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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-06-06 16:49:44 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-06-20 09:26:10 -0400 |
| commit | 9a2eb4beddf1f6e551f4e85836cf1e0bd056ea03 (patch) | |
| tree | f6b92ab81fee8a6083ba5ece9280843befdd2ef9 /klippy/chelper/stepcompress.h | |
| parent | 8a830ff0cee1ae96044cee4258842a14b2781a94 (diff) | |
| download | kutter-9a2eb4beddf1f6e551f4e85836cf1e0bd056ea03.tar.gz kutter-9a2eb4beddf1f6e551f4e85836cf1e0bd056ea03.tar.xz kutter-9a2eb4beddf1f6e551f4e85836cf1e0bd056ea03.zip | |
chelper: Move cartesian and delta kinematics code to their own C files
Move the cartesian and delta specific code to new files
kin_cartesian.c and kin_delta.c.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/chelper/stepcompress.h')
| -rw-r--r-- | klippy/chelper/stepcompress.h | 40 |
1 files changed, 40 insertions, 0 deletions
diff --git a/klippy/chelper/stepcompress.h b/klippy/chelper/stepcompress.h new file mode 100644 index 00000000..2a2fe725 --- /dev/null +++ b/klippy/chelper/stepcompress.h @@ -0,0 +1,40 @@ +#ifndef STEPCOMPRESS_H +#define STEPCOMPRESS_H + +#include <stdint.h> // uint32_t + +#define ERROR_RET -989898989 + +struct stepcompress *stepcompress_alloc( + uint32_t max_error, uint32_t queue_step_msgid + , uint32_t set_next_step_dir_msgid, uint32_t invert_sdir, uint32_t oid); +void stepcompress_free(struct stepcompress *sc); +int set_next_step_dir(struct stepcompress *sc, int sdir); +int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock); +int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock); +int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len); +double stepcompress_get_mcu_freq(struct stepcompress *sc); +uint32_t stepcompress_get_oid(struct stepcompress *sc); + +struct queue_append { + struct stepcompress *sc; + uint32_t *qnext, *qend, last_step_clock_32; + double clock_offset; +}; +struct queue_append queue_append_start( + struct stepcompress *sc, double print_time, double adjust); +void queue_append_finish(struct queue_append qa); +int queue_append(struct queue_append *qa, double step_clock); + +struct serialqueue; +struct steppersync *steppersync_alloc( + struct serialqueue *sq, struct stepcompress **sc_list, int sc_num + , int move_num); +void steppersync_free(struct steppersync *ss); +void steppersync_set_time(struct steppersync *ss, double time_offset + , double mcu_freq); +int steppersync_flush(struct steppersync *ss, uint64_t move_clock); + +double safe_sqrt(double v); + +#endif // stepcompress.h |