133 lines
4.8 KiB
C++
133 lines
4.8 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../core/serial.h"
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/**
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* bresenham_t.h - Bresenham algorithm template
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*
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* An array of values / counters that tick together
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*/
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#define FORCE_INLINE __attribute__((always_inline)) inline
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#define _O3 __attribute__((optimize("O3")))
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template <uint8_t uid, uint8_t size>
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struct BresenhamCfg { static constexpr uint8_t UID = uid, SIZE = size; };
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template<typename T, typename Cfg>
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class Bresenham {
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private:
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static constexpr T signtest = -1;
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static_assert(signtest < 0, "Bresenham type must be signed!");
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public:
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static T divisor, value[Cfg::SIZE], dir[Cfg::SIZE], dividend[Cfg::SIZE], counter[Cfg::SIZE];
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// Default: Instantiate all items with the identical parameters
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Bresenham(const T &inDivisor=1, const int8_t &inDir=1, const T &inDividend=1, const T &inValue=0) {
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for (uint8_t i = 0; i < Cfg::SIZE; i++) init(i, inDivisor, inDir, inDividend, inValue);
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}
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// Instantiate all items with the same divisor
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Bresenham(const T &inDivisor, const int8_t (&inDir)[Cfg::SIZE], const T (&inDividend)[Cfg::SIZE], const T (&inValue)[Cfg::SIZE]={0}) {
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init(inDivisor, inDir, inDividend, inValue);
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}
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// Instantiate all items with the same divisor and direction
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Bresenham(const T &inDivisor, const int8_t &inDir, const T (&inDividend)[Cfg::SIZE], const T (&inValue)[Cfg::SIZE]={0}) {
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init(inDivisor, inDir, inDividend, inValue);
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}
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// Init all items with the same parameters
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FORCE_INLINE static void init(const uint8_t index, const T &inDivisor=1, const int8_t &inDir=1, const T &inDividend=1, const T &inValue=0) {
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divisor = inDivisor;
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dir[index] = inDir;
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dividend[index] = inDividend;
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value[index] = inValue;
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prime(index);
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}
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// Init all items with the same divisor
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FORCE_INLINE static void init(const T &inDivisor, const int8_t (&inDir)[Cfg::SIZE], const T (&inDividend)[Cfg::SIZE], const T (&inValue)[Cfg::SIZE]={0}) {
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divisor = inDivisor;
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for (uint8_t i = 0; i < Cfg::SIZE; i++) {
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dir[i] = inDir[i];
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dividend[i] = inDividend[i];
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value[i] = inValue[i];
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}
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prime();
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}
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// Init all items with the same divisor and direction
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FORCE_INLINE static void init(const T &inDivisor, const int8_t &inDir, const T (&inDividend)[Cfg::SIZE], const T (&inValue)[Cfg::SIZE]={0}) {
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divisor = inDivisor;
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for (uint8_t i = 0; i < Cfg::SIZE; i++) {
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dir[i] = inDir;
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dividend[i] = inDividend[i];
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value[i] = inValue[i];
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}
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prime();
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}
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// Reinit item with new dir, dividend, value keeping the same divisor
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FORCE_INLINE static void reinit(const uint8_t index, const int8_t &inDir=1, const T &inDividend=1, const T &inValue=0) {
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dir[index] = inDir;
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dividend[index] = inDividend;
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value[index] = inValue;
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prime();
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}
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FORCE_INLINE static void prime(const uint8_t index) { counter[index] = -(divisor / 2); }
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FORCE_INLINE static void prime() { for (uint8_t i = 0; i < Cfg::SIZE; i++) prime(i); }
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FORCE_INLINE static void back(const uint8_t index) { counter[index] -= divisor; }
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FORCE_INLINE static bool tick1(const uint8_t index) {
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counter[index] += dividend[index];
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return counter[index] > 0;
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}
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FORCE_INLINE static void tick(const uint8_t index) {
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if (tick1(index)) { value[index] += dir[index]; back(index); }
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}
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FORCE_INLINE static void tick1() _O3 { for (uint8_t i = 0; i < Cfg::SIZE; i++) (void)tick1(i); }
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FORCE_INLINE static void tick() _O3 { for (uint8_t i = 0; i < Cfg::SIZE; i++) (void)tick(i); }
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static void report(const uint8_t index) {
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if (index < Cfg::SIZE) {
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SERIAL_ECHOPAIR("bresenham ", index, " : (", dividend[index], "/", divisor, ") ");
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if (counter[index] >= 0) SERIAL_CHAR(' ');
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if (labs(counter[index]) < 100) { SERIAL_CHAR(' '); if (labs(counter[index]) < 10) SERIAL_CHAR(' '); }
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SERIAL_ECHO(counter[index]);
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SERIAL_ECHOLNPAIR(" ... ", value[index]);
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}
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}
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static void report() { for (uint8_t i = 0; i < Cfg::SIZE; i++) report(i); }
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};
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