2018-06-06 22:49:44 +02:00
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#ifndef STEPCOMPRESS_H
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#define STEPCOMPRESS_H
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#include <stdint.h> // uint32_t
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#define ERROR_RET -989898989
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2018-06-08 23:02:20 +02:00
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struct stepcompress *stepcompress_alloc(uint32_t oid);
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void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
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, uint32_t invert_sdir, uint32_t queue_step_msgid
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, uint32_t set_next_step_dir_msgid);
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2018-06-06 22:49:44 +02:00
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void stepcompress_free(struct stepcompress *sc);
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int set_next_step_dir(struct stepcompress *sc, int sdir);
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int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
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int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock);
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int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
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double stepcompress_get_mcu_freq(struct stepcompress *sc);
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uint32_t stepcompress_get_oid(struct stepcompress *sc);
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struct queue_append {
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struct stepcompress *sc;
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uint32_t *qnext, *qend, last_step_clock_32;
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double clock_offset;
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};
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struct queue_append queue_append_start(
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struct stepcompress *sc, double print_time, double adjust);
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void queue_append_finish(struct queue_append qa);
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int queue_append(struct queue_append *qa, double step_clock);
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struct serialqueue;
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struct steppersync *steppersync_alloc(
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struct serialqueue *sq, struct stepcompress **sc_list, int sc_num
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, int move_num);
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void steppersync_free(struct steppersync *ss);
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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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int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
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double safe_sqrt(double v);
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#endif // stepcompress.h
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