Tinymovr

//  * This file is part of the Tinymovr-Firmware distribution
//  * (https://github.com/yconst/tinymovr-firmware).
//  * Copyright (c) 2020 Ioannis Chatzikonstantinou.
//  *
//  * 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, version 3.
//  *
//  * 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 <http://www.gnu.org/licenses/>.

#pragma once

#include <src/common.h>

typedef struct {
    float homing_velocity;
    float max_homing_t;
    float max_stay_vel;
    float max_stay_dpos;
    float max_stay_t;
    float retract_distance;

} HomingPlannerConfig;

typedef struct {
    float home_t_current;
    float stay_t_current;
    uint8_t warnings;
} HomingPlannerState;

bool homing_planner_home(void);
bool homing_planner_evaluate(void);

uint8_t homing_planner_get_warnings(void);

float homing_planner_get_homing_velocity(void);
float homing_planner_get_max_homing_t(void);
float homing_planner_get_max_stall_vel(void);
float homing_planner_get_max_stall_delta_pos(void);
float homing_planner_get_max_stall_t(void);
float homing_planner_get_retract_distance(void);

void homing_planner_set_homing_velocity(float vel);
void homing_planner_set_max_homing_t(float t);
void homing_planner_set_max_stall_vel(float vel);
void homing_planner_set_max_stall_delta_pos(float dpos);
void homing_planner_set_max_stall_t(float t);
void homing_planner_set_retract_distance(float dist);

HomingPlannerConfig *homing_planner_get_config(void);
void homing_planner_restore_config(HomingPlannerConfig *config_);