2018-06-08 19:55:24 -04:00
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#ifndef ITERSOLVE_H
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#define ITERSOLVE_H
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2019-10-27 13:23:03 -04:00
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#include <stdint.h> // int32_t
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2018-06-08 19:55:24 -04:00
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2019-10-27 21:05:57 -04:00
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enum {
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AF_X = 1 << 0, AF_Y = 1 << 1, AF_Z = 1 <<2,
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};
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2018-06-08 19:55:24 -04:00
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struct stepper_kinematics;
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2019-10-27 13:23:03 -04:00
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struct move;
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2019-10-27 11:06:46 -04:00
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typedef double (*sk_calc_callback)(struct stepper_kinematics *sk, struct move *m
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, double move_time);
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2019-10-27 11:14:40 -04:00
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typedef void (*sk_post_callback)(struct stepper_kinematics *sk);
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2018-06-08 19:55:24 -04:00
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struct stepper_kinematics {
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double step_dist, commanded_pos;
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struct stepcompress *sc;
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2019-10-27 21:05:57 -04:00
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double last_flush_time;
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struct trapq *tq;
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int active_flags;
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2019-10-27 11:06:46 -04:00
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sk_calc_callback calc_position_cb;
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2019-10-27 11:14:40 -04:00
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sk_post_callback post_cb;
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2018-06-08 19:55:24 -04:00
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};
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2019-10-27 21:05:57 -04:00
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int32_t itersolve_generate_steps(struct stepper_kinematics *sk
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, double flush_time);
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double itersolve_check_active(struct stepper_kinematics *sk, double flush_time);
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void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq);
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2018-06-08 19:55:24 -04:00
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void itersolve_set_stepcompress(struct stepper_kinematics *sk
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, struct stepcompress *sc, double step_dist);
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2019-11-13 18:58:51 -05:00
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void itersolve_set_position(struct stepper_kinematics *sk
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, double x, double y, double z);
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2018-06-22 13:03:07 -04:00
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double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
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2018-06-08 19:55:24 -04:00
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#endif // itersolve.h
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