/*
  nuts_bolts.h - Header for system level commands and real-time processes
  Part of Grbl
  Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
	
	2018 -	Bart Dring This file was modifed for use on the ESP32
					CPU. Do not use this with Grbl for atMega328P
	
  Grbl 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.
  Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef nuts_bolts_h
#define nuts_bolts_h

#include "config.h"

#define false 0
#define true 1

#define SOME_LARGE_VALUE 1.0E+38

// Axis array index values. Must start with 0 and be continuous.
// Note: You set the number of axes used by changing N_AXIS.
// Be sure to define pins or servos in cpu_map.h 
#define X_AXIS 0 // Axis indexing value.
#define Y_AXIS 1
#define Z_AXIS 2
#define A_AXIS 3
#define B_AXIS 4
#define C_AXIS 5


// CoreXY motor assignments. DO NOT ALTER.
// NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations.
#define A_MOTOR X_AXIS // Must be X_AXIS
#define B_MOTOR Y_AXIS // Must be Y_AXIS



// Conversions
#define MM_PER_INCH (25.40)
#define INCH_PER_MM (0.0393701)
#define TICKS_PER_MICROSECOND (F_STEPPER_TIMER/1000000) // Different from AVR version 

#define DELAY_MODE_DWELL       0
#define DELAY_MODE_SYS_SUSPEND 1

// Useful macros
#define clear_vector(a) memset(a, 0, sizeof(a))
#define clear_vector_float(a) memset(a, 0.0, sizeof(float)*N_AXIS)
// #define clear_vector_long(a) memset(a, 0.0, sizeof(long)*N_AXIS)
#define MAX(a,b) (((a) > (b)) ? (a) : (b))  // changed to upper case to remove conflicts with other libraries
#define MIN(a,b) (((a) < (b)) ? (a) : (b))  // changed to upper case to remove conflicts with other libraries
#define isequal_position_vector(a,b) !(memcmp(a, b, sizeof(float)*N_AXIS))

// Bit field and masking macros
//Arduino.h:104:0: note: this is the location of the previous definition
//#define bit(n) (1 << n)
#define bit_true(x,mask) (x) |= (mask)
#define bit_false(x,mask) (x) &= ~(mask)
#define bit_istrue(x,mask) ((x & mask) != 0)
#define bit_isfalse(x,mask) ((x & mask) == 0)

// Read a floating point value from a string. Line points to the input buffer, char_counter
// is the indexer pointing to the current character of the line, while float_ptr is
// a pointer to the result variable. Returns true when it succeeds
uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr);

// Non-blocking delay function used for general operation and suspend features.
void delay_sec(float seconds, uint8_t mode);

// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms().
void delay_ms(uint16_t ms);

// Computes hypotenuse, avoiding avr-gcc's bloated version and the extra error checking.
float hypot_f(float x, float y);

float convert_delta_vector_to_unit_vector(float *vector);
float limit_value_by_axis_maximum(float *max_value, float *unit_vec);

float mapConstrain(float x, float in_min, float in_max, float out_min, float out_max);
float map_float(float x, float in_min, float in_max, float out_min, float out_max);
float constrain_float(float in, float min, float max);

template <class T> void swap ( T& a, T& b )
{
  T c(a); a=b; b=c;
}

#endif