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3ef4702e06
Implement step generation from 'struct syncemitter' instead of in the stepcompress code. This simplifies the stepcompress code and simplifies the overall interface. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
33 lines
1.3 KiB
C
33 lines
1.3 KiB
C
#ifndef STEPPERSYNC_H
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#define STEPPERSYNC_H
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#include <stdint.h> // uint64_t
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struct syncemitter;
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struct stepcompress *syncemitter_get_stepcompress(struct syncemitter *se);
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void syncemitter_set_stepper_kinematics(struct syncemitter *se
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, struct stepper_kinematics *sk);
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struct stepper_kinematics *syncemitter_get_stepper_kinematics(
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struct syncemitter *se);
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void syncemitter_queue_msg(struct syncemitter *se, uint64_t req_clock
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, uint32_t *data, int len);
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struct steppersync;
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struct syncemitter *steppersync_alloc_syncemitter(
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struct steppersync *ss, char name[16], int alloc_stepcompress);
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void steppersync_setup_movequeue(struct steppersync *ss, struct serialqueue *sq
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, int move_num);
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void steppersync_set_time(struct steppersync *ss, double time_offset
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, double mcu_freq);
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struct steppersyncmgr *steppersyncmgr_alloc(void);
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void steppersyncmgr_free(struct steppersyncmgr *ssm);
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struct serialqueue;
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struct steppersync *steppersyncmgr_alloc_steppersync(
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struct steppersyncmgr *ssm);
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int32_t steppersyncmgr_gen_steps(struct steppersyncmgr *ssm, double flush_time
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, double gen_steps_time
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, double clear_history_time);
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#endif // steppersync.h
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