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refactoring that improved compartmentalization between stepper and stepper_plan modules

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Simen Svale Skogsrud 2011-02-06 23:52:12 +01:00
parent 52dda8713e
commit ba13ddadd0
3 changed files with 22 additions and 9 deletions
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10
stepper_plan.h
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@ -56,9 +56,6 @@ typedef struct {
uint32_t exit_rate;
} block_t;
extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
extern volatile int block_buffer_head; // Index of the next block to be pushed
extern volatile int block_buffer_tail; // Index of the block to process now
extern int32_t position[3];
// Initialize the motion plan subsystem
@ -71,6 +68,13 @@ void plan_init();
// calculation the caller must also provide the physical length of the line in millimeters.
void plan_buffer_line(double x, double y, double z, double feed_rate, int invert_feed_rate);
// Call when the current block is no longer needed. Discards the block and makes the memory
// availible for new blocks.
inline void plan_discard_current_block();
// Gets the current block. Returns NULL if buffer empty
inline block_t *plan_get_current_block();
// Enables acceleration-management for upcoming blocks
void plan_set_acceleration_manager_enabled(int enabled);
// Is acceleration-management currently enabled?