extruder: Convert to using iterative solver

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

1 files changed, 54 insertions, 0 deletions

diff --git a/klippy/chelper/kin_extruder.c b/klippy/chelper/kin_extruder.c
new file mode 100644
index 00000000..6b34980f
--- /dev/null
+++ b/klippy/chelper/kin_extruder.c
@@ -0,0 +1,54 @@
+// Extruder stepper pulse time generation
+//
+// Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include <stdlib.h> // malloc
+#include <string.h> // memset
+#include "compiler.h" // __visible
+#include "itersolve.h" // struct stepper_kinematics
+#include "pyhelper.h" // errorf
+
+static double
+extruder_calc_position(struct stepper_kinematics *sk, struct move *m
+                       , double move_time)
+{
+    return m->start_pos.x + move_get_distance(m, move_time);
+}
+
+struct stepper_kinematics * __visible
+extruder_stepper_alloc(void)
+{
+    struct stepper_kinematics *sk = malloc(sizeof(*sk));
+    memset(sk, 0, sizeof(*sk));
+    sk->calc_position = extruder_calc_position;
+    return sk;
+}
+
+// Populate a 'struct move' with an extruder velocity trapezoid
+void __visible
+extruder_move_fill(struct move *m, double print_time
+                   , double accel_t, double cruise_t, double decel_t
+                   , double start_pos
+                   , double start_v, double cruise_v, double accel
+                   , double extra_accel_v, double extra_decel_v)
+{
+    // Setup velocity trapezoid
+    m->print_time = print_time;
+    m->move_t = accel_t + cruise_t + decel_t;
+    m->accel_t = accel_t;
+    m->cruise_t = cruise_t;
+    m->cruise_start_d = accel_t * (.5 * (cruise_v + start_v) + extra_accel_v);
+    m->decel_start_d = m->cruise_start_d + cruise_t * cruise_v;
+
+    // Setup for accel/cruise/decel phases
+    m->cruise_v = cruise_v;
+    m->accel.c1 = start_v + extra_accel_v;
+    m->accel.c2 = .5 * accel;
+    m->decel.c1 = cruise_v + extra_decel_v;
+    m->decel.c2 = -m->accel.c2;
+
+    // Setup start distance
+    m->start_pos.x = start_pos;
+}