119 lines
3.8 KiB
C++
119 lines
3.8 KiB
C++
#ifndef RAMP_GENERATOR_H
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#define RAMP_GENERATOR_H
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#include "FastAccelStepper.h"
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#include "RampCalculator.h"
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#include "RampControl.h"
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#include "fas_arch/common.h"
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class FastAccelStepper;
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#ifdef SUPPORT_LOG2_TIMER_FREQ_VARIABLES
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extern pmf_logarithmic log2_timer_freq;
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extern pmf_logarithmic log2_timer_freq_div_sqrt_of_2;
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extern pmf_logarithmic log2_timer_freq_square_div_2;
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#endif
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class RampGenerator {
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private:
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struct ramp_parameters_s _parameters;
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// The ro variables are those, which are only read from _getNextCommand().
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// The rw variables are only read and written by _getNextCommand() and
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// commandEnqueued() Reading ro variables is safe in application
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struct ramp_ro_s _ro;
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struct ramp_rw_s _rw;
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public:
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uint32_t acceleration;
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inline uint8_t rampState() { return _rw.rampState(); }
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void init();
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inline int32_t targetPosition() { return _ro.targetPosition(); }
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inline void setTargetPosition(int32_t pos) { _ro.setTargetPosition(pos); }
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void advanceTargetPosition(int32_t delta, const struct queue_end_s *queue);
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inline void setSpeedInTicks(uint32_t min_step_ticks) {
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_parameters.setSpeedInTicks(min_step_ticks);
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}
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inline uint32_t getSpeedInUs() {
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return _parameters.min_travel_ticks / (TICKS_PER_S / 1000000);
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}
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inline uint32_t getSpeedInTicks() { return _parameters.min_travel_ticks; }
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uint32_t divForMilliHz(uint32_t f) {
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uint32_t base = (uint32_t)250 * TICKS_PER_S;
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uint32_t res = base / f;
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base -= res * f;
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base <<= 2;
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res <<= 2;
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base += f / 2; // add rounding
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res += base / f;
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return res;
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}
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uint32_t divForHz(uint32_t f) {
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uint32_t base = TICKS_PER_S;
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base += f / 2; // add rounding
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uint32_t res = base / f;
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return res;
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}
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inline uint32_t getSpeedInMilliHz() {
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if (_parameters.min_travel_ticks == 0) {
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return 0;
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}
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return divForMilliHz(getSpeedInTicks());
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}
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int8_t setAcceleration(int32_t accel);
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inline uint32_t getAcceleration() { return acceleration; }
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inline void setLinearAcceleration(uint32_t linear_acceleration_steps) {
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_parameters.setCubicAccelerationSteps(linear_acceleration_steps);
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}
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inline void setJumpStart(uint32_t jump_step) {
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_parameters.setJumpStart(jump_step);
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}
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int32_t getCurrentAcceleration();
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inline bool hasValidConfig() {
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return _parameters.checkValidConfig() == MOVE_OK;
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}
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void applySpeedAcceleration();
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MoveResultCode move(int32_t move, const struct queue_end_s *queue);
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MoveResultCode moveTo(int32_t position, const struct queue_end_s *queue);
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MoveResultCode startRun(bool countUp);
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inline void forceStop() { _ro.immediateStop(); }
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inline void initiateStop() { _ro.initiateStop(); }
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inline bool isStopping() {
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return _ro.isStopInitiated() && isRampGeneratorActive();
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}
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inline bool isRampGeneratorActive() { return rampState() != RAMP_STATE_IDLE; }
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inline uint32_t stepsToStop() {
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fasDisableInterrupts();
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uint32_t v = _rw.performed_ramp_up_steps;
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fasEnableInterrupts();
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return v;
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}
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inline void stopRamp() { _rw.stopRamp(); }
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inline void setKeepRunning() { _ro.setKeepRunning(); }
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inline bool isRunningContinuously() { return _ro.isRunningContinuously(); }
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void getNextCommand(const struct queue_end_s *queue_end,
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NextCommand *cmd_out);
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void afterCommandEnqueued(const NextCommand *cmd_in);
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void getCurrentSpeedInTicks(struct actual_ticks_s *speed) {
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fasDisableInterrupts();
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speed->ticks = _rw.curr_ticks;
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uint8_t rs = _rw.rampState();
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fasEnableInterrupts();
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speed->count_up = ((rs & RAMP_DIRECTION_COUNT_UP) != 0);
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}
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uint32_t getCurrentPeriodInTicks() {
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fasDisableInterrupts();
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uint32_t ticks = _rw.curr_ticks;
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fasEnableInterrupts();
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return ticks;
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}
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inline uint32_t getCurrentPeriodInUs() {
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return TICKS_TO_US(getCurrentPeriodInTicks());
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}
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private:
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void _startMove(bool position_changed);
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};
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#endif
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