0636efee40
Fixed issue with rare missing steps at the end of delta moves Fix minor delta calibration issue Fix issue with ADC crosstalk on Duet 0.8.5 Refactored RepRap and OutputBuffer classes in preparation for fixing the OutputBuffer bugs
167 lines
3.8 KiB
C++
167 lines
3.8 KiB
C++
/****************************************************************************************************
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RepRapFirmware - Main Include
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This includes all the other include files in the right order and defines some globals.
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No other definitions or information should be in here.
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-----------------------------------------------------------------------------------------------------
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Version 0.1
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18 November 2012
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Adrian Bowyer
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RepRap Professional Ltd
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http://reprappro.com
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Licence: GPL
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****************************************************************************************************/
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#ifndef REPRAPFIRMWARE_H
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#define REPRAPFIRMWARE_H
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#include <cstddef> // for size_t
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#include <cfloat>
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#include <cstdarg>
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#include "Arduino.h"
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#include "Configuration.h"
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#include "StringRef.h"
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// Module numbers and names, used for diagnostics and debug
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enum Module
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{
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modulePlatform = 0,
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moduleNetwork = 1,
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moduleWebserver = 2,
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moduleGcodes = 3,
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moduleMove = 4,
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moduleHeat = 5,
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moduleDda = 6,
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moduleRoland = 7,
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modulePrintMonitor = 8,
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numModules = 9, // make this one greater than the last module number
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noModule = 15
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};
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extern const char *moduleName[];
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// Warn of what's to come, so we can use pointers to classes...
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class Network;
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class Platform;
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class Webserver;
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class GCodes;
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class Move;
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class Heat;
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class Tool;
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class Roland;
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class PrintMonitor;
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class RepRap;
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class FileStore;
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// A single instance of the RepRap class contains all the others
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extern RepRap reprap;
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// Functions and globals not part of any class
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extern "C" void debugPrintf(const char* fmt, ...);
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bool StringEndsWith(const char* string, const char* ending);
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bool StringStartsWith(const char* string, const char* starting);
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bool StringEquals(const char* s1, const char* s2);
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int StringContains(const char* string, const char* match);
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// Macro to give us the number of elements in an array
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#define ARRAY_SIZE(_x) (sizeof(_x)/sizeof(_x[0]))
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// Macro to give us the highest valid index into an array i.e. one less than the size
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#define ARRAY_UPB(_x) (ARRAY_SIZE(_x) - 1)
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// Macro to assign an array from an initializer list
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#define ARRAY_INIT(_dest, _init) static_assert(sizeof(_dest) == sizeof(_init), "Incompatible array types"); memcpy(_dest, _init, sizeof(_init));
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extern StringRef scratchString;
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#include "OutputBuffer.h"
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#include "Network.h"
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#include "Platform.h"
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#include "Webserver.h"
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#include "GCodes.h"
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#include "Move.h"
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#include "Heat.h"
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#include "Tool.h"
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#include "Roland.h"
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#include "PrintMonitor.h"
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#include "Reprap.h"
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// std::min and std::max don't seem to work with this variant of gcc, so define our own ones here
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// We use these only with primitive types, so pass them directly instead of by const reference
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#undef min
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#undef max
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template<class X> inline X min(X _a, X _b)
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{
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return (_a < _b) ? _a : _b;
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}
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template<class X> inline X max(X _a, X _b)
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{
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return (_a > _b) ? _a : _b;
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}
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// Specialisations for float and double to handle NANs properly
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template<> inline float min(float _a, float _b)
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{
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return (isnan(_a) || _a < _b) ? _a : _b;
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}
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template<> inline float max(float _a, float _b)
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{
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return (isnan(_a) || _a > _b) ? _a : _b;
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}
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template<> inline double min(double _a, double _b)
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{
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return (isnan(_a) || _a < _b) ? _a : _b;
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}
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template<> inline double max(double _a, double _b)
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{
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return (isnan(_a) || _a > _b) ? _a : _b;
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}
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inline float fsquare(float arg)
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{
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return arg * arg;
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}
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inline uint64_t isquare64(int32_t arg)
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{
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return (uint64_t)((int64_t)arg * arg);
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}
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inline uint64_t isquare64(uint32_t arg)
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{
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return (uint64_t)arg * arg;
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}
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inline void swap(float& a, float& b)
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{
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float temp = a;
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a = b;
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b = temp;
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}
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#undef constrain
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template<class T> inline float constrain(T val, T vmin, T vmax)
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{
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return max<T>(vmin, min<T>(val, vmax));
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}
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extern uint32_t isqrt64(uint64_t num); // This is defined in its own file, Isqrt.cpp or Isqrt.asm
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#endif
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