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+/**
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+ * Marlin 3D Printer Firmware
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+ * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
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+ *
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+ */
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+#pragma once
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+
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+#include "../core/serial.h"
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+
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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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+
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+#define FORCE_INLINE __attribute__((always_inline)) inline
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+#define _O3 __attribute__((optimize("O3")))
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+
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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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+
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+template<typename T, typename Cfg>
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+class Bresenham {
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+private:
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+
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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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+
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+public:
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+
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+ static T divisor, value[Cfg::SIZE], dir[Cfg::SIZE], dividend[Cfg::SIZE], counter[Cfg::SIZE];
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+
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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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+
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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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+
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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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+
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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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+
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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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+
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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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+
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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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+
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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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+
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+ FORCE_INLINE static void back(const uint8_t index) { counter[index] -= divisor; }
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+
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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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+
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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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+
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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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+
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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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+
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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 ", int(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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+
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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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