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Миграция FastAccelStepper на ESP-IDF 6

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Beslan
2026-05-02 12:41:52 +03:00
parent 4c731c6cef
commit 28f46a4d64
58 changed files with 1909 additions and 1095 deletions
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18
src/RampGenerator.h
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@@ -3,15 +3,15 @@
#include "FastAccelStepper.h"
#include "RampCalculator.h"
#include "RampConstAcceleration.h"
#include "RampControl.h"
#include "fas_arch/common.h"
class FastAccelStepper;
#ifdef SUPPORT_PMF_TIMER_FREQ_VARIABLES
extern pmf_logarithmic pmfl_timer_freq;
extern pmf_logarithmic pmfl_timer_freq_div_sqrt_of_2;
extern pmf_logarithmic pmfl_timer_freq_square_div_2;
#ifdef SUPPORT_LOG2_TIMER_FREQ_VARIABLES
extern pmf_logarithmic log2_timer_freq;
extern pmf_logarithmic log2_timer_freq_div_sqrt_of_2;
extern pmf_logarithmic log2_timer_freq_square_div_2;
#endif
class RampGenerator {
@@ -73,9 +73,9 @@ class RampGenerator {
return _parameters.checkValidConfig() == MOVE_OK;
}
void applySpeedAcceleration();
int8_t move(int32_t move, const struct queue_end_s *queue);
int8_t moveTo(int32_t position, const struct queue_end_s *queue);
int8_t startRun(bool countUp);
MoveResultCode move(int32_t move, const struct queue_end_s *queue);
MoveResultCode moveTo(int32_t position, const struct queue_end_s *queue);
MoveResultCode startRun(bool countUp);
inline void forceStop() { _ro.immediateStop(); }
inline void initiateStop() { _ro.initiateStop(); }
inline bool isStopping() {
@@ -93,7 +93,7 @@ class RampGenerator {
inline bool isRunningContinuously() { return _ro.isRunningContinuously(); }
void getNextCommand(const struct queue_end_s *queue_end,
NextCommand *cmd_out);
void afterCommandEnqueued(NextCommand *cmd_in);
void afterCommandEnqueued(const NextCommand *cmd_in);
void getCurrentSpeedInTicks(struct actual_ticks_s *speed) {
fasDisableInterrupts();
speed->ticks = _rw.curr_ticks;