Merge pull request #7816 from thinkyhead/bf2_inhibit_option

[2.0.x] Option to disallow motion before homing

Marlin/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/default/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/AlephObjects/TAZ4/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/AliExpress/CL-260/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/Anet/A6/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/Anet/A8/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/BQ/Hephestos/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/BQ/WITBOX/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/Cartesio/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/Creality/CR-10/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 5  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/Felix/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/Felix/DUAL/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/Geeetech/GT2560/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/Infitary/i3-M508/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/Malyan/M150/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/RepRapWorld/Megatronics/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/RigidBot/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/SCARA/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/TinyBoy2/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/Velleman/K8400/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/Velleman/K8400/Dual-head/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/adafruit/ST7565/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/delta/generic/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/delta/kossel_mini/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 15 // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/delta/kossel_pro/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/delta/kossel_xl/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/makibox/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/stm32f103ret6/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/tvrrug/Round2/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/config/examples/wt150/Configuration.h

 
 // @section homing
 
+//#define NO_MOTION_BEFORE_HOMING  // Inhibit movement until all axes have been homed
+
 //#define Z_HOMING_HEIGHT 4  // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
                              // Be sure you have this distance over your Z_MAX_POS in case.
 

Marlin/src/gcode/bedlevel/G42.cpp

  * G42: Move X & Y axes to mesh coordinates (I & J)
  */
 void GcodeSuite::G42() {
-  if (IsRunning()) {
+  if (MOTION_CONDITIONS) {
     const bool hasI = parser.seenval('I');
     const int8_t ix = hasI ? parser.value_int() : 0;
     const bool hasJ = parser.seenval('J');

Marlin/src/gcode/motion/G0_G1.cpp

     bool fast_move/*=false*/
   #endif
 ) {
-  if (IsRunning()) {
+  if (MOTION_CONDITIONS) {
     get_destination_from_command(); // For X Y Z E F
 
     #if ENABLED(FWRETRACT)

Marlin/src/gcode/motion/G2_G3.cpp

  *    G3 X20 Y12 R14   ; CCW circle with r=14 ending at X20 Y12
  */
 void GcodeSuite::G2_G3(const bool clockwise) {
-  if (IsRunning()) {
+  if (MOTION_CONDITIONS) {
 
     #if ENABLED(SF_ARC_FIX)
       const bool relative_mode_backup = relative_mode;

Marlin/src/gcode/motion/G5.cpp

  * G5: Cubic B-spline
  */
 void GcodeSuite::G5() {
-  if (IsRunning()) {
+  if (MOTION_CONDITIONS) {
 
     #if ENABLED(CNC_WORKSPACE_PLANES)
       if (workspace_plane != PLANE_XY) {

Marlin/src/inc/SPI.h

 #include <stdint.h>
 
 
-#if !defined(SPI_FULL_SPEED)
+#ifndef SPI_FULL_SPEED
 
 /**
  * SPI speed where 0 <= index <= 6

Marlin/src/inc/SanityCheck.h

   /**
    * Make sure Z raise values are set
    */
-  #if !defined(Z_CLEARANCE_DEPLOY_PROBE)
+  #ifndef Z_CLEARANCE_DEPLOY_PROBE
     #error "You must define Z_CLEARANCE_DEPLOY_PROBE in your configuration."
   #elif !defined(Z_CLEARANCE_BETWEEN_PROBES)
     #error "You must define Z_CLEARANCE_BETWEEN_PROBES in your configuration."

Marlin/src/lcd/ultralcd.cpp

    *
    */
 
-  #if IS_KINEMATIC
+  #if IS_KINEMATIC || ENABLED(NO_MOTION_BEFORE_HOMING)
     #define _MOVE_XYZ_ALLOWED (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
-    #if ENABLED(DELTA)
-      #define _MOVE_XY_ALLOWED (current_position[Z_AXIS] <= delta_clip_start_height)
-      void lcd_lower_z_to_clip_height() {
-        line_to_z(delta_clip_start_height);
-        lcd_synchronize();
-      }
-    #else
-      #define _MOVE_XY_ALLOWED true
-    #endif
   #else
     #define _MOVE_XYZ_ALLOWED true
+  #endif
+
+  #if ENABLED(DELTA)
+    #define _MOVE_XY_ALLOWED (current_position[Z_AXIS] <= delta_clip_start_height)
+    void lcd_lower_z_to_clip_height() {
+      line_to_z(delta_clip_start_height);
+      lcd_synchronize();
+    }
+  #else
     #define _MOVE_XY_ALLOWED true
   #endif
 

Marlin/src/module/motion.cpp

   #include "../feature/bedlevel/bedlevel.h"
 #endif
 
-#if NEED_UNHOMED_ERR && ENABLED(ULTRA_LCD)
+#if HAS_AXIS_UNHOMED_ERR && ENABLED(ULTRA_LCD)
   #include "../lcd/ultralcd.h"
 #endif
 
   set_current_to_destination();
 }
 
-#if NEED_UNHOMED_ERR
+#if HAS_AXIS_UNHOMED_ERR
 
   bool axis_unhomed_error(const bool x/*=true*/, const bool y/*=true*/, const bool z/*=true*/) {
     #if ENABLED(HOME_AFTER_DEACTIVATE)
     return false;
   }
 
-#endif
+#endif // HAS_AXIS_UNHOMED_ERR
 
 /**
  * The homing feedrate may vary

Marlin/src/module/motion.h

 // Homing
 //
 
-#define NEED_UNHOMED_ERR (HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE) || ENABLED(DELTA_AUTO_CALIBRATION))
-
-#if NEED_UNHOMED_ERR
+#define HAS_AXIS_UNHOMED_ERR (                                                     \
+         ENABLED(Z_PROBE_ALLEN_KEY)                                                \
+      || ENABLED(Z_PROBE_SLED)                                                     \
+      || HAS_PROBING_PROCEDURE                                                     \
+      || HOTENDS > 1                                                               \
+      || ENABLED(NOZZLE_CLEAN_FEATURE)                                             \
+      || ENABLED(NOZZLE_PARK_FEATURE)                                              \
+      || (ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(HOME_BEFORE_FILAMENT_CHANGE)) \
+    ) || ENABLED(NO_MOTION_BEFORE_HOMING)
+
+#if HAS_AXIS_UNHOMED_ERR
   bool axis_unhomed_error(const bool x=true, const bool y=true, const bool z=true);
 #endif
 
+#if ENABLED(NO_MOTION_BEFORE_HOMING)
+  #define MOTION_CONDITIONS (IsRunning() && !axis_unhomed_error())
+#else
+  #define MOTION_CONDITIONS IsRunning()
+#endif
+
 void set_axis_is_at_home(const AxisEnum axis);
 
 void homeaxis(const AxisEnum axis);

Marlin/src/module/probe.cpp

     #endif
   }
 
-#endif
+#endif // Z_PROBE_ALLEN_KEY
 
 #if ENABLED(PROBING_FANS_OFF)
 

Marlin/src/module/stepper.cpp

 
   HAL_TIMER_TYPE ocr_val;
 
-  #if defined(CPU_32_BIT)
+  #ifdef CPU_32_BIT
     #define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US    // check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch
     #define OCR_VAL_TOLERANCE 500 * HAL_TICKS_PER_US           // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms
   #else
     // Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
     DISABLE_TEMPERATURE_INTERRUPT(); // Temperature ISR
     DISABLE_STEPPER_DRIVER_INTERRUPT();
-    #if !defined(CPU_32_BIT)
+    #ifndef CPU_32_BIT
       sei();
     #endif
   #endif

Marlin/src/pins/pins_ANET_10.h

  *   Many thanks to Hans Raaf (@oderwat) for developing the Anet-specific software and supporting the Anet community.
 */
 
-#if !defined(__AVR_ATmega1284P__)
+#ifndef __AVR_ATmega1284P__
   #error "Oops!  Make sure you have 'Anet V1.0', 'Anet V1.0 (Optiboot)' or 'Sanguino' selected from the 'Tools -> Boards' menu."
 #endif
 

Marlin/src/pins/pins_RAMPS_RE_ARM.h

 #define Y_MAX_PIN          15  //10k pullup to 3.3V, 1K series
 #define Z_MIN_PIN          18  //10k pullup to 3.3V, 1K series
 #define Z_MAX_PIN          19  //10k pullup to 3.3V, 1K series
-//#define Z_probe_pin         1  // AUX-1
+//#define Z_PROBE_PIN         1  // AUX-1
 
 
 //
     //#define SHIFT_EN            41  // J5-4 & AUX-4
   #endif
 
-  #if ENABLED(SDSUPPORT)
-    #define SDCARD_SORT_ALPHA           // Using SORT feature to keep one directory level in RAM
-                                        // When going up/down directory levels the SD card is
-                                        // accessed but the garbage/lines are removed when the
-                                        // LCD updates
-
-    // SD Card Sorting options
-    #if ENABLED(SDCARD_SORT_ALPHA)
-      #define SDSORT_LIMIT       255    // Maximum number of sorted items (10-256). Costs 27 bytes each.
-      #define FOLDER_SORTING     -1     // -1=above  0=none  1=below
-      #define SDSORT_GCODE       false  // Allow turning sorting on/off with LCD and M34 g-code.
-      #define SDSORT_USES_RAM    true   // Pre-allocate a static array for faster pre-sorting.
-      #define SDSORT_USES_STACK  false  // Prefer the stack for pre-sorting to give back some SRAM. (Negated by next 2 options.)
-      #define SDSORT_CACHE_NAMES true   // Keep sorted items in RAM longer for speedy performance. Most expensive option.
-      #define SDSORT_DYNAMIC_RAM false  // Use dynamic allocation (within SD menus). Least expensive option. Set SDSORT_LIMIT before use!
-    #endif
-  #endif
+    #define SDCARD_SORT_ALPHA         // Using SORT feature to keep one directory level in RAM
+                                      // When going up/down directory levels the SD card is
+                                      // accessed but the garbage/lines are removed when the
+                                      // LCD updates
+
+    #define SDSORT_LIMIT       256    // Maximum number of sorted items (10-256). Costs 27 bytes each.
+    #define FOLDER_SORTING     -1     // -1=above  0=none  1=below
+    #define SDSORT_GCODE       false  // Allow turning sorting on/off with LCD and M34 g-code.
+    #define SDSORT_USES_RAM    true   // Pre-allocate a static array for faster pre-sorting.
+    #define SDSORT_USES_STACK  false  // Prefer the stack for pre-sorting to give back some SRAM. (Negated by next 2 options.)
+    #define SDSORT_CACHE_NAMES true   // Keep sorted items in RAM longer for speedy performance. Most expensive option.
+    #define SDSORT_DYNAMIC_RAM false  // Use dynamic allocation (within SD menus). Least expensive option. Set SDSORT_LIMIT before use!
 
  #if ENABLED(VIKI2) || ENABLED(miniVIKI)
 //    #define LCD_SCREEN_ROT_180
     #undef  LCD_PINS_D5         //59  // J3-8 & AUX-2
     #define DOGLCD_A0           59  // J3-8 & AUX-2
     #undef  LCD_PINS_D6         //63  // J5-3 & AUX-2
-    #undef  LCD_PINS_D7          //6  // (SERVO1) J5-1 & SERVO connector
+    #undef  LCD_PINS_D7         // 6  // (SERVO1) J5-1 & SERVO connector
     #define DOGLCD_SCK SCK_PIN
     #define DOGLCD_MOSI MOSI_PIN
 
 // Ethernet pins
 //
 #ifndef ULTIPANEL
-#define ENET_MDIO   71  // J12-4
-#define ENET_RX_ER  73  // J12-6
-#define ENET_RXD1   75  // J12-8
+  #define ENET_MDIO   71  // J12-4
+  #define ENET_RX_ER  73  // J12-6
+  #define ENET_RXD1   75  // J12-8
 #endif
-#define ENET_MOC    70  // J12-3
-#define REF_CLK     72  // J12-5
-#define ENET_RXD0   74  // J12-7
-#define ENET_CRS    76  // J12-9
-#define ENET_TX_EN  77  // J12-10
-#define ENET_TXD0   78  // J12-11
-#define ENET_TXD1   79  // J12-12
+#define ENET_MOC      70  // J12-3
+#define REF_CLK       72  // J12-5
+#define ENET_RXD0     74  // J12-7
+#define ENET_CRS      76  // J12-9
+#define ENET_TX_EN    77  // J12-10
+#define ENET_TXD0     78  // J12-11
+#define ENET_TXD1     79  // J12-12
 
 /**
  *  PWMS

frameworks/CMSIS/LPC1768/include/lpc_types.h

 
 /* NULL pointer */
 #ifndef NULL
-#define NULL ((void*) 0)
+  #define NULL ((void*) 0)
 #endif
 
 /* Number of elements in an array */
 /* External data/function define */
 #define EXTERN extern
 
-#if !defined(MAX)
-#define MAX(a, b) (((a) > (b)) ? (a) : (b))
+#ifndef MAX
+  #define MAX(a, b) (((a) > (b)) ? (a) : (b))
 #endif
-#if !defined(MIN)
-#define MIN(a, b) (((a) < (b)) ? (a) : (b))
+#ifndef MIN
+  #define MIN(a, b) (((a) < (b)) ? (a) : (b))
 #endif
 
 /**