diff options
| author | Dmitry Butyugin <dmbutyugin@google.com> | 2020-07-06 02:54:38 +0200 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2020-07-05 20:54:38 -0400 |
| commit | 4bdc11a8b3843b73079a2c8dfc8d8c0928c29662 (patch) | |
| tree | e75986fe8573bda848f60f94af2b43f8c3553779 /klippy/chelper/__init__.py | |
| parent | 09a3d018a895ac7ea80ada4c16a212b795375c26 (diff) | |
| download | kutter-4bdc11a8b3843b73079a2c8dfc8d8c0928c29662.tar.gz kutter-4bdc11a8b3843b73079a2c8dfc8d8c0928c29662.tar.xz kutter-4bdc11a8b3843b73079a2c8dfc8d8c0928c29662.zip | |
input_shaper: Initial support of input shaping (#3032)
Input shaping can help to reduce printer vibrations due to resonances
and eliminate or reduce ghosting in prints.
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
Diffstat (limited to 'klippy/chelper/__init__.py')
| -rw-r--r-- | klippy/chelper/__init__.py | 26 |
1 files changed, 24 insertions, 2 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index 1a4b2d74..d87c0b31 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -17,7 +17,7 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC" SOURCE_FILES = [ 'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c', 'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c', - 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', + 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', 'kin_shaper.c', ] DEST_LIB = "c_helper.so" OTHER_FILES = [ @@ -104,6 +104,27 @@ defs_kin_extruder = """ , double smooth_time); """ +defs_kin_shaper = """ + enum INPUT_SHAPER_TYPE { + INPUT_SHAPER_ZV = 0, + INPUT_SHAPER_ZVD = 1, + INPUT_SHAPER_MZV = 2, + INPUT_SHAPER_EI = 3, + INPUT_SHAPER_2HUMP_EI = 4, + INPUT_SHAPER_3HUMP_EI = 5, + }; + + double input_shaper_get_step_generation_window(int shaper_type + , double shaper_freq, double damping_ratio); + int input_shaper_set_shaper_params(struct stepper_kinematics *sk + , int shaper_type_x, int shaper_type_y + , double shaper_freq_x, double shaper_freq_y + , double damping_ratio_x, double damping_ratio_y); + int input_shaper_set_sk(struct stepper_kinematics *sk + , struct stepper_kinematics *orig_sk); + struct stepper_kinematics * input_shaper_alloc(void); +""" + defs_serialqueue = """ #define MESSAGE_MAX 64 struct pull_queue_message { @@ -147,7 +168,8 @@ defs_all = [ defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress, defs_itersolve, defs_trapq, defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar, - defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder + defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder, + defs_kin_shaper, ] # Return the list of file modification times |