path: root/src/RepRapFirmware.h

/****************************************************************************************************

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 <climits>		// for CHAR_BIT

#include "ecv.h"
#undef value			// needed because some files include include <optional>
#undef array			// needed because some files include <functional>

#include "Core.h"

#ifndef SAMC21
# define SAMC21	(defined(__SAMC21G18A__) && __SAMC21G18A__)
#endif

#ifndef SAME51
# define SAME51	(defined(__SAME51N19A__) && __SAME51N19A__)
#endif

#if SAME70
# define __nocache		__attribute__((section(".ram_nocache")))
#else
# define __nocache		// nothing
#endif

// Definitions needed by Pins.h and/or Configuration.h
// Logical pins used for general output, servos, CCN and laser control
typedef uint8_t LogicalPin;				// type used to represent logical pin numbers
constexpr LogicalPin NoLogicalPin = 0xFF;
constexpr const char *NoPinName = "nil";

typedef uint16_t PwmFrequency;				// type used to represent a PWM frequency. 0 sometimes means "default".

// Enumeration to describe what we want to do with a pin
enum class PinAccess : int
{
	read,
	readWithPullup_InternalUseOnly,
	readAnalog,
	write0,
	write1,
	pwm,
	servo
};

enum class PinUsedBy : uint8_t
{
	unused = 0,
	heater,
	fan,
	endstop,
	zprobe,
	tacho,
	spindle,
	laser,
	gpio,
	filamentMonitor,
	temporaryInput,
	sensor
};

#include "Configuration.h"
#include "Pins.h"

static_assert(NumNamedPins <= 255 || sizeof(LogicalPin) > 1, "Need 16-bit logical pin numbers");

#if SUPPORT_CAN_EXPANSION
# include "CanId.h"		// for type CanAddress
#endif

#include "General/StringRef.h"
#include "General/StringFunctions.h"
#include "General/BitMap.h"
#include "General/SafeStrtod.h"
#include "General/SafeVsnprintf.h"

// Type of a driver identifier
struct DriverId
{
	uint8_t localDriver;

#if SUPPORT_CAN_EXPANSION

	CanAddress boardAddress;

	void SetFromBinary(uint32_t val) noexcept
	{
		localDriver = val & 0x000000FF;
		const uint32_t brdNum = val >> 16;
		boardAddress = (brdNum <= CanId::MaxNormalAddress) ? (CanAddress)brdNum : CanId::NoAddress;
	}

	void SetLocal(unsigned int driver) noexcept
	{
		localDriver = (uint8_t)driver;
		boardAddress = CanId::MasterAddress;
	}

	void Clear() noexcept
	{
		localDriver = 0;
		boardAddress = CanId::NoAddress;
	}

	bool IsLocal() const noexcept { return boardAddress == CanId::MasterAddress; }
	bool IsRemote() const noexcept { return boardAddress != CanId::MasterAddress; }

	bool operator<(const DriverId other) const noexcept
	{
		return boardAddress < other.boardAddress || (boardAddress == other.boardAddress && localDriver < other.localDriver);
	}

	bool operator==(const DriverId other) const noexcept
	{
		return boardAddress == other.boardAddress && localDriver == other.localDriver;
	}

	bool operator!=(const DriverId other) const noexcept
	{
		return boardAddress != other.boardAddress || localDriver != other.localDriver;
	}

#else

	void SetFromBinary(uint32_t val) noexcept
	{
		localDriver = (uint8_t)val;
	}

	void SetLocal(unsigned int driver) noexcept
	{
		localDriver = (uint8_t)driver;
	}

	void Clear() noexcept { localDriver = 0; }

	bool IsLocal() const noexcept { return true; }
	bool IsRemote() const noexcept { return false; }

#endif
};

#if SUPPORT_CAN_EXPANSION
# define PRIdriverId				"%u.%u"
# define DRIVER_ID_PRINT_ARGS(_d)	_d.boardAddress,_d.localDriver
#else
# define PRIdriverId				"%u"
# define DRIVER_ID_PRINT_ARGS(_d)	_d.localDriver
#endif

// Module numbers and names, used for diagnostics and debug
// All of these including noModule must be <= 31 because we 'or' the module number into the software reset code
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,
	modulePortControl = 11,
	moduleDuetExpansion = 12,
	moduleFilamentSensors = 13,
	moduleWiFi = 14,
	moduleDisplay = 15,
	moduleLinuxInterface = 16,
	numModules = 17,				// make this one greater than the last real module number
	noModule = numModules
};

const char *GetModuleName(uint8_t module) noexcept;

// Warn of what's to come, so we can use pointers and references to classes without including the entire header files
class Network;
class Platform;
class GCodes;
class Move;
class DDA;
class Kinematics;
class Heat;
class TemperatureSensor;
class Tool;
class Roland;
class Scanner;
class PrintMonitor;
class RepRap;
class FileStore;
class OutputBuffer;
class OutputStack;
class GCodeBuffer;
class GCodeQueue;
class FilamentMonitor;
class RandomProbePointSet;
class Logger;

#if SUPPORT_IOBITS
class PortControl;
#endif

#if SUPPORT_12864_LCD
class Display;
#endif

#if HAS_LINUX_INTERFACE
class LinuxInterface;
#endif

// Define floating point type to use for calculations where we would like high precision in matrix calculations
#if SAM4E || SAM4S || SAME70
typedef double floatc_t;					// type of matrix element used for calibration
#else
// We are more memory-constrained on the SAM3X
typedef float floatc_t;						// type of matrix element used for calibration
#endif

typedef uint16_t AxesBitmap;				// Type of a bitmap representing a set of axes
typedef uint32_t ExtrudersBitmap;			// Type of a bitmap representing a set of extruder drive numbers
typedef uint32_t DriversBitmap;				// Type of a bitmap representing a set of local driver numbers
typedef uint32_t FansBitmap;				// Type of a bitmap representing a set of fan numbers
typedef uint32_t HeatersBitmap;				// Type of a bitmap representing a set of heater numbers
typedef uint16_t Pwm_t;						// Type of a PWM value when we don't want to use floats

#if SUPPORT_CAN_EXPANSION
typedef uint64_t SensorsBitmap;
#else
typedef uint32_t SensorsBitmap;
#endif

static_assert(MaxAxes <= sizeof(AxesBitmap) * CHAR_BIT);
static_assert(MaxExtruders <= sizeof(ExtrudersBitmap) * CHAR_BIT);
static_assert(MaxFans <= sizeof(FansBitmap) * CHAR_BIT);
static_assert(MaxHeaters <= sizeof(HeatersBitmap) * CHAR_BIT);
static_assert(NumDirectDrivers <= sizeof(DriversBitmap) * CHAR_BIT);
static_assert(MaxSensors <= sizeof(SensorsBitmap) * CHAR_BIT);

#if SUPPORT_IOBITS
typedef uint16_t IoBits_t;					// Type of the port control bitmap (G1 P parameter)
#endif

#if SUPPORT_LASER || SUPPORT_IOBITS
union LaserPwmOrIoBits
{
#if SUPPORT_LASER
	Pwm_t laserPwm;							// the laser PWM to use for this move
#endif
#if SUPPORT_IOBITS
	IoBits_t ioBits;						// I/O bits to set/clear at the start of this move
#endif

	void Clear()							// set to zero, whichever one it is
	{
#if SUPPORT_LASER
		laserPwm = 0;
#else
		ioBits = 0;
#endif
	}
};
#endif

// Debugging support
extern "C" void debugPrintf(const char* fmt, ...) noexcept __attribute__ ((format (printf, 1, 2)));
#define DEBUG_HERE do { debugPrintf("At " __FILE__ " line %d\n", __LINE__); delay(50); } while (false)

// Functions and globals not part of any class
void delay(uint32_t ms) noexcept;

double HideNan(float val) noexcept;

void ListDrivers(const StringRef& str, DriversBitmap drivers) noexcept;

// 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));

// UTF8 code for the degree-symbol
#define DEGREE_SYMBOL	"\xC2\xB0"	// Unicode degree-symbol as UTF8

// Functions to change the base priority, to shut out interrupts up to a priority level

// Get the base priority and shut out interrupts lower than or equal to a specified priority
inline uint32_t ChangeBasePriority(uint32_t prio) noexcept
{
	const uint32_t oldPrio = __get_BASEPRI();
	__set_BASEPRI_MAX(prio << (8 - __NVIC_PRIO_BITS));
	return oldPrio;
}

// Restore the base priority following a call to ChangeBasePriority
inline void RestoreBasePriority(uint32_t prio) noexcept
{
	__set_BASEPRI(prio);
}

// Set the base priority when we are not interested in the existing value i.e. definitely in non-interrupt code
inline void SetBasePriority(uint32_t prio) noexcept
{
	__set_BASEPRI(prio << (8 - __NVIC_PRIO_BITS));
}

// 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_) noexcept : val(value_) {}
    bool operator != (SimpleRangeIterator<T> const& other) const noexcept { return val != other.val;     }
    T const& operator*() const noexcept { return val; }
    SimpleRangeIterator& operator++() noexcept { ++val; return *this; }

private:
    T val;
};

template<class T> class SimpleRange
{
public:
	SimpleRange(T limit) noexcept : _end(limit) {}
	SimpleRangeIterator<T> begin() const noexcept { return SimpleRangeIterator<T>(0); }
	SimpleRangeIterator<T> end() const noexcept { 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 simple milliseconds timer class
class MillisTimer
{
public:
	MillisTimer() noexcept { running = false; }
	void Start() noexcept;
	void Stop() noexcept { running = false; }
	bool Check(uint32_t timeoutMillis) const noexcept;
	bool CheckAndStop(uint32_t timeoutMillis) noexcept;
	bool IsRunning() const noexcept { return running; }

private:
	uint32_t whenStarted;
	bool running;
};

// Common definitions used by more than one module

constexpr size_t ScratchStringLength = 220;							// standard length of a scratch string, enough to print delta parameters to
constexpr size_t ShortScratchStringLength = 50;

constexpr size_t XYZ_AXES = 3;										// The number of Cartesian axes
constexpr size_t X_AXIS = 0, Y_AXIS = 1, Z_AXIS = 2;				// The indices of the Cartesian axes in drive arrays
constexpr size_t U_AXIS = 3;										// The assumed index of the U axis when executing M673
constexpr size_t NO_AXIS = 0x0F;									// A value to represent no axis, must fit in 4 bits (see Endstops) and not be a valid axis number

static_assert(MaxAxesPlusExtruders <= MaxAxes + MaxExtruders);
static_assert(MaxAxesPlusExtruders >= MinAxes + NumDefaultExtruders);

#if SUPPORT_CAN_EXPANSION
constexpr size_t MaxTotalDrivers = NumDirectDrivers + MaxCanDrivers;
#else
constexpr size_t MaxTotalDrivers = NumDirectDrivers;
#endif

// Convert between extruder drive numbers and logical drive numbers.
// In order to save memory when MaxAxesPlusExtruders < MaxAxes + MaxExtruders, the logical drive number of an axis is the same as the axis number,
// but the logical drive number of an extruder is MaxAxesPlusExtruders - 1 - extruder_number.
inline size_t ExtruderToLogicalDrive(size_t extruder) noexcept { return MaxAxesPlusExtruders - 1 - extruder; }
inline size_t LogicalDriveToExtruder(size_t drive) noexcept { return MaxAxesPlusExtruders - 1 - drive; }

constexpr AxesBitmap DefaultXAxisMapping = MakeBitmap<AxesBitmap>(X_AXIS);	// by default, X is mapped to X
constexpr AxesBitmap DefaultYAxisMapping = MakeBitmap<AxesBitmap>(Y_AXIS);	// by default, Y is mapped to Y

// Common conversion factors
constexpr float MinutesToSeconds = 60.0;
constexpr float SecondsToMinutes = 1.0/MinutesToSeconds;
constexpr float SecondsToMillis = 1000.0;
constexpr float MillisToSeconds = 0.001;
constexpr float InchToMm = 25.4;
constexpr float Pi = 3.141592653589793;
constexpr float TwoPi = 3.141592653589793 * 2;
constexpr float DegreesToRadians = 3.141592653589793/180.0;
constexpr float RadiansToDegrees = 180.0/3.141592653589793;

#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.
// This interacts with FreeRTOS config constant configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY which is currently defined as 3 for the SAME70 and 5 for the SAM4x.
// ISRs with better (numerically lower) priorities than this value cannot make FreeRTOS calls, but those interrupts wont be disabled even in FreeRTOS critical sections.

#if __NVIC_PRIO_BITS == 3
// We have only 8 interrupt priority levels on the SAME70
// Use priority 2 or lower for interrupts where low latency is critical and FreeRTOS calls are not needed.

const uint32_t NvicPriorityWatchdog = 0;		// the secondary watchdog has the highest priority
const uint32_t NvicPriorityPanelDueUart = 1;	// UART is highest to avoid character loss (it has only a 1-character receive buffer)
const uint32_t NvicPriorityWiFiUart = 2;		// UART used to receive debug data from the WiFi module

const uint32_t NvicPriorityMCan = 3;			// CAN interface
const uint32_t NvicPriorityPins = 3;			// priority for GPIO pin interrupts - filament sensors must be higher than step
const uint32_t NvicPriorityStep = 4;			// step interrupt is next highest, it can preempt most other interrupts
const uint32_t NvicPriorityUSB = 5;				// USB interrupt
const uint32_t NvicPriorityHSMCI = 5;			// HSMCI command complete interrupt

# if HAS_LWIP_NETWORKING
const uint32_t NvicPriorityNetworkTick = 6;		// priority for network tick interrupt (to be replaced by a FreeRTOS task)
const uint32_t NvicPriorityEthernet = 6;		// priority for Ethernet interface
# endif

const uint32_t NvicPriorityDMA = 6;				// end-of-DMA interrupt used by TMC drivers and HSMCI
const uint32_t NvicPrioritySpi = 6;				// SPI is used for network transfers on Duet WiFi/Duet vEthernet

#elif __NVIC_PRIO_BITS == 4
// We have 16 priority levels
// Use priority 4 or lower for interrupts where low latency is critical and FreeRTOS calls are not needed.

# if SAM4E || defined(__LPC17xx__)
const uint32_t NvicPriorityWatchdog = 0;		// the secondary watchdog has the highest priority
# endif

const uint32_t NvicPriorityPanelDueUart = 1;	// UART is highest to avoid character loss (it has only a 1-character receive buffer)
const uint32_t NvicPriorityDriversSerialTMC = 2; // USART or UART used to control and monitor the smart drivers

const uint32_t NvicPriorityPins = 5;			// priority for GPIO pin interrupts - filament sensors must be higher than step
const uint32_t NvicPriorityStep = 6;			// step interrupt is next highest, it can preempt most other interrupts
const uint32_t NvicPriorityWiFiUart = 7;		// UART used to receive debug data from the WiFi module
const uint32_t NvicPriorityUSB = 7;				// USB interrupt
const uint32_t NvicPriorityHSMCI = 7;			// HSMCI command complete interrupt

# if HAS_LWIP_NETWORKING
const uint32_t NvicPriorityNetworkTick = 8;		// priority for network tick interrupt (to be replaced by a FreeRTOS task)
const uint32_t NvicPriorityEthernet = 8;		// priority for Ethernet interface
# endif

const uint32_t NvicPrioritySpi = 8;				// SPI is used for network transfers on Duet WiFi/Duet vEthernet
const uint32_t NvicPriorityTwi = 9;				// TWI is used to read endstop and other inputs on the DueXn

#endif

#endif