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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <https://www.gnu.org/licenses/>.
- *
- */
- #pragma once
-
- #include "../core/serial.h"
-
- /**
- * bresenham_t.h - Bresenham algorithm template
- *
- * An array of values / counters that tick together
- */
-
- #define FORCE_INLINE __attribute__((always_inline)) inline
- #define __O3 __attribute__((optimize("O3")))
-
- template <uint8_t uid, uint8_t size>
- struct BresenhamCfg { static constexpr uint8_t UID = uid, SIZE = size; };
-
- template<typename T, typename Cfg>
- class Bresenham {
- private:
-
- static constexpr T signtest = -1;
- static_assert(signtest < 0, "Bresenham type must be signed!");
-
- public:
-
- static T divisor, value[Cfg::SIZE], dir[Cfg::SIZE], dividend[Cfg::SIZE], counter[Cfg::SIZE];
-
- // Default: Instantiate all items with the identical parameters
- Bresenham(const T &inDivisor=1, const int8_t &inDir=1, const T &inDividend=1, const T &inValue=0) {
- for (uint8_t i = 0; i < Cfg::SIZE; i++) init(i, inDivisor, inDir, inDividend, inValue);
- }
-
- // Instantiate all items with the same divisor
- Bresenham(const T &inDivisor, const int8_t (&inDir)[Cfg::SIZE], const T (&inDividend)[Cfg::SIZE], const T (&inValue)[Cfg::SIZE]={0}) {
- init(inDivisor, inDir, inDividend, inValue);
- }
-
- // Instantiate all items with the same divisor and direction
- Bresenham(const T &inDivisor, const int8_t &inDir, const T (&inDividend)[Cfg::SIZE], const T (&inValue)[Cfg::SIZE]={0}) {
- init(inDivisor, inDir, inDividend, inValue);
- }
-
- // Init all items with the same parameters
- 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) {
- divisor = inDivisor;
- dir[index] = inDir;
- dividend[index] = inDividend;
- value[index] = inValue;
- prime(index);
- }
-
- // Init all items with the same divisor
- 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}) {
- divisor = inDivisor;
- for (uint8_t i = 0; i < Cfg::SIZE; i++) {
- dir[i] = inDir[i];
- dividend[i] = inDividend[i];
- value[i] = inValue[i];
- }
- prime();
- }
-
- // Init all items with the same divisor and direction
- FORCE_INLINE static void init(const T &inDivisor, const int8_t &inDir, const T (&inDividend)[Cfg::SIZE], const T (&inValue)[Cfg::SIZE]={0}) {
- divisor = inDivisor;
- for (uint8_t i = 0; i < Cfg::SIZE; i++) {
- dir[i] = inDir;
- dividend[i] = inDividend[i];
- value[i] = inValue[i];
- }
- prime();
- }
-
- // Reinit item with new dir, dividend, value keeping the same divisor
- FORCE_INLINE static void reinit(const uint8_t index, const int8_t &inDir=1, const T &inDividend=1, const T &inValue=0) {
- dir[index] = inDir;
- dividend[index] = inDividend;
- value[index] = inValue;
- prime();
- }
-
- FORCE_INLINE static void prime(const uint8_t index) { counter[index] = -(divisor / 2); }
- FORCE_INLINE static void prime() { for (uint8_t i = 0; i < Cfg::SIZE; i++) prime(i); }
-
- FORCE_INLINE static void back(const uint8_t index) { counter[index] -= divisor; }
-
- FORCE_INLINE static bool tick1(const uint8_t index) {
- counter[index] += dividend[index];
- return counter[index] > 0;
- }
-
- FORCE_INLINE static void tick(const uint8_t index) {
- if (tick1(index)) { value[index] += dir[index]; back(index); }
- }
-
- FORCE_INLINE static void tick1() __O3 { for (uint8_t i = 0; i < Cfg::SIZE; i++) (void)tick1(i); }
-
- FORCE_INLINE static void tick() __O3 { for (uint8_t i = 0; i < Cfg::SIZE; i++) (void)tick(i); }
-
- static void report(const uint8_t index) {
- if (index < Cfg::SIZE) {
- SERIAL_ECHOPGM("bresenham ", index, " : (", dividend[index], "/", divisor, ") ");
- if (counter[index] >= 0) SERIAL_CHAR(' ');
- if (labs(counter[index]) < 100) { SERIAL_CHAR(' '); if (labs(counter[index]) < 10) SERIAL_CHAR(' '); }
- SERIAL_ECHO(counter[index]);
- SERIAL_ECHOLNPGM(" ... ", value[index]);
- }
- }
-
- static void report() { for (uint8_t i = 0; i < Cfg::SIZE; i++) report(i); }
- };
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