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/****************************************************************************************************
RepRapFirmware - Main Include
This includes all the other include files in the right order and defines some globals.
No other definitions or information should be in here.
-----------------------------------------------------------------------------------------------------
Version 0.1
18 November 2012
Adrian Bowyer
RepRap Professional Ltd
http://reprappro.com
Licence: GPL
****************************************************************************************************/
#ifndef REPRAPFIRMWARE_H
#define REPRAPFIRMWARE_H
#include <cstddef> // for size_t
#include <cfloat>
#include <cstdarg>
#include "ecv.h"
#include "Core.h"
#include "Configuration.h"
#include "Pins.h"
#include "Libraries/General/StringRef.h"
// Module numbers and names, used for diagnostics and debug
enum Module : uint8_t
{
modulePlatform = 0,
moduleNetwork = 1,
moduleWebserver = 2,
moduleGcodes = 3,
moduleMove = 4,
moduleHeat = 5,
moduleDda = 6,
moduleRoland = 7,
moduleScanner = 8,
modulePrintMonitor = 9,
moduleStorage = 10,
numModules = 11, // make this one greater than the last module number
noModule = 15
};
extern const char *moduleName[];
// Warn of what's to come, so we can use pointers to classes without including the entire header files
class Network;
class Platform;
class GCodes;
class Move;
class DDA;
class Heat;
class Tool;
class Roland;
class Scanner;
class PrintMonitor;
class RepRap;
class FileStore;
class OutputBuffer;
class OutputStack;
// A single instance of the RepRap class contains all the others
extern RepRap reprap;
// Functions and globals not part of any class
extern "C" void debugPrintf(const char* fmt, ...);
bool StringEndsWith(const char* string, const char* ending);
bool StringStartsWith(const char* string, const char* starting);
bool StringEquals(const char* s1, const char* s2);
int StringContains(const char* string, const char* match);
void SafeStrncpy(char *dst, const char *src, size_t length) pre(length != 0);
void SafeStrncat(char *dst, const char *src, size_t length) pre(length != 0);
// Macro to assign an array from an initialiser list
#define ARRAY_INIT(_dest, _init) static_assert(sizeof(_dest) == sizeof(_init), "Incompatible array types"); memcpy(_dest, _init, sizeof(_init));
// Classes to facilitate range-based for loops that iterate from 0 up to just below a limit
template<class T> class SimpleRangeIterator
{
public:
SimpleRangeIterator(T value_) : val(value_) {}
bool operator != (SimpleRangeIterator<T> const& other) const { return val != other.val; }
T const& operator*() const { return val; }
SimpleRangeIterator& operator++() { ++val; return *this; }
private:
T val;
};
template<class T> class SimpleRange
{
public:
SimpleRange(T limit) : _end(limit) {}
SimpleRangeIterator<T> begin() const { return SimpleRangeIterator<T>(0); }
SimpleRangeIterator<T> end() const { return SimpleRangeIterator<T>(_end); }
private:
const T _end;
};
// Macro to create a SimpleRange from an array
#define ARRAY_INDICES(_arr) (SimpleRange<size_t>(ARRAY_SIZE(_arr)))
// A string buffer used for temporary purposes
extern StringRef scratchString;
// Common definitions used by more than one module
const size_t XYZ_AXES = 3; // The number of Cartesian axes
const size_t X_AXIS = 0, Y_AXIS = 1, Z_AXIS = 2, E0_AXIS = 3; // The indices of the Cartesian axes in drive arrays
// Common conversion factors
const float MinutesToSeconds = 60.0;
const float SecondsToMinutes = 1.0/MinutesToSeconds;
const float SecondsToMillis = 1000.0;
const float MillisToSeconds = 0.001;
const float InchToMm = 25.4;
const float DegreesToRadians = PI/180.0;
const float RadiansToDegrees = 180.0/PI;
#define DEGREE_SYMBOL "\xC2\xB0" // degree-symbol encoding in UTF8
// Type of an offset in a file
typedef uint32_t FilePosition;
const FilePosition noFilePosition = 0xFFFFFFFF;
// Interrupt priorities - must be chosen with care! 0 is the highest priority, 15 is the lowest.
#if SAM4S || SAM4E
const uint32_t NvicPriorityWatchdog = 0; // watchdog has highest priority (SAM4 only)
#endif
const uint32_t NvicPriorityUart = 1; // UART is next to avoid character loss
const uint32_t NvicPrioritySystick = 2; // systick kicks the watchdog and starts the ADC conversions, so must be quite high
const uint32_t NvicPriorityStep = 3; // step interrupt is next highest, it can preempt most other interrupts
#if !defined(DUET_NG) && !defined(__RADDS__)
const uint32_t NvicPriorityNetworkTick = 4; // priority for network tick interrupt
const uint32_t NvicPriorityEthernet = 4; // priority for Ethernet interface
#endif
const uint32_t NvicPrioritySpi = 5; // SPI used for network transfers on Duet WiFi/Duet vEthernet
const uint32_t NvicPriorityPins = 6; // priority for GPIO pin interrupts
#endif
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