src/movement/block.h

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/*
 * block.h
 *
 * Copyright 2011 Pieter Agten
 *
 * This file is part of Yarf.
 *
 * Yarf is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Yarf is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Yarf.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef BLOCK_H
#define BLOCK_H

#include "yarf.h"
#include "util/fixed_point.h"

#include <stdbool.h>
#include <stdint.h>

typedef struct {
  unsigned int id;                    
  // Needed for block_handler:
  uint32_t nb_steps;                  
  uint32_t nb_steps_completed;        
  steps_t steps[NUM_AXES];            
  void (*collision_handler)(uint8_t); 
  fxp16u16_t timer_ticks;            
  fxp16u16_t plateau_timer_ticks;    
  fxp16u16_t exit_timer_ticks;       
  uint16_t acceleration_step;        
  uint16_t acceleration_end;         
  uint32_t deceleration_start;       
  // For avoiding duplicate calculations:
  float distance_mm;                 
  float mm_ticks_per_step_min;       
  float direction[NUM_AXES];         
  speed_t plateau_speed;             
#if PLANNER_LOOKAHEAD
  speed_t entry_speed;               
  speed_t max_entry_speed;           
  bool plateau_speed_always_reachable; 
  bool recalculate; 
#endif

#if ADVANCE_ALGORITHM
  bool use_advance;            
//  uint32_t advance_multiplier; /**< A precalculated value to speed up the advance steps calculation. */
  float advance_multiplier;
  int32_t advance;            
#endif
} block_t;

#endif //BLOCK_H