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/*
* CanMotion.h
*
* Created on: 11 Aug 2019
* Author: David
*/
#ifndef SRC_CAN_CANMOTION_H_
#define SRC_CAN_CANMOTION_H_
#include "RepRapFirmware.h"
#if SUPPORT_CAN_EXPANSION
#include <Movement/DDA.h>
namespace CanMotion
{
void Init() noexcept;
void StartMovement() noexcept;
#if USE_REMOTE_INPUT_SHAPING
void AddMovement(const PrepParams& params, DriverId canDriver, int32_t steps) noexcept;
void AddExtruderMovement(const PrepParams& params, DriverId canDriver, float extrusion, bool usePressureAdvance) noexcept;
#else
void AddMovement(const PrepParams& params, DriverId canDriver, int32_t steps, bool usePressureAdvance) noexcept;
#endif
uint32_t FinishMovement(uint32_t moveStartTime, bool simulating, bool checkingEndstops) noexcept;
bool CanPrepareMove() noexcept;
CanMessageBuffer *GetUrgentMessage() noexcept;
// The next 4 functions may be called from the step ISR, so they can't send CAN messages directly
void InsertHiccup(uint32_t numClocks) noexcept;
void StopAll(const DDA& dda) noexcept;
void StopAxis(const DDA& dda, size_t axis) noexcept;
void StopDriver(const DDA& dda, size_t axis, DriverId driver) noexcept
pre(driver.IsRemote());
}
#endif
#endif /* SRC_CAN_CANMOTION_H_ */
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