extruder: Don't store pressure_advance value in trapq moves

Store the pressure_advance value in "struct extruder_stepper" instead
of in the trapq's "struct move".  This makes it possible for multiple
stepper motors to have different pressure advance values while still
using the same trapq.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

3 files changed, 26 insertions, 19 deletions

diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py
index 66d701d3..e04d431d 100644
--- a/klippy/chelper/__init__.py
+++ b/klippy/chelper/__init__.py
@@ -133,8 +133,8 @@ defs_kin_winch = """
 
 defs_kin_extruder = """
     struct stepper_kinematics *extruder_stepper_alloc(void);
-    void extruder_set_smooth_time(struct stepper_kinematics *sk
-        , double smooth_time);
+    void extruder_set_pressure_advance(struct stepper_kinematics *sk
+        , double pressure_advance, double smooth_time);
 """
 
 defs_kin_shaper = """
diff --git a/klippy/chelper/kin_extruder.c b/klippy/chelper/kin_extruder.c
index 63dca909..b8d1cc22 100644
--- a/klippy/chelper/kin_extruder.c
+++ b/klippy/chelper/kin_extruder.c
@@ -52,15 +52,17 @@ extruder_integrate_time(double base, double start_v, double half_accel
 
 // Calculate the definitive integral of extruder for a given move
 static double
-pa_move_integrate(struct move *m, double base, double start, double end,
-                  double time_offset)
+pa_move_integrate(struct move *m, double pressure_advance
+                  , double base, double start, double end, double time_offset)
 {
     if (start < 0.)
         start = 0.;
     if (end > m->move_t)
         end = m->move_t;
     // Calculate base position and velocity with pressure advance
-    double pressure_advance = m->axes_r.y;
+    int can_pressure_advance = m->axes_r.y != 0.;
+    if (!can_pressure_advance)
+        pressure_advance = 0.;
     base += pressure_advance * m->start_v;
     double start_v = m->start_v + pressure_advance * 2. * m->half_accel;
     // Calculate definitive integral
@@ -72,34 +74,36 @@ pa_move_integrate(struct move *m, double base, double start, double end,
 
 // Calculate the definitive integral of the extruder over a range of moves
 static double
-pa_range_integrate(struct move *m, double move_time, double hst)
+pa_range_integrate(struct move *m, double move_time
+                   , double pressure_advance, double hst)
 {
     // Calculate integral for the current move
     double res = 0., start = move_time - hst, end = move_time + hst;
     double start_base = m->start_pos.x;
-    res += pa_move_integrate(m, 0., start, move_time, start);
-    res -= pa_move_integrate(m, 0., move_time, end, end);
+    res += pa_move_integrate(m, pressure_advance, 0., start, move_time, start);
+    res -= pa_move_integrate(m, pressure_advance, 0., move_time, end, end);
     // Integrate over previous moves
     struct move *prev = m;
     while (unlikely(start < 0.)) {
         prev = list_prev_entry(prev, node);
         start += prev->move_t;
         double base = prev->start_pos.x - start_base;
-        res += pa_move_integrate(prev, base, start, prev->move_t, start);
+        res += pa_move_integrate(prev, pressure_advance, base, start
+                                 , prev->move_t, start);
     }
     // Integrate over future moves
     while (unlikely(end > m->move_t)) {
         end -= m->move_t;
         m = list_next_entry(m, node);
         double base = m->start_pos.x - start_base;
-        res -= pa_move_integrate(m, base, 0., end, end);
+        res -= pa_move_integrate(m, pressure_advance, base, 0., end, end);
     }
     return res;
 }
 
 struct extruder_stepper {
     struct stepper_kinematics sk;
-    double half_smooth_time, inv_half_smooth_time2;
+    double pressure_advance, half_smooth_time, inv_half_smooth_time2;
 };
 
 static double
@@ -112,12 +116,13 @@ extruder_calc_position(struct stepper_kinematics *sk, struct move *m
         // Pressure advance not enabled
         return m->start_pos.x + move_get_distance(m, move_time);
     // Apply pressure advance and average over smooth_time
-    double area = pa_range_integrate(m, move_time, hst);
+    double area = pa_range_integrate(m, move_time, es->pressure_advance, hst);
     return m->start_pos.x + area * es->inv_half_smooth_time2;
 }
 
 void __visible
-extruder_set_smooth_time(struct stepper_kinematics *sk, double smooth_time)
+extruder_set_pressure_advance(struct stepper_kinematics *sk
+                              , double pressure_advance, double smooth_time)
 {
     struct extruder_stepper *es = container_of(sk, struct extruder_stepper, sk);
     double hst = smooth_time * .5;
@@ -126,6 +131,7 @@ extruder_set_smooth_time(struct stepper_kinematics *sk, double smooth_time)
     if (! hst)
         return;
     es->inv_half_smooth_time2 = 1. / (hst * hst);
+    es->pressure_advance = pressure_advance;
 }
 
 struct stepper_kinematics * __visible
diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py
index 76ca7b2e..852f576f 100644
--- a/klippy/kinematics/extruder.py
+++ b/klippy/kinematics/extruder.py
@@ -54,7 +54,6 @@ class PrinterExtruder:
         self.stepper.set_stepper_kinematics(self.sk_extruder)
         self.stepper.set_trapq(self.trapq)
         toolhead.register_step_generator(self.stepper.generate_steps)
-        self.extruder_set_smooth_time = ffi_lib.extruder_set_smooth_time
         self._set_pressure_advance(pressure_advance, smooth_time)
         # Register commands
         gcode = self.printer.lookup_object('gcode')
@@ -86,7 +85,9 @@ class PrinterExtruder:
         toolhead = self.printer.lookup_object("toolhead")
         toolhead.note_step_generation_scan_time(new_smooth_time * .5,
                                                 old_delay=old_smooth_time * .5)
-        self.extruder_set_smooth_time(self.sk_extruder, new_smooth_time)
+        ffi_main, ffi_lib = chelper.get_ffi()
+        espa = ffi_lib.extruder_set_pressure_advance
+        espa(self.sk_extruder, pressure_advance, new_smooth_time)
         self.pressure_advance = pressure_advance
         self.pressure_advance_smooth_time = smooth_time
     def get_status(self, eventtime):
@@ -145,14 +146,14 @@ class PrinterExtruder:
         accel = move.accel * axis_r
         start_v = move.start_v * axis_r
         cruise_v = move.cruise_v * axis_r
-        pressure_advance = 0.
+        can_pressure_advance = False
         if axis_r > 0. and (move.axes_d[0] or move.axes_d[1]):
-            pressure_advance = self.pressure_advance
-        # Queue movement (x is extruder movement, y is pressure advance)
+            can_pressure_advance = True
+        # Queue movement (x is extruder movement, y is pressure advance flag)
         self.trapq_append(self.trapq, print_time,
                           move.accel_t, move.cruise_t, move.decel_t,
                           move.start_pos[3], 0., 0.,
-                          1., pressure_advance, 0.,
+                          1., can_pressure_advance, 0.,
                           start_v, cruise_v, accel)
     def find_past_position(self, print_time):
         mcu_pos = self.stepper.get_past_mcu_position(print_time)