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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_ECHOPAIR("bresenham ", int(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_ECHOLNPAIR(" ... ", value[index]);
}
}
static void report() { for (uint8_t i = 0; i < Cfg::SIZE; i++) report(i); }
};
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