59 lines
1.2 KiB
C
59 lines
1.2 KiB
C
#ifndef _DDA_H
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#define _DDA_H
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#include <stdint.h>
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#include "target.h"
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#include "pinout.h"
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#include "gcode.h"
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#include "machine.h"
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typedef struct {
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// TARGET currentpoint;
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TARGET endpoint;
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uint8_t x_direction :1;
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uint8_t y_direction :1;
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uint8_t z_direction :1;
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uint8_t e_direction :1;
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uint8_t f_direction :1;
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uint8_t nullmove :1;
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uint8_t live :1;
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int16_t x_delta;
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int16_t y_delta;
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int16_t z_delta;
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int16_t e_delta;
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int16_t f_delta;
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int32_t x_counter;
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int32_t y_counter;
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int32_t z_counter;
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int32_t e_counter;
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int32_t f_counter;
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uint32_t total_steps;
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uint16_t f_scale;
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uint32_t distance;
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uint32_t move_duration;
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} DDA;
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extern uint8_t mb_head;
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extern uint8_t mb_tail;
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extern DDA movebuffer[MOVEBUFFER_SIZE];
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uint8_t queue_full(void);
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inline uint8_t queue_empty(void) { return (mb_tail == mb_head) && !movebuffer[mb_tail].live; }
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void enqueue(TARGET *t);
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void next_move(void);
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uint32_t approx_distance( int32_t dx, int32_t dy );
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uint32_t approx_distance_3( int32_t dx, int32_t dy, int32_t dz );
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void dda_create(TARGET *target, DDA *dda);
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void dda_start(DDA *dda);
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void dda_step(DDA *dda);
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#endif /* _DDA_H */
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