/*

  RepRap
  ------

  The Replicating Rapid Prototyper Project


  Copyright (C) 2005
  Adrian Bowyer & The RepRap Researchers

  http://reprap.org

  Principal author:

     Adrian Bowyer
     Department of Mechanical Engineering
     Faculty of Engineering and Design
     University of Bath
     Bath BA2 7AY
     U.K.

     e-mail: A.Bowyer@bath.ac.uk

  RepRap is free; you can redistribute it and/or
  modify it under the terms of the GNU Library General Public
  Licence as published by the Free Software Foundation; either
  version 2 of the Licence, or (at your option) any later version.

  RepRap 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
  Library General Public Licence for more details.

  For this purpose the words "software" and "library" in the GNU Library
  General Public Licence are taken to mean any and all computer programs
  computer files data results documents and other copyright information
  available from the RepRap project.

  You should have received a copy of the GNU Library General Public
  Licence along with RepRap; if not, write to the Free
  Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA,
  or see

      http://www.gnu.org/

==================================================================================

This is theinclude file for the PIC that controls the cartesian X, Y, Z movement.

Version 1.  16 December 2005

*/



#ifndef _cartesian_h
#define _cartesian_h

#define __16f628
#include <pic/pic16f628.h>

typedef unsigned char byte;

// No binary literals in sdcc, so add our own
#define BIN_BIT(value, bit, dec) \
  (((((unsigned long)(value##.0))/dec)&1 == 1)? (1<<bit) : 0)

#define BIN(value) \
( BIN_BIT(value,  0, 1) | \
  BIN_BIT(value,  1, 10) | \
  BIN_BIT(value,  2, 100) | \
  BIN_BIT(value,  3, 1000) | \
  BIN_BIT(value,  4, 10000) | \
  BIN_BIT(value,  5, 100000) | \
  BIN_BIT(value,  6, 1000000) | \
  BIN_BIT(value,  7, 10000000))

BIT_AT(PORTA_ADDR, 0) PORTA0;
BIT_AT(PORTA_ADDR, 1) PORTA1;
BIT_AT(PORTA_ADDR, 2) PORTA2;
BIT_AT(PORTA_ADDR, 3) PORTA3;
BIT_AT(PORTA_ADDR, 4) PORTA4;
BIT_AT(PORTA_ADDR, 5) PORTA5;
BIT_AT(PORTA_ADDR, 6) PORTA6;
BIT_AT(PORTA_ADDR, 7) PORTA7;

BIT_AT(PORTB_ADDR, 0) PORTB0;
BIT_AT(PORTB_ADDR, 1) PORTB1;
BIT_AT(PORTB_ADDR, 2) PORTB2;
BIT_AT(PORTB_ADDR, 3) PORTB3;
BIT_AT(PORTB_ADDR, 4) PORTB4;
BIT_AT(PORTB_ADDR, 5) PORTB5;
BIT_AT(PORTB_ADDR, 6) PORTB6;
BIT_AT(PORTB_ADDR, 7) PORTB7;


#define DEF_DELAY 1000
#define FLASH_DELAY 3000
#define NEGX 1
#define NEGY 2
#define NEGZ 4
#define SWAPXY 8
#define SWAPXZ 16

#endif