229 lines
6.5 KiB
C++
229 lines
6.5 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program 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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*
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* This program 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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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "minmax.h"
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#define NUM_AXIS 4
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#define ABCE 4
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#define XYZE 4
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#define ABC 3
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#define XYZ 3
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#define _AXIS(A) (A##_AXIS)
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#define _XMIN_ 100
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#define _YMIN_ 200
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#define _ZMIN_ 300
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#define _XMAX_ 101
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#define _YMAX_ 201
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#define _ZMAX_ 301
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#define _FORCE_INLINE_ __attribute__((__always_inline__)) __inline__
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#define FORCE_INLINE __attribute__((always_inline)) inline
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#define _UNUSED __attribute__((unused))
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#define _O0 __attribute__((optimize("O0")))
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#define _Os __attribute__((optimize("Os")))
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#define _O1 __attribute__((optimize("O1")))
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#define _O2 __attribute__((optimize("O2")))
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#define _O3 __attribute__((optimize("O3")))
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// Clock speed factors
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#if !defined(CYCLES_PER_MICROSECOND) && !defined(__STM32F1__)
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#define CYCLES_PER_MICROSECOND (F_CPU / 1000000UL) // 16 or 20 on AVR
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#endif
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// Nanoseconds per cycle
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#define NANOSECONDS_PER_CYCLE (1000000000.0 / F_CPU)
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// Remove compiler warning on an unused variable
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#define UNUSED(x) ((void)(x))
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// Macros to make a string from a macro
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#define STRINGIFY_(M) #M
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#define STRINGIFY(M) STRINGIFY_(M)
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#define A(CODE) " " CODE "\n\t"
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#define L(CODE) CODE ":\n\t"
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// Macros for bit masks
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#undef _BV
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#define _BV(n) (1<<(n))
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#define TEST(n,b) !!((n)&_BV(b))
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#define SBI(n,b) (n |= _BV(b))
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#define CBI(n,b) (n &= ~_BV(b))
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#define SET_BIT_TO(N,B,TF) do{ if (TF) SBI(N,B); else CBI(N,B); }while(0)
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#define _BV32(b) (1UL << (b))
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#define TEST32(n,b) !!((n)&_BV32(b))
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#define SBI32(n,b) (n |= _BV32(b))
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#define CBI32(n,b) (n &= ~_BV32(b))
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// Macros for maths shortcuts
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#undef M_PI
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#define M_PI 3.14159265358979323846f
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#define RADIANS(d) ((d)*float(M_PI)/180.0f)
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#define DEGREES(r) ((r)*180.0f/float(M_PI))
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#define HYPOT2(x,y) (sq(x)+sq(y))
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#define CIRCLE_AREA(R) (float(M_PI) * sq(float(R)))
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#define CIRCLE_CIRC(R) (2 * float(M_PI) * float(R))
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#define SIGN(a) ((a>0)-(a<0))
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#define IS_POWER_OF_2(x) ((x) && !((x) & ((x) - 1)))
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// Macros to constrain values
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#ifdef __cplusplus
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// C++11 solution that is standards compliant.
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template <class V, class N> static inline constexpr void NOLESS(V& v, const N n) {
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if (v < n) v = n;
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}
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template <class V, class N> static inline constexpr void NOMORE(V& v, const N n) {
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if (v > n) v = n;
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}
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template <class V, class N1, class N2> static inline constexpr void LIMIT(V& v, const N1 n1, const N2 n2) {
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if (v < n1) v = n1;
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else if (v > n2) v = n2;
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}
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#else
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// Using GCC extensions, but Travis GCC version does not like it and gives
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// "error: statement-expressions are not allowed outside functions nor in template-argument lists"
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#define NOLESS(v, n) \
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do { \
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__typeof__(n) _n = (n); \
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if (v < _n) v = _n; \
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} while(0)
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#define NOMORE(v, n) \
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do { \
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__typeof__(n) _n = (n); \
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if (v > _n) v = _n; \
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} while(0)
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#define LIMIT(v, n1, n2) \
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do { \
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__typeof__(n1) _n1 = (n1); \
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__typeof__(n2) _n2 = (n2); \
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if (v < _n1) v = _n1; \
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else if (v > _n2) v = _n2; \
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} while(0)
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#endif
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// Macros to support option testing
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#define _CAT(a, ...) a ## __VA_ARGS__
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#define SWITCH_ENABLED_false 0
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#define SWITCH_ENABLED_true 1
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#define SWITCH_ENABLED_0 0
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#define SWITCH_ENABLED_1 1
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#define SWITCH_ENABLED_0x0 0
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#define SWITCH_ENABLED_0x1 1
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#define SWITCH_ENABLED_ 1
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#define ENABLED(b) _CAT(SWITCH_ENABLED_, b)
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#define DISABLED(b) !ENABLED(b)
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#define WITHIN(V,L,H) ((V) >= (L) && (V) <= (H))
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#define NUMERIC(a) WITHIN(a, '0', '9')
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#define DECIMAL(a) (NUMERIC(a) || a == '.')
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#define NUMERIC_SIGNED(a) (NUMERIC(a) || (a) == '-' || (a) == '+')
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#define DECIMAL_SIGNED(a) (DECIMAL(a) || (a) == '-' || (a) == '+')
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#define COUNT(a) (sizeof(a)/sizeof(*a))
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#define ZERO(a) memset(a,0,sizeof(a))
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#define COPY(a,b) memcpy(a,b,MIN(sizeof(a),sizeof(b)))
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// Macros for initializing arrays
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#define ARRAY_6(v1, v2, v3, v4, v5, v6, ...) { v1, v2, v3, v4, v5, v6 }
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#define ARRAY_5(v1, v2, v3, v4, v5, ...) { v1, v2, v3, v4, v5 }
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#define ARRAY_4(v1, v2, v3, v4, ...) { v1, v2, v3, v4 }
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#define ARRAY_3(v1, v2, v3, ...) { v1, v2, v3 }
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#define ARRAY_2(v1, v2, ...) { v1, v2 }
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#define ARRAY_1(v1, ...) { v1 }
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#define _ARRAY_N(N, ...) ARRAY_ ##N(__VA_ARGS__)
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#define ARRAY_N(N, ...) _ARRAY_N(N, __VA_ARGS__)
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// Macros for adding
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#define INC_0 1
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#define INC_1 2
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#define INC_2 3
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#define INC_3 4
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#define INC_4 5
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#define INC_5 6
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#define INC_6 7
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#define INC_7 8
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#define INC_8 9
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#define INCREMENT_(n) INC_ ##n
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#define INCREMENT(n) INCREMENT_(n)
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// Macros for subtracting
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#define DEC_1 0
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#define DEC_2 1
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#define DEC_3 2
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#define DEC_4 3
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#define DEC_5 4
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#define DEC_6 5
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#define DEC_7 6
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#define DEC_8 7
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#define DEC_9 8
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#define DECREMENT_(n) DEC_ ##n
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#define DECREMENT(n) DECREMENT_(n)
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#define PIN_EXISTS(PN) (defined(PN ##_PIN) && PN ##_PIN >= 0)
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#define MMM_TO_MMS(MM_M) ((MM_M)/60.0f)
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#define MMS_TO_MMM(MM_S) ((MM_S)*60.0f)
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#define NOOP (0)
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#define CEILING(x,y) (((x) + (y) - 1) / (y))
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#undef ABS
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#ifdef __cplusplus
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template <class T> static inline constexpr const T ABS(const T v) { return v >= 0 ? v : -v; }
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#else
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#define ABS(a) ({__typeof__(a) _a = (a); _a >= 0 ? _a : -_a;})
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#endif
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#define UNEAR_ZERO(x) ((x) < 0.000001f)
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#define NEAR_ZERO(x) WITHIN(x, -0.000001f, 0.000001f)
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#define NEAR(x,y) NEAR_ZERO((x)-(y))
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#define RECIPROCAL(x) (NEAR_ZERO(x) ? 0 : (1 / float(x)))
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#define FIXFLOAT(f) (f + (f < 0 ? -0.00005f : 0.00005f))
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//
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// Maths macros that can be overridden by HAL
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//
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#define ATAN2(y, x) atan2f(y, x)
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#define POW(x, y) powf(x, y)
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#define SQRT(x) sqrtf(x)
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#define RSQRT(x) (1 / sqrtf(x))
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#define CEIL(x) ceilf(x)
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#define FLOOR(x) floorf(x)
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#define LROUND(x) lroundf(x)
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#define FMOD(x, y) fmodf(x, y)
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#define HYPOT(x,y) SQRT(HYPOT2(x,y))
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