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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();
void StartMovement(const DDA& dda);
void AddMovement(const DDA& dda, const PrepParams& params, DriverId canDriver, int32_t steps, bool usePressureAdvance);
void FinishMovement(uint32_t moveStartTime);
bool CanPrepareMove();
CanMessageBuffer *GetUrgentMessage();
// The next 4 functions may be called from the step ISR, so they can't send CAN messages directly
void InsertHiccup(uint32_t numClocks);
void StopDriver(DriverId driver);
void StopAxis(size_t axis);
void StopAll();
}
#endif
#endif /* SRC_CAN_CANMOTION_H_ */
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