239 lines
7.1 KiB
C++
239 lines
7.1 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (C) 2016 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/>.
|
|
*
|
|
*/
|
|
|
|
#ifndef MACROS_H
|
|
#define MACROS_H
|
|
|
|
#define XYZ 3
|
|
#define XYZE 4
|
|
#define ABC 3
|
|
#define ABCD 4
|
|
#define ABCE 4
|
|
#define ABCDE 5
|
|
|
|
/**
|
|
* For use in macros that take a single axis letter
|
|
* The axis order in all axis related arrays is X, Y, Z, E
|
|
* For Hangprinter it is A, B, C, D, E
|
|
*/
|
|
#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 _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")))
|
|
|
|
// Clock speed factors
|
|
#define CYCLES_PER_MICROSECOND (F_CPU / 1000000L) // 16 or 20
|
|
#define INT0_PRESCALER 8
|
|
|
|
// Nanoseconds per cycle
|
|
#define NANOSECONDS_PER_CYCLE (1000000000.0 / F_CPU)
|
|
|
|
// Remove compiler warning on an unused variable
|
|
#define UNUSED(x) (void) (x)
|
|
|
|
// 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(b) (1 << (b))
|
|
#define TEST(n,b) !!((n)&_BV(b))
|
|
#define SBI(n,b) (n |= _BV(b))
|
|
#define CBI(n,b) (n &= ~_BV(b))
|
|
#define SET_BIT_TO(N,B,TF) do{ if (TF) SBI(N,B); else CBI(N,B); }while(0)
|
|
|
|
#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))
|
|
|
|
// Macro to check that a number if a power if 2
|
|
#define IS_POWER_OF_2(x) ((x) && !((x) & ((x) - 1)))
|
|
|
|
// Macros for maths shortcuts
|
|
#undef M_PI
|
|
#define M_PI 3.14159265358979323846f
|
|
#define RADIANS(d) ((d)*M_PI/180.0f)
|
|
#define DEGREES(r) ((r)*180.0f/M_PI)
|
|
#define HYPOT2(x,y) (sq(x)+sq(y))
|
|
|
|
#define CIRCLE_AREA(R) (M_PI * sq(float(R)))
|
|
#define CIRCLE_CIRC(R) (2 * M_PI * (float(R)))
|
|
|
|
#define SIGN(a) ((a>0)-(a<0))
|
|
#define IS_POWER_OF_2(x) ((x) && !((x) & ((x) - 1)))
|
|
|
|
// Macros to contrain values
|
|
#define NOLESS(v,n) do{ if (v < n) v = n; }while(0)
|
|
#define NOMORE(v,n) do{ if (v > n) v = n; }while(0)
|
|
#define LIMIT(v,n1,n2) do{ if (v < n1) v = n1; else if (v > n2) v = n2; }while(0)
|
|
|
|
// Macros to support option testing
|
|
#define _CAT(a, ...) a ## __VA_ARGS__
|
|
#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 ENABLED(b) _CAT(SWITCH_ENABLED_, b)
|
|
#define DISABLED(b) !ENABLED(b)
|
|
|
|
#define WITHIN(V,L,H) ((V) >= (L) && (V) <= (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) memcpy(a,b,MIN(sizeof(a),sizeof(b)))
|
|
|
|
// Macros for initializing arrays
|
|
#define ARRAY_6(v1, v2, v3, v4, v5, v6, ...) { v1, v2, v3, v4, v5, v6 }
|
|
#define ARRAY_5(v1, v2, v3, v4, v5, ...) { v1, v2, v3, v4, v5 }
|
|
#define ARRAY_4(v1, v2, v3, v4, ...) { v1, v2, v3, v4 }
|
|
#define ARRAY_3(v1, v2, v3, ...) { v1, v2, v3 }
|
|
#define ARRAY_2(v1, v2, ...) { v1, v2 }
|
|
#define ARRAY_1(v1, ...) { v1 }
|
|
|
|
#define _ARRAY_N(N, ...) ARRAY_ ##N(__VA_ARGS__)
|
|
#define ARRAY_N(N, ...) _ARRAY_N(N, __VA_ARGS__)
|
|
|
|
// 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 PIN_EXISTS(PN) (defined(PN ##_PIN) && PN ##_PIN >= 0)
|
|
|
|
#define PENDING(NOW,SOON) ((long)(NOW-(SOON))<0)
|
|
#define ELAPSED(NOW,SOON) (!PENDING(NOW,SOON))
|
|
|
|
#define MMM_TO_MMS(MM_M) ((MM_M)/60.0f)
|
|
#define MMS_TO_MMM(MM_S) ((MM_S)*60.0f)
|
|
|
|
#define NOOP do{} while(0)
|
|
|
|
#define CEILING(x,y) (((x) + (y) - 1) / (y))
|
|
|
|
// Avoid double evaluation of arguments on MIN/MAX/ABS
|
|
#undef MIN
|
|
#undef MAX
|
|
#undef ABS
|
|
#ifdef __cplusplus
|
|
|
|
// 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> static inline constexpr const T ABS(const T v) {
|
|
return v >= 0 ? v : -v;
|
|
}
|
|
#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 MIN(a, b) \
|
|
({__typeof__(a) _a = (a); \
|
|
__typeof__(b) _b = (b); \
|
|
_a < _b ? _a : _b;})
|
|
|
|
#define MAX(a, b) \
|
|
({__typeof__(a) _a = (a); \
|
|
__typeof__(b) _b = (b); \
|
|
_a > _b ? _a : _b;})
|
|
|
|
#define ABS(a) \
|
|
({__typeof__(a) _a = (a); \
|
|
_a >= 0 ? _a : -_a;})
|
|
|
|
#endif
|
|
|
|
#define MIN3(a, b, c) MIN(MIN(a, b), c)
|
|
#define MIN4(a, b, c, d) MIN(MIN3(a, b, c), d)
|
|
#define MIN5(a, b, c, d, e) MIN(MIN4(a, b, c, d), e)
|
|
#define MAX3(a, b, c) MAX(MAX(a, b), c)
|
|
#define MAX4(a, b, c, d) MAX(MAX3(a, b, c), d)
|
|
#define MAX5(a, b, c, d, e) MAX(MAX4(a, b, c, d), e)
|
|
|
|
#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) ? 0.0f : 1.0f / (x))
|
|
#define FIXFLOAT(f) (f + (f < 0.0f ? -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))
|
|
|
|
#endif // MACROS_H
|