cnc-control/firmware/cpu-firmware/main.h

#ifndef MAIN_H_
#define MAIN_H_

#define VERSION_MAJOR	1
#define VERSION_MINOR	2


#include "util.h"
#include "machine_interface_internal.h"

#include <stdint.h>


/* Timekeeping */
typedef uint16_t	jiffies_t;
typedef int16_t		s_jiffies_t;

/* time_after(a, b) returns true if the time a is after time b. */
#define time_after(a, b)        ((s_jiffies_t)(b) - (s_jiffies_t)(a) < 0)
#define time_before(a, b)       time_after(b, a)

/* Number of jiffies-per-second */
#define JPS			((uint32_t)15625)

/* Convert milliseconds to jiffies. */
#define msec2jiffies(msec)   ((jiffies_t)DIV_ROUND_UP(JPS * (uint32_t)(msec), (uint32_t)1000))

/* Get the jiffies counter */
static inline jiffies_t get_jiffies(void)
{
	/* Our timebase is in Timer1, which is accessed atomically
	 * by atomic 16-bit I/O register access. */
	return (jiffies_t)(TCNT1);
}


/* Pushbuttons */
#define BTN_HALT		(1ul << 0)	/* Motion halt */
#define BTN_SPINDLE		(1ul << 1)	/* Spindle on/off */
#define BTN_AXIS_NEXT		(1ul << 2)	/* Select next axis */
#define BTN_AXIS_PREV		(1ul << 3)	/* Select previous axis */
#define BTN_TOGGLE		(1ul << 4)	/* Generic toggle button */
#define BTN_TWOHAND		(1ul << 5)	/* Twohand security switch */
#define BTN_JOG_POSITIVE	(1ul << 6)	/* JOG + */
#define BTN_JOG_RAPID		(1ul << 7)	/* Rapid JOG */
#define BTN_JOG_NEGATIVE	(1ul << 8)	/* JOG - */
#define BTN_JOG_INC		(1ul << 9)	/* JOG incremental */
#define BTN_SOFT0		(1ul << 10)	/* Softkey 0 */
#define BTN_ONOFF		(1ul << 11)	/* Turn device on/off */
#define BTN_SOFT1		(1ul << 12)	/* Softkey 1 */
#define BTN_ENCPUSH		(1ul << 13)	/* Encoder pushbutton */


/* External output-port interface */
#define EXTPORT(chipnr, portnr)	((1ul << (portnr)) << ((chipnr) * 8))

#define EXT_LED_HALT		EXTPORT(0, 0)
#define EXT_LED_SPINDLE		EXTPORT(0, 1)
#define EXT_LED_AXIS_NEXT	EXTPORT(0, 2)
#define EXT_LED_AXIS_PREV	EXTPORT(0, 3)
#define EXT_LED_TOGGLE		EXTPORT(0, 4)
#define EXT_LED_TWOHAND		EXTPORT(0, 5)
#define EXT_LED_JOGPOS		EXTPORT(0, 6)
#define EXT_LED_JOGRAPID	EXTPORT(0, 7)
#define EXT_LED_JOGNEG		EXTPORT(1, 0)
#define EXT_LED_JOGINC		EXTPORT(1, 1)
#define EXT_LED_SK0		EXTPORT(1, 2)
#define EXT_LED_ONOFF		EXTPORT(1, 3)
#define EXT_LED_SK1		EXTPORT(1, 4)


/* Enable/disable LEDs */
void leds_enable(bool enable);
/* Reset the device */
void reset_device_state(void);
/* Axis mask */
void set_axis_enable_mask(uint16_t mask);
/* Axis manipulation */
void axis_pos_update(uint8_t axis, fixpt_t absolute_pos);
/* Spindle state */
void spindle_state_update(bool on);
/* Feed override feedback */
void feed_override_feedback_update(uint8_t percent);
/* Set the estop feedback state */
void set_estop_state(bool asserted);
/* Sets the increment size at index */
bool set_increment_at_index(uint8_t index, fixpt_t increment);

/* Request an update of the user interface */
void update_userinterface(void);

#endif /* MAIN_H_ */