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/*
* PressureAdvanceShaper.h
*
* Created on: 14 May 2021
* Author: David
*/
#ifndef SRC_MOVEMENT_EXTRUDERSHAPER_H_
#define SRC_MOVEMENT_EXTRUDERSHAPER_H_
#include <RepRapFirmware.h>
#include "MoveSegment.h"
class DDA;
class BasicPrepParams;
// This class implements MoveSegment generation for extruders with pressure advance.
// It also tracks extrusion that has be commanded but not implemented because less than one full step has been accumulated.
// Currently it only supports linear pressure advance.
class ExtruderShaper
{
public:
ExtruderShaper()
#if MS_USE_FPU
: k(0.0),
#else
: ik(0),
#endif
extrusionPending(0.0) /*, lastSpeed(0.0)*/
{ }
// Temporary functions until we support more sophisticated pressure advance
#if MS_USE_FPU
float GetKclocks() const noexcept { return k; } // get pressure advance in step clocks
float GetKseconds() const noexcept { return k * (1.0/StepClockRate); }
void SetKseconds(float val) noexcept { k = val * StepClockRate; } // set pressure advance in seconds
#else
uint32_t GetKclocks() const noexcept { return ik; } // get pressure advance in step clocks
float GetKseconds() const noexcept { return (float)ik * (1.0/StepClockRate); }
void SetKseconds(float val) noexcept { ik = lrintf(val * StepClockRate); } // set pressure advance in seconds
#endif
float GetExtrusionPending() const noexcept { return extrusionPending; }
void SetExtrusionPending(float ep) noexcept { extrusionPending = ep; }
#
private:
#if MS_USE_FPU
float k; // the pressure advance constant in step clocks
#else
uint32_t ik; // the pressure advance constant in step clocks
#endif
float extrusionPending; // extrusion we have been asked to do but haven't because it is less than one microstep, in mm
// float lastSpeed; // the speed we were moving at at the end of the last extrusion, needed to implement pressure advance
};
#endif /* SRC_MOVEMENT_EXTRUDERSHAPER_H_ */
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