribute__((optimize("O1")))
|
|
#define _O2 __attribute__((optimize("O2")))
|
|
#define _O3 __attribute__((optimize("O3")))
|
|
|
|
#ifndef UNUSED
|
|
#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC)
|
|
#define UNUSED(X) (void)X
|
|
#else
|
|
#define UNUSED(x) ((void)(x))
|
|
#endif
|
|
#endif
|
|
|
|
// Clock speed factors
|
|
#if !defined(CYCLES_PER_MICROSECOND) && !defined(__STM32F1__)
|
|
#define CYCLES_PER_MICROSECOND (F_CPU / 1000000UL) // 16 or 20 on AVR
|
|
#endif
|
|
|
|
// Nanoseconds per cycle
|
|
#define NANOSECONDS_PER_CYCLE (1000000000.0 / F_CPU)
|
|
|
|
// Remove compiler warning on an unused variable
|
|
#ifndef UNUSED
|
|
#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC)
|
|
#define UNUSED(X) (void)X
|
|
#else
|
|
#define UNUSED(x) ((void)(x))
|
|
#endif
|
|
#endif
|
|
|
|
// Macros to make a string from a macro
|
|
#define STRINGIFY_(M) #M
|
|
#define STRINGIFY(M) STRINGIFY_(M)
|
|
|
|
#define A(CODE) " " CODE "\n\t"
|
|
#define L(CODE) CODE ":\n\t"
|
|
|
|
// Macros for bit masks
|
|
#undef _BV
|
|
#define _BV(n) (1<<(n))
|
|
#define TEST(n,b) (!!((n)&_BV(b)))
|
|
#define SET_BIT_TO(N,B,TF) do{ if (TF) SBI(N,B); else CBI(N,B); }while(0)
|
|
|
|
#ifndef SBI
|
|
#define SBI(A,B) (A |= (1 << (B)))
|
|
#endif
|
|
|
|
#ifndef CBI
|
|
#define CBI(A,B) (A &= ~(1 << (B)))
|
|
#endif
|
|
|
|
#define _BV32(b) (1UL << (b))
|
|
#define TEST32(n,b) !!((n)&_BV32(b))
|
|
#define SBI32(n,b) (n |= _BV32(b))
|
|
#define CBI32(n,b) (n &= ~_BV32(b))
|
|
|
|
#define RADIANS(d) ((d)*float(M_PI)/180.0f)
|
|
#define DEGREES(r) ((r)*180.0f/float(M_PI))
|
|
#define HYPOT2(x,y) (sq(x)+sq(y))
|
|
|
|
#define CIRCLE_AREA(R) (float(M_PI) * sq(float(R)))
|
|
#define CIRCLE_CIRC(R) (2 * float(M_PI) * float(R))
|
|
|
|
#define SIGN(a) ((a>0)-(a<0))
|
|
#define IS_POWER_OF_2(x) ((x) && !((x) & ((x) - 1)))
|
|
|
|
// Macros to constrain values
|
|
#ifdef __cplusplus
|
|
|
|
// C++11 solution that is standards compliant.
|
|
template <class V, class N> static inline constexpr void NOLESS(V& v, const N n) {
|
|
if (n > v) v = n;
|
|
}
|
|
template <class V, class N> static inline constexpr void NOMORE(V& v, const N n) {
|
|
if (n < v) v = n;
|
|
}
|
|
template <class V, class N1, class N2> static inline constexpr void LIMIT(V& v, const N1 n1, const N2 n2) {
|
|
if (n1 > v) v = n1;
|
|
else if (n2 < v) v = n2;
|
|
}
|
|
|
|
#else
|
|
|
|
// Using GCC extensions, but Travis GCC version does not like it and gives
|
|
// "error: statement-expressions are not allowed outside functions nor in template-argument lists"
|
|
#define NOLESS(v, n) \
|
|
do{ \
|
|
__typeof__(n) _n = (n); \
|
|
if (_n > v) v = _n; \
|
|
}while(0)
|
|
|
|
#define NOMORE(v, n) \
|
|
do{ \
|
|
__typeof__(n) _n = (n); \
|
|
if (_n < v) v = _n; \
|
|
}while(0)
|
|
|
|
#define LIMIT(v, n1, n2) \
|
|
do{ \
|
|
__typeof__(n1) _n1 = (n1); \
|
|
__typeof__(n2) _n2 = (n2); \
|
|
if (_n1 > v) v = _n1; \
|
|
else if (_n2 < v) v = _n2; \
|
|
}while(0)
|
|
|
|
#endif
|
|
|
|
// Macros to chain up to 12 conditions
|
|
#define _DO_1(W,C,A) (_##W##_1(A))
|
|
#define _DO_2(W,C,A,B) (_##W##_1(A) C _##W##_1(B))
|
|
#define _DO_3(W,C,A,V...) (_##W##_1(A) C _DO_2(W,C,V))
|
|
#define _DO_4(W,C,A,V...) (_##W##_1(A) C _DO_3(W,C,V))
|
|
#define _DO_5(W,C,A,V...) (_##W##_1(A) C _DO_4(W,C,V))
|
|
#define _DO_6(W,C,A,V...) (_##W##_1(A) C _DO_5(W,C,V))
|
|
#define _DO_7(W,C,A,V...) (_##W##_1(A) C _DO_6(W,C,V))
|
|
#define _DO_8(W,C,A,V...) (_##W##_1(A) C _DO_7(W,C,V))
|
|
#define _DO_9(W,C,A,V...) (_##W##_1(A) C _DO_8(W,C,V))
|
|
#define _DO_10(W,C,A,V...) (_##W##_1(A) C _DO_9(W,C,V))
|
|
#define _DO_11(W,C,A,V...) (_##W##_1(A) C _DO_10(W,C,V))
|
|
#define _DO_12(W,C,A,V...) (_##W##_1(A) C _DO_11(W,C,V))
|
|
#define __DO_N(W,C,N,V...) _DO_##N(W,C,V)
|
|
#define _DO_N(W,C,N,V...) __DO_N(W,C,N,V)
|
|
#define DO(W,C,V...) _DO_N(W,C,NUM_ARGS(V),V)
|
|
|
|
// Macros to support option testing
|
|
#define _CAT(a,V...) a##V
|
|
#define SWITCH_ENABLED_false 0
|
|
#define SWITCH_ENABLED_true 1
|
|
#define SWITCH_ENABLED_0 0
|
|
#define SWITCH_ENABLED_1 1
|
|
#define SWITCH_ENABLED_0x0 0
|
|
#define SWITCH_ENABLED_0x1 1
|
|
#define SWITCH_ENABLED_ 1
|
|
#define _ENA_1(O) _CAT(SWITCH_ENABLED_, O)
|
|
#define _DIS_1(O) !_ENA_1(O)
|
|
#define ENABLED(V...) DO(ENA,&&,V)
|
|
#define DISABLED(V...) DO(DIS,&&,V)
|
|
|
|
#define ANY(V...) !DISABLED(V)
|
|
#define NONE(V...) DISABLED(V)
|
|
#define ALL(V...) ENABLED(V)
|
|
#define BOTH(V1,V2) ALL(V1,V2)
|
|
#define EITHER(V1,V2) ANY(V1,V2)
|
|
|
|
// Macros to support pins/buttons exist testing
|
|
#define _PINEX_1(PN) (defined(PN##_PIN) && PN##_PIN >= 0)
|
|
#define PIN_EXISTS(V...) DO(PINEX,&&,V)
|
|
#define ANY_PIN(V...) DO(PINEX,||,V)
|
|
|
|
#define _BTNEX_1(BN) (defined(BTN_##BN) && BTN_##BN >= 0)
|
|
#define BUTTON_EXISTS(V...) DO(BTNEX,&&,V)
|
|
#define ANY_BUTTON(V...) DO(BTNEX,||,V)
|
|
|
|
#define WITHIN(N,L,H) ((N) >= (L) && (N) <= (H))
|
|
#define NUMERIC(a) WITHIN(a, '0', '9')
|
|
#define DECIMAL(a) (NUMERIC(a) || a == '.')
|
|
#define NUMERIC_SIGNED(a) (NUMERIC(a) || (a) == '-' || (a) == '+')
|
|
#define DECIMAL_SIGNED(a) (DECIMAL(a) || (a) == '-' || (a) == '+')
|
|
#define COUNT(a) (sizeof(a)/sizeof(*a))
|
|
#define ZERO(a) memset(a,0,sizeof(a))
|
|
#define COPY(a,b) do{ \
|
|
static_assert(sizeof(a[0]) == sizeof(b[0]), "COPY: '" STRINGIFY(a) "' and '" STRINGIFY(b) "' types (sizes) don't match!"); \
|
|
memcpy(&a[0],&b[0],_MIN(sizeof(a),sizeof(b))); \
|
|
}while(0)
|
|
|
|
// Macros for initializing arrays
|
|
#define ARRAY_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) { A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P }
|
|
#define ARRAY_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) { A,B,C,D,E,F,G,H,I,J,K,L,M,N,O }
|
|
#define ARRAY_14(A,B,C,D,E,F,G,H,I,J,K,L,M,N,...) { A,B,C,D,E,F,G,H,I,J,K,L,M,N }
|
|
#define ARRAY_13(A,B,C,D,E,F,G,H,I,J,K,L,M,...) { A,B,C,D,E,F,G,H,I,J,K,L,M }
|
|
#define ARRAY_12(A,B,C,D,E,F,G,H,I,J,K,L,...) { A,B,C,D,E,F,G,H,I,J,K,L }
|
|
#define ARRAY_11(A,B,C,D,E,F,G,H,I,J,K,...) { A,B,C,D,E,F,G,H,I,J,K }
|
|
#define ARRAY_10(A,B,C,D,E,F,G,H,I,J,...) { A,B,C,D,E,F,G,H,I,J }
|
|
#define ARRAY_9( A,B,C,D,E,F,G,H,I,...) { A,B,C,D,E,F,G,H,I }
|
|
#define ARRAY_8( A,B,C,D,E,F,G,H,...) { A,B,C,D,E,F,G,H }
|
|
#define ARRAY_7( A,B,C,D,E,F,G,...) { A,B,C,D,E,F,G }
|
|
#define ARRAY_6( A,B,C,D,E,F,...) { A,B,C,D,E,F }
|
|
#define ARRAY_5( A,B,C,D,E,...) { A,B,C,D,E }
|
|
#define ARRAY_4( A,B,C,D,...) { A,B,C,D }
|
|
#define ARRAY_3( A,B,C,...) { A,B,C }
|
|
#define ARRAY_2( A,B,...) { A,B }
|
|
#define ARRAY_1( A,...) { A }
|
|
|
|
#define _ARRAY_N(N,V...) ARRAY_##N(V)
|
|
#define ARRAY_N(N,V...) _ARRAY_N(N,V)
|
|
|
|
// Macros for adding
|
|
#define INC_0 1
|
|
#define INC_1 2
|
|
#define INC_2 3
|
|
#define INC_3 4
|
|
#define INC_4 5
|
|
#define INC_5 6
|
|
#define INC_6 7
|
|
#define INC_7 8
|
|
#define INC_8 9
|
|
#define INCREMENT_(n) INC_##n
|
|
#define INCREMENT(n) INCREMENT_(n)
|
|
|
|
// Macros for subtracting
|
|
#define DEC_1 0
|
|
#define DEC_2 1
|
|
#define DEC_3 2
|
|
#define DEC_4 3
|
|
#define DEC_5 4
|
|
#define DEC_6 5
|
|
#define DEC_7 6
|
|
#define DEC_8 7
|
|
#define DEC_9 8
|
|
#define DECREMENT_(n) DEC_##n
|
|
#define DECREMENT(n) DECREMENT_(n)
|
|
|
|
#define MMM_TO_MMS(MM_M) ((MM_M)/60.0f)
|
|
#define MMS_TO_MMM(MM_S) ((MM_S)*60.0f)
|
|
|
|
#define NOOP (void(0))
|
|
|
|
#define CEILING(x,y) (((x) + (y) - 1) / (y))
|
|
|
|
#undef ABS
|
|
#ifdef __cplusplus
|
|
template <class T> static inline constexpr const T ABS(const T v) { return v >= 0 ? v : -v; }
|
|
#else
|
|
#define ABS(a) ({__typeof__(a) _a = (a); _a >= 0 ? _a : -_a;})
|
|
#endif
|
|
|
|
#define UNEAR_ZERO(x) ((x) < 0.000001f)
|
|
#define NEAR_ZERO(x) WITHIN(x, -0.000001f, 0.000001f)
|
|
#define NEAR(x,y) NEAR_ZERO((x)-(y))
|
|
|
|
#define RECIPROCAL(x) (NEAR_ZERO(x) ? 0 : (1 / float(x)))
|
|
#define FIXFLOAT(f) (f + (f < 0 ? -0.00005f : 0.00005f))
|
|
|
|
//
|
|
// Maths macros that can be overridden by HAL
|
|
//
|
|
#define ATAN2(y, x) atan2f(y, x)
|
|
#define POW(x, y) powf(x, y)
|
|
#define SQRT(x) sqrtf(x)
|
|
#define RSQRT(x) (1 / sqrtf(x))
|
|
#define CEIL(x) ceilf(x)
|
|
#define FLOOR(x) floorf(x)
|
|
#define LROUND(x) lroundf(x)
|
|
#define FMOD(x, y) fmodf(x, y)
|
|
#define HYPOT(x,y) SQRT(HYPOT2(x,y))
|
|
|
|
#ifdef TARGET_LPC1768
|
|
#define I2C_ADDRESS(A) ((A) << 1)
|
|
#else
|
|
#define I2C_ADDRESS(A) A
|
|
#endif
|
|
|
|
// Use NUM_ARGS(__VA_ARGS__) to get the number of variadic arguments
|
|
#define _NUM_ARGS(_0,_24_,_23,_22,_21,_20,_19,_18,_17,_16,_15,_14,_13,_12,_11,_10,_9,_8,_7,_6,_5,_4,_3,_2,_1,N,...) N
|
|
#define NUM_ARGS(V...) _NUM_ARGS(0,V,24,23,22,21,20,19,18,17,16,15,14,13,12,11,10,9,8,7,6,5,4,3,2,1,0)
|
|
|
|
#ifdef __cplusplus
|
|
|
|
#ifndef _MINMAX_H_
|
|
#define _MINMAX_H_
|
|
|
|
extern "C++" {
|
|
|
|
// C++11 solution that is standards compliant. Return type is deduced automatically
|
|
template <class L, class R> static inline constexpr auto _MIN(const L lhs, const R rhs) -> decltype(lhs + rhs) {
|
|
return lhs < rhs ? lhs : rhs;
|
|
}
|
|
template <class L, class R> static inline constexpr auto _MAX(const L lhs, const R rhs) -> decltype(lhs + rhs) {
|
|
return lhs > rhs ? lhs : rhs;
|
|
}
|
|
template<class T, class ... Ts> static inline constexpr const T _MIN(T V, Ts... Vs) { return _MIN(V, _MIN(Vs...)); }
|
|
template<class T, class ... Ts> static inline constexpr const T _MAX(T V, Ts... Vs) { return _MAX(V, _MAX(Vs...)); }
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
#else
|
|
|
|
#define MIN_2(a,b) ((a)<(b)?(a):(b))
|
|
#define MIN_3(a,...) MIN_2(a,MIN_2(__VA_ARGS__))
|
|
#define MIN_4(a,...) MIN_2(a,MIN_3(__VA_ARGS__))
|
|
#define MIN_5(a,...) MIN_2(a,MIN_4(__VA_ARGS__))
|
|
#define MIN_6(a,...) MIN_2(a,MIN_5(__VA_ARGS__))
|
|
#define MIN_7(a,...) MIN_2(a,MIN_6(__VA_ARGS__))
|
|
#define MIN_8(a,...) MIN_2(a,MIN_7(__VA_ARGS__))
|
|
#define MIN_9(a,...) MIN_2(a,MIN_8(__VA_ARGS__))
|
|
#define MIN_10(a,...) MIN_2(a,MIN_9(__VA_ARGS__))
|
|
#define __MIN_N(N, ...) MIN_##N(__VA_ARGS__)
|
|
#define _MIN_N(N, ...) __MIN_N(N,__VA_ARGS__)
|
|
#define _MIN(...) _MIN_N(NUM_ARGS(__VA_ARGS__), __VA_ARGS__)
|
|
|
|
#define MAX_2(a,b) ((a)>(b)?(a):(b))
|
|
#define MAX_3(a,...) MAX_2(a,MAX_2(__VA_ARGS__))
|
|
#define MAX_4(a,...) MAX_2(a,MAX_3(__VA_ARGS__))
|
|
#define MAX_5(a,...) MAX_2(a,MAX_4(__VA_ARGS__))
|
|
#define MAX_6(a,...) MAX_2(a,MAX_5(__VA_ARGS__))
|
|
#define MAX_7(a,...) MAX_2(a,MAX_6(__VA_ARGS__))
|
|
#define MAX_8(a,...) MAX_2(a,MAX_7(__VA_ARGS__))
|
|
#define MAX_9(a,...) MAX_2(a,MAX_8(__VA_ARGS__))
|
|
#define MAX_10(a,...) MAX_2(a,MAX_9(__VA_ARGS__))
|
|
#define __MAX_N(N, ...) MAX_##N(__VA_ARGS__)
|
|
#define _MAX_N(N, ...) __MAX_N(N,__VA_ARGS__)
|
|
#define _MAX(...) _MAX_N(NUM_ARGS(__VA_ARGS__), __VA_ARGS__)
|
|
|
|
#endif
|