tmc51x0_units.hpp

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#pragma once
#include <cmath>
#include <cstdint>
 
namespace tmc51x0 {
 
constexpr float StepsToMm(int32_t steps, float steps_per_rev,
                          float lead_screw_pitch_mm) noexcept {
  if (steps_per_rev == 0.0F) {
    return 0.0F;
  }
  return (static_cast<float>(steps) / steps_per_rev) * lead_screw_pitch_mm;
}
 
constexpr int32_t MmToSteps(float mm, float steps_per_rev,
                            float lead_screw_pitch_mm) noexcept {
  if (lead_screw_pitch_mm == 0.0F || steps_per_rev == 0.0F) {
    return 0;
  }
  return static_cast<int32_t>(
      std::round((mm / lead_screw_pitch_mm) * steps_per_rev));
}
 
constexpr float StepsToDegrees(int32_t steps, float steps_per_rev) noexcept {
  if (steps_per_rev == 0.0F) {
    return 0.0F;
  }
  return (static_cast<float>(steps) / steps_per_rev) * 360.0F;
}
 
constexpr int32_t DegreesToSteps(float degrees, float steps_per_rev) noexcept {
  if (steps_per_rev == 0.0F) {
    return 0;
  }
  return static_cast<int32_t>(std::round((degrees / 360.0F) * steps_per_rev));
}
 
constexpr float RpmToStepsPerSec(float rpm, float steps_per_rev) noexcept {
  return (rpm / 60.0F) * steps_per_rev;
}
 
constexpr float StepsPerSecToRpm(float steps_per_sec,
                                 float steps_per_rev) noexcept {
  if (steps_per_rev == 0.0F) {
    return 0.0F;
  }
  return (steps_per_sec / steps_per_rev) * 60.0F;
}
 
constexpr float MmPerSecToStepsPerSec(float mm_per_sec, float steps_per_rev,
                                      float lead_screw_pitch_mm) noexcept {
  if (lead_screw_pitch_mm == 0.0F || steps_per_rev == 0.0F) {
    return 0.0F;
  }
  return (mm_per_sec / lead_screw_pitch_mm) * steps_per_rev;
}
 
constexpr float StepsPerSecToMmPerSec(float steps_per_sec, float steps_per_rev,
                                      float lead_screw_pitch_mm) noexcept {
  if (steps_per_rev == 0.0F) {
    return 0.0F;
  }
  return (steps_per_sec / steps_per_rev) * lead_screw_pitch_mm;
}
 
constexpr float AccelerationMmToSteps(float accel_mm_per_sec2,
                                      float steps_per_rev,
                                      float lead_screw_pitch_mm) noexcept {
  if (lead_screw_pitch_mm == 0.0F || steps_per_rev == 0.0F) {
    return 0.0F;
  }
  return (accel_mm_per_sec2 / lead_screw_pitch_mm) * steps_per_rev;
}
 
constexpr float AccelerationStepsToMm(float accel_steps_per_sec2,
                                      float steps_per_rev,
                                      float lead_screw_pitch_mm) noexcept {
  if (steps_per_rev == 0.0F) {
    return 0.0F;
  }
  return (accel_steps_per_sec2 / steps_per_rev) * lead_screw_pitch_mm;
}
 
constexpr int32_t BeltTeethToSteps(uint32_t teeth, float steps_per_rev,
                                   uint16_t belt_pulley_teeth) noexcept {
  if (belt_pulley_teeth == 0 || steps_per_rev == 0.0F) {
    return 0;
  }
  return static_cast<int32_t>(std::round(
      (static_cast<float>(teeth) / static_cast<float>(belt_pulley_teeth)) *
      steps_per_rev));
}
 
constexpr float StepsToBeltTeeth(int32_t steps, float steps_per_rev,
                                 uint16_t belt_pulley_teeth) noexcept {
  if (steps_per_rev == 0.0F) {
    return 0.0F;
  }
  return (static_cast<float>(steps) / steps_per_rev) *
         static_cast<float>(belt_pulley_teeth);
}
 
} // namespace tmc51x0