36 lines
1.0 KiB
C
36 lines
1.0 KiB
C
#ifndef DDA_LOOKAHEAD_H_
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#define DDA_LOOKAHEAD_H_
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#include <stdint.h>
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#include "config_wrapper.h"
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#include "dda.h"
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#ifdef LOOKAHEAD
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// Sanity: make sure the defines are in place
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#if ! defined MAX_JERK_X || ! defined MAX_JERK_Y || \
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! defined MAX_JERK_Z || ! defined MAX_JERK_E
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#error Your config.h does not specify one of MAX_JERK_X,
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#error MAX_JERK_Y, MAX_JERK_Z or MAX_JERK_E while LOOKAHEAD is enabled!
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#endif
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// Sanity: the acceleration of Teacup is not implemented properly; as such we can only
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// do move joining when all axis use the same steps per mm. This is usually not an issue
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// for X and Y.
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#if STEPS_PER_M_X != STEPS_PER_M_Y
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#error "Look-ahead requires steps per m to be identical on the X and Y axis (for now)"
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#endif
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#define MAX(a,b) (((a)>(b))?(a):(b))
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#define MIN(a,b) (((a)<(b))?(a):(b))
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void dda_find_crossing_speed(DDA *prev, DDA *current);
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void dda_join_moves(DDA *prev, DDA *current);
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// Debug counters
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extern uint32_t lookahead_joined;
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extern uint32_t lookahead_timeout;
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#endif /* LOOKAHEAD */
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#endif /* DDA_LOOKAHEAD_H_ */
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