chelper: Move the host C code to a new klippy/chelper/ directory

Move the C code out of the main klippy/ directory and into its own
directory.  This reduces the clutter in the main klippy directory.

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

1 files changed, 852 insertions, 0 deletions

diff --git a/klippy/chelper/stepcompress.c b/klippy/chelper/stepcompress.c
new file mode 100644
index 00000000..6c5f766f
--- /dev/null
+++ b/klippy/chelper/stepcompress.c
@@ -0,0 +1,852 @@
+// Stepper pulse schedule compression
+//
+// Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+//
+// The goal of this code is to take a series of scheduled stepper
+// pulse times and compress them into a handful of commands that can
+// be efficiently transmitted and executed on a microcontroller (mcu).
+// The mcu accepts step pulse commands that take interval, count, and
+// add parameters such that 'count' pulses occur, with each step event
+// calculating the next step event time using:
+//  next_wake_time = last_wake_time + interval; interval += add
+// This code is writtin in C (instead of python) for processing
+// efficiency - the repetitive integer math is vastly faster in C.
+
+#include <math.h> // sqrt
+#include <stddef.h> // offsetof
+#include <stdint.h> // uint32_t
+#include <stdio.h> // fprintf
+#include <stdlib.h> // malloc
+#include <string.h> // memset
+#include "pyhelper.h" // errorf
+#include "serialqueue.h" // struct queue_message
+
+#define CHECK_LINES 1
+#define QUEUE_START_SIZE 1024
+
+struct stepcompress {
+    // Buffer management
+    uint32_t *queue, *queue_end, *queue_pos, *queue_next;
+    // Internal tracking
+    uint32_t max_error;
+    double mcu_time_offset, mcu_freq;
+    // Message generation
+    uint64_t last_step_clock, homing_clock;
+    struct list_head msg_queue;
+    uint32_t queue_step_msgid, set_next_step_dir_msgid, oid;
+    int sdir, invert_sdir;
+};
+
+
+/****************************************************************
+ * Step compression
+ ****************************************************************/
+
+#define DIV_UP(n,d) (((n) + (d) - 1) / (d))
+
+static inline int32_t
+idiv_up(int32_t n, int32_t d)
+{
+    return (n>=0) ? DIV_UP(n,d) : (n/d);
+}
+
+static inline int32_t
+idiv_down(int32_t n, int32_t d)
+{
+    return (n>=0) ? (n/d) : (n - d + 1) / d;
+}
+
+struct points {
+    int32_t minp, maxp;
+};
+
+// Given a requested step time, return the minimum and maximum
+// acceptable times
+static inline struct points
+minmax_point(struct stepcompress *sc, uint32_t *pos)
+{
+    uint32_t lsc = sc->last_step_clock, point = *pos - lsc;
+    uint32_t prevpoint = pos > sc->queue_pos ? *(pos-1) - lsc : 0;
+    uint32_t max_error = (point - prevpoint) / 2;
+    if (max_error > sc->max_error)
+        max_error = sc->max_error;
+    return (struct points){ point - max_error, point };
+}
+
+// The maximum add delta between two valid quadratic sequences of the
+// form "add*count*(count-1)/2 + interval*count" is "(6 + 4*sqrt(2)) *
+// maxerror / (count*count)".  The "6 + 4*sqrt(2)" is 11.65685, but
+// using 11 works well in practice.
+#define QUADRATIC_DEV 11
+
+struct step_move {
+    uint32_t interval;
+    uint16_t count;
+    int16_t add;
+};
+
+// Find a 'step_move' that covers a series of step times
+static struct step_move
+compress_bisect_add(struct stepcompress *sc)
+{
+    uint32_t *qlast = sc->queue_next;
+    if (qlast > sc->queue_pos + 65535)
+        qlast = sc->queue_pos + 65535;
+    struct points point = minmax_point(sc, sc->queue_pos);
+    int32_t outer_mininterval = point.minp, outer_maxinterval = point.maxp;
+    int32_t add = 0, minadd = -0x8000, maxadd = 0x7fff;
+    int32_t bestinterval = 0, bestcount = 1, bestadd = 1, bestreach = INT32_MIN;
+    int32_t zerointerval = 0, zerocount = 0;
+
+    for (;;) {
+        // Find longest valid sequence with the given 'add'
+        struct points nextpoint;
+        int32_t nextmininterval = outer_mininterval;
+        int32_t nextmaxinterval = outer_maxinterval, interval = nextmaxinterval;
+        int32_t nextcount = 1;
+        for (;;) {
+            nextcount++;
+            if (&sc->queue_pos[nextcount-1] >= qlast) {
+                int32_t count = nextcount - 1;
+                return (struct step_move){ interval, count, add };
+            }
+            nextpoint = minmax_point(sc, sc->queue_pos + nextcount - 1);
+            int32_t nextaddfactor = nextcount*(nextcount-1)/2;
+            int32_t c = add*nextaddfactor;
+            if (nextmininterval*nextcount < nextpoint.minp - c)
+                nextmininterval = DIV_UP(nextpoint.minp - c, nextcount);
+            if (nextmaxinterval*nextcount > nextpoint.maxp - c)
+                nextmaxinterval = (nextpoint.maxp - c) / nextcount;
+            if (nextmininterval > nextmaxinterval)
+                break;
+            interval = nextmaxinterval;
+        }
+
+        // Check if this is the best sequence found so far
+        int32_t count = nextcount - 1, addfactor = count*(count-1)/2;
+        int32_t reach = add*addfactor + interval*count;
+        if (reach > bestreach
+            || (reach == bestreach && interval > bestinterval)) {
+            bestinterval = interval;
+            bestcount = count;
+            bestadd = add;
+            bestreach = reach;
+            if (!add) {
+                zerointerval = interval;
+                zerocount = count;
+            }
+            if (count > 0x200)
+                // No 'add' will improve sequence; avoid integer overflow
+                break;
+        }
+
+        // Check if a greater or lesser add could extend the sequence
+        int32_t nextaddfactor = nextcount*(nextcount-1)/2;
+        int32_t nextreach = add*nextaddfactor + interval*nextcount;
+        if (nextreach < nextpoint.minp) {
+            minadd = add + 1;
+            outer_maxinterval = nextmaxinterval;
+        } else {
+            maxadd = add - 1;
+            outer_mininterval = nextmininterval;
+        }
+
+        // The maximum valid deviation between two quadratic sequences
+        // can be calculated and used to further limit the add range.
+        if (count > 1) {
+            int32_t errdelta = sc->max_error*QUADRATIC_DEV / (count*count);
+            if (minadd < add - errdelta)
+                minadd = add - errdelta;
+            if (maxadd > add + errdelta)
+                maxadd = add + errdelta;
+        }
+
+        // See if next point would further limit the add range
+        int32_t c = outer_maxinterval * nextcount;
+        if (minadd*nextaddfactor < nextpoint.minp - c)
+            minadd = idiv_up(nextpoint.minp - c, nextaddfactor);
+        c = outer_mininterval * nextcount;
+        if (maxadd*nextaddfactor > nextpoint.maxp - c)
+            maxadd = idiv_down(nextpoint.maxp - c, nextaddfactor);
+
+        // Bisect valid add range and try again with new 'add'
+        if (minadd > maxadd)
+            break;
+        add = maxadd - (maxadd - minadd) / 4;
+    }
+    if (zerocount + zerocount/16 >= bestcount)
+        // Prefer add=0 if it's similar to the best found sequence
+        return (struct step_move){ zerointerval, zerocount, 0 };
+    return (struct step_move){ bestinterval, bestcount, bestadd };
+}
+
+
+/****************************************************************
+ * Step compress checking
+ ****************************************************************/
+
+#define ERROR_RET -989898989
+
+// Verify that a given 'step_move' matches the actual step times
+static int
+check_line(struct stepcompress *sc, struct step_move move)
+{
+    if (!CHECK_LINES)
+        return 0;
+    if (!move.count || (!move.interval && !move.add && move.count > 1)
+        || move.interval >= 0x80000000) {
+        errorf("stepcompress o=%d i=%d c=%d a=%d: Invalid sequence"
+               , sc->oid, move.interval, move.count, move.add);
+        return ERROR_RET;
+    }
+    uint32_t interval = move.interval, p = 0;
+    uint16_t i;
+    for (i=0; i<move.count; i++) {
+        struct points point = minmax_point(sc, sc->queue_pos + i);
+        p += interval;
+        if (p < point.minp || p > point.maxp) {
+            errorf("stepcompress o=%d i=%d c=%d a=%d: Point %d: %d not in %d:%d"
+                   , sc->oid, move.interval, move.count, move.add
+                   , i+1, p, point.minp, point.maxp);
+            return ERROR_RET;
+        }
+        if (interval >= 0x80000000) {
+            errorf("stepcompress o=%d i=%d c=%d a=%d:"
+                   " Point %d: interval overflow %d"
+                   , sc->oid, move.interval, move.count, move.add
+                   , i+1, interval);
+            return ERROR_RET;
+        }
+        interval += move.add;
+    }
+    return 0;
+}
+
+
+/****************************************************************
+ * Step compress interface
+ ****************************************************************/
+
+// Allocate a new 'stepcompress' object
+struct stepcompress *
+stepcompress_alloc(uint32_t max_error, uint32_t queue_step_msgid
+                   , uint32_t set_next_step_dir_msgid, uint32_t invert_sdir
+                   , uint32_t oid)
+{
+    struct stepcompress *sc = malloc(sizeof(*sc));
+    memset(sc, 0, sizeof(*sc));
+    sc->max_error = max_error;
+    list_init(&sc->msg_queue);
+    sc->queue_step_msgid = queue_step_msgid;
+    sc->set_next_step_dir_msgid = set_next_step_dir_msgid;
+    sc->oid = oid;
+    sc->sdir = -1;
+    sc->invert_sdir = !!invert_sdir;
+    return sc;
+}
+
+// Free memory associated with a 'stepcompress' object
+void
+stepcompress_free(struct stepcompress *sc)
+{
+    if (!sc)
+        return;
+    free(sc->queue);
+    message_queue_free(&sc->msg_queue);
+    free(sc);
+}
+
+// Convert previously scheduled steps into commands for the mcu
+static int
+stepcompress_flush(struct stepcompress *sc, uint64_t move_clock)
+{
+    if (sc->queue_pos >= sc->queue_next)
+        return 0;
+    while (sc->last_step_clock < move_clock) {
+        struct step_move move = compress_bisect_add(sc);
+        int ret = check_line(sc, move);
+        if (ret)
+            return ret;
+
+        uint32_t msg[5] = {
+            sc->queue_step_msgid, sc->oid, move.interval, move.count, move.add
+        };
+        struct queue_message *qm = message_alloc_and_encode(msg, 5);
+        qm->min_clock = qm->req_clock = sc->last_step_clock;
+        int32_t addfactor = move.count*(move.count-1)/2;
+        uint32_t ticks = move.add*addfactor + move.interval*move.count;
+        sc->last_step_clock += ticks;
+        if (sc->homing_clock)
+            // When homing, all steps should be sent prior to homing_clock
+            qm->min_clock = qm->req_clock = sc->homing_clock;
+        list_add_tail(&qm->node, &sc->msg_queue);
+
+        if (sc->queue_pos + move.count >= sc->queue_next) {
+            sc->queue_pos = sc->queue_next = sc->queue;
+            break;
+        }
+        sc->queue_pos += move.count;
+    }
+    return 0;
+}
+
+// Generate a queue_step for a step far in the future from the last step
+static int
+stepcompress_flush_far(struct stepcompress *sc, uint64_t abs_step_clock)
+{
+    uint32_t msg[5] = {
+        sc->queue_step_msgid, sc->oid, abs_step_clock - sc->last_step_clock, 1, 0
+    };
+    struct queue_message *qm = message_alloc_and_encode(msg, 5);
+    qm->min_clock = sc->last_step_clock;
+    sc->last_step_clock = qm->req_clock = abs_step_clock;
+    if (sc->homing_clock)
+        // When homing, all steps should be sent prior to homing_clock
+        qm->min_clock = qm->req_clock = sc->homing_clock;
+    list_add_tail(&qm->node, &sc->msg_queue);
+    return 0;
+}
+
+// Send the set_next_step_dir command
+static int
+set_next_step_dir(struct stepcompress *sc, int sdir)
+{
+    if (sc->sdir == sdir)
+        return 0;
+    sc->sdir = sdir;
+    int ret = stepcompress_flush(sc, UINT64_MAX);
+    if (ret)
+        return ret;
+    uint32_t msg[3] = {
+        sc->set_next_step_dir_msgid, sc->oid, sdir ^ sc->invert_sdir
+    };
+    struct queue_message *qm = message_alloc_and_encode(msg, 3);
+    qm->req_clock = sc->homing_clock ?: sc->last_step_clock;
+    list_add_tail(&qm->node, &sc->msg_queue);
+    return 0;
+}
+
+// Reset the internal state of the stepcompress object
+int
+stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock)
+{
+    int ret = stepcompress_flush(sc, UINT64_MAX);
+    if (ret)
+        return ret;
+    sc->last_step_clock = last_step_clock;
+    sc->sdir = -1;
+    return 0;
+}
+
+// Indicate the stepper is in homing mode (or done homing if zero)
+int
+stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock)
+{
+    int ret = stepcompress_flush(sc, UINT64_MAX);
+    if (ret)
+        return ret;
+    sc->homing_clock = homing_clock;
+    return 0;
+}
+
+// Queue an mcu command to go out in order with stepper commands
+int
+stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len)
+{
+    int ret = stepcompress_flush(sc, UINT64_MAX);
+    if (ret)
+        return ret;
+
+    struct queue_message *qm = message_alloc_and_encode(data, len);
+    qm->req_clock = sc->homing_clock ?: sc->last_step_clock;
+    list_add_tail(&qm->node, &sc->msg_queue);
+    return 0;
+}
+
+// Set the conversion rate of 'print_time' to mcu clock
+static void
+stepcompress_set_time(struct stepcompress *sc
+                      , double time_offset, double mcu_freq)
+{
+    sc->mcu_time_offset = time_offset;
+    sc->mcu_freq = mcu_freq;
+}
+
+
+/****************************************************************
+ * Queue management
+ ****************************************************************/
+
+struct queue_append {
+    struct stepcompress *sc;
+    uint32_t *qnext, *qend, last_step_clock_32;
+    double clock_offset;
+};
+
+// Maximium clock delta between messages in the queue
+#define CLOCK_DIFF_MAX (3<<28)
+
+// Create a cursor for inserting clock times into the queue
+static inline struct queue_append
+queue_append_start(struct stepcompress *sc, double print_time, double adjust)
+{
+    double print_clock = (print_time - sc->mcu_time_offset) * sc->mcu_freq;
+    return (struct queue_append) {
+        .sc = sc, .qnext = sc->queue_next, .qend = sc->queue_end,
+        .last_step_clock_32 = sc->last_step_clock,
+        .clock_offset = (print_clock - (double)sc->last_step_clock) + adjust };
+}
+
+// Finalize a cursor created with queue_append_start()
+static inline void
+queue_append_finish(struct queue_append qa)
+{
+    qa.sc->queue_next = qa.qnext;
+}
+
+// Slow path for queue_append()
+static int
+queue_append_slow(struct stepcompress *sc, double rel_sc)
+{
+    uint64_t abs_step_clock = (uint64_t)rel_sc + sc->last_step_clock;
+    if (abs_step_clock >= sc->last_step_clock + CLOCK_DIFF_MAX) {
+        // Avoid integer overflow on steps far in the future
+        int ret = stepcompress_flush(sc, abs_step_clock - CLOCK_DIFF_MAX + 1);
+        if (ret)
+            return ret;
+
+        if (abs_step_clock >= sc->last_step_clock + CLOCK_DIFF_MAX)
+            return stepcompress_flush_far(sc, abs_step_clock);
+    }
+
+    if (sc->queue_next - sc->queue_pos > 65535 + 2000) {
+        // No point in keeping more than 64K steps in memory
+        uint32_t flush = *(sc->queue_next-65535) - (uint32_t)sc->last_step_clock;
+        int ret = stepcompress_flush(sc, sc->last_step_clock + flush);
+        if (ret)
+            return ret;
+    }
+
+    if (sc->queue_next >= sc->queue_end) {
+        // Make room in the queue
+        int in_use = sc->queue_next - sc->queue_pos;
+        if (sc->queue_pos > sc->queue) {
+            // Shuffle the internal queue to avoid having to allocate more ram
+            memmove(sc->queue, sc->queue_pos, in_use * sizeof(*sc->queue));
+        } else {
+            // Expand the internal queue of step times
+            int alloc = sc->queue_end - sc->queue;
+            if (!alloc)
+                alloc = QUEUE_START_SIZE;
+            while (in_use >= alloc)
+                alloc *= 2;
+            sc->queue = realloc(sc->queue, alloc * sizeof(*sc->queue));
+            sc->queue_end = sc->queue + alloc;
+        }
+        sc->queue_pos = sc->queue;
+        sc->queue_next = sc->queue + in_use;
+    }
+
+    *sc->queue_next++ = abs_step_clock;
+    return 0;
+}
+
+// Add a clock time to the queue (flushing the queue if needed)
+static inline int
+queue_append(struct queue_append *qa, double step_clock)
+{
+    double rel_sc = step_clock + qa->clock_offset;
+    if (likely(!(qa->qnext >= qa->qend || rel_sc >= (double)CLOCK_DIFF_MAX))) {
+        *qa->qnext++ = qa->last_step_clock_32 + (uint32_t)rel_sc;
+        return 0;
+    }
+    // Call queue_append_slow() to handle queue expansion and integer overflow
+    struct stepcompress *sc = qa->sc;
+    uint64_t old_last_step_clock = sc->last_step_clock;
+    sc->queue_next = qa->qnext;
+    int ret = queue_append_slow(sc, rel_sc);
+    if (ret)
+        return ret;
+    qa->qnext = sc->queue_next;
+    qa->qend = sc->queue_end;
+    qa->last_step_clock_32 = sc->last_step_clock;
+    qa->clock_offset -= sc->last_step_clock - old_last_step_clock;
+    return 0;
+}
+
+
+/****************************************************************
+ * Motion to step conversions
+ ****************************************************************/
+
+// Common suffixes: _sd is step distance (a unit length the same
+// distance the stepper moves on each step), _sv is step velocity (in
+// units of step distance per time), _sd2 is step distance squared, _r
+// is ratio (scalar usually between 0.0 and 1.0).  Times are in
+// seconds and acceleration is in units of step distance per second
+// squared.
+
+// Wrapper around sqrt() to handle small negative numbers
+static double
+_safe_sqrt(double v)
+{
+    // Due to floating point truncation, it's possible to get a small
+    // negative number - treat it as zero.
+    if (v < -0.001)
+        errorf("safe_sqrt of %.9f", v);
+    return 0.;
+}
+static inline double safe_sqrt(double v) {
+    return likely(v >= 0.) ? sqrt(v) : _safe_sqrt(v);
+}
+
+// Schedule a step event at the specified step_clock time
+int32_t
+stepcompress_push(struct stepcompress *sc, double print_time, int32_t sdir)
+{
+    int ret = set_next_step_dir(sc, !!sdir);
+    if (ret)
+        return ret;
+    struct queue_append qa = queue_append_start(sc, print_time, 0.5);
+    ret = queue_append(&qa, 0.);
+    if (ret)
+        return ret;
+    queue_append_finish(qa);
+    return sdir ? 1 : -1;
+}
+
+// Schedule 'steps' number of steps at constant acceleration. If
+// acceleration is zero (ie, constant velocity) it uses the formula:
+//  step_time = print_time + step_num/start_sv
+// Otherwise it uses the formula:
+//  step_time = (print_time + sqrt(2*step_num/accel + (start_sv/accel)**2)
+//               - start_sv/accel)
+int32_t
+stepcompress_push_const(
+    struct stepcompress *sc, double print_time
+    , double step_offset, double steps, double start_sv, double accel)
+{
+    // Calculate number of steps to take
+    int sdir = 1;
+    if (steps < 0) {
+        sdir = 0;
+        steps = -steps;
+        step_offset = -step_offset;
+    }
+    int count = steps + .5 - step_offset;
+    if (count <= 0 || count > 10000000) {
+        if (count && steps) {
+            errorf("push_const invalid count %d %f %f %f %f %f"
+                   , sc->oid, print_time, step_offset, steps
+                   , start_sv, accel);
+            return ERROR_RET;
+        }
+        return 0;
+    }
+    int ret = set_next_step_dir(sc, sdir);
+    if (ret)
+        return ret;
+    int res = sdir ? count : -count;
+
+    // Calculate each step time
+    if (!accel) {
+        // Move at constant velocity (zero acceleration)
+        struct queue_append qa = queue_append_start(sc, print_time, .5);
+        double inv_cruise_sv = sc->mcu_freq / start_sv;
+        double pos = (step_offset + .5) * inv_cruise_sv;
+        while (count--) {
+            ret = queue_append(&qa, pos);
+            if (ret)
+                return ret;
+            pos += inv_cruise_sv;
+        }
+        queue_append_finish(qa);
+    } else {
+        // Move with constant acceleration
+        double inv_accel = 1. / accel;
+        double accel_time = start_sv * inv_accel * sc->mcu_freq;
+        struct queue_append qa = queue_append_start(
+            sc, print_time, 0.5 - accel_time);
+        double accel_multiplier = 2. * inv_accel * sc->mcu_freq * sc->mcu_freq;
+        double pos = (step_offset + .5)*accel_multiplier + accel_time*accel_time;
+        while (count--) {
+            double v = safe_sqrt(pos);
+            int ret = queue_append(&qa, accel_multiplier >= 0. ? v : -v);
+            if (ret)
+                return ret;
+            pos += accel_multiplier;
+        }
+        queue_append_finish(qa);
+    }
+    return res;
+}
+
+// Schedule steps using delta kinematics
+static int32_t
+_stepcompress_push_delta(
+    struct stepcompress *sc, int sdir
+    , double print_time, double move_sd, double start_sv, double accel
+    , double height, double startxy_sd, double arm_sd, double movez_r)
+{
+    // Calculate number of steps to take
+    double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.;
+    double arm_sd2 = arm_sd * arm_sd;
+    double endxy_sd = startxy_sd - movexy_r*move_sd;
+    double end_height = safe_sqrt(arm_sd2 - endxy_sd*endxy_sd);
+    int count = (end_height + movez_r*move_sd - height) * (sdir ? 1. : -1.) + .5;
+    if (count <= 0 || count > 10000000) {
+        if (count) {
+            errorf("push_delta invalid count %d %d %f %f %f %f %f %f %f %f"
+                   , sc->oid, count, print_time, move_sd, start_sv, accel
+                   , height, startxy_sd, arm_sd, movez_r);
+            return ERROR_RET;
+        }
+        return 0;
+    }
+    int ret = set_next_step_dir(sc, sdir);
+    if (ret)
+        return ret;
+    int res = sdir ? count : -count;
+
+    // Calculate each step time
+    height += (sdir ? .5 : -.5);
+    if (!accel) {
+        // Move at constant velocity (zero acceleration)
+        struct queue_append qa = queue_append_start(sc, print_time, .5);
+        double inv_cruise_sv = sc->mcu_freq / start_sv;
+        if (!movez_r) {
+            // Optimized case for common XY only moves (no Z movement)
+            while (count--) {
+                double v = safe_sqrt(arm_sd2 - height*height);
+                double pos = startxy_sd + (sdir ? -v : v);
+                int ret = queue_append(&qa, pos * inv_cruise_sv);
+                if (ret)
+                    return ret;
+                height += (sdir ? 1. : -1.);
+            }
+        } else if (!movexy_r) {
+            // Optimized case for Z only moves
+            double pos = ((sdir ? height-end_height : end_height-height)
+                          * inv_cruise_sv);
+            while (count--) {
+                int ret = queue_append(&qa, pos);
+                if (ret)
+                    return ret;
+                pos += inv_cruise_sv;
+            }
+        } else {
+            // General case (handles XY+Z moves)
+            double start_pos = movexy_r*startxy_sd, zoffset = movez_r*startxy_sd;
+            while (count--) {
+                double relheight = movexy_r*height - zoffset;
+                double v = safe_sqrt(arm_sd2 - relheight*relheight);
+                double pos = start_pos + movez_r*height + (sdir ? -v : v);
+                int ret = queue_append(&qa, pos * inv_cruise_sv);
+                if (ret)
+                    return ret;
+                height += (sdir ? 1. : -1.);
+            }
+        }
+        queue_append_finish(qa);
+    } else {
+        // Move with constant acceleration
+        double start_pos = movexy_r*startxy_sd, zoffset = movez_r*startxy_sd;
+        double inv_accel = 1. / accel;
+        start_pos += 0.5 * start_sv*start_sv * inv_accel;
+        struct queue_append qa = queue_append_start(
+            sc, print_time, 0.5 - start_sv * inv_accel * sc->mcu_freq);
+        double accel_multiplier = 2. * inv_accel * sc->mcu_freq * sc->mcu_freq;
+        while (count--) {
+            double relheight = movexy_r*height - zoffset;
+            double v = safe_sqrt(arm_sd2 - relheight*relheight);
+            double pos = start_pos + movez_r*height + (sdir ? -v : v);
+            v = safe_sqrt(pos * accel_multiplier);
+            int ret = queue_append(&qa, accel_multiplier >= 0. ? v : -v);
+            if (ret)
+                return ret;
+            height += (sdir ? 1. : -1.);
+        }
+        queue_append_finish(qa);
+    }
+    return res;
+}
+
+int32_t
+stepcompress_push_delta(
+    struct stepcompress *sc, double print_time, double move_sd
+    , double start_sv, double accel
+    , double height, double startxy_sd, double arm_sd, double movez_r)
+{
+    double reversexy_sd = startxy_sd + arm_sd*movez_r;
+    if (reversexy_sd <= 0.)
+        // All steps are in down direction
+        return _stepcompress_push_delta(
+            sc, 0, print_time, move_sd, start_sv, accel
+            , height, startxy_sd, arm_sd, movez_r);
+    double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.;
+    if (reversexy_sd >= move_sd * movexy_r)
+        // All steps are in up direction
+        return _stepcompress_push_delta(
+            sc, 1, print_time, move_sd, start_sv, accel
+            , height, startxy_sd, arm_sd, movez_r);
+    // Steps in both up and down direction
+    int res1 = _stepcompress_push_delta(
+        sc, 1, print_time, reversexy_sd / movexy_r, start_sv, accel
+        , height, startxy_sd, arm_sd, movez_r);
+    if (res1 == ERROR_RET)
+        return res1;
+    int res2 = _stepcompress_push_delta(
+        sc, 0, print_time, move_sd, start_sv, accel
+        , height + res1, startxy_sd, arm_sd, movez_r);
+    if (res2 == ERROR_RET)
+        return res2;
+    return res1 + res2;
+}
+
+
+/****************************************************************
+ * Step compress synchronization
+ ****************************************************************/
+
+// The steppersync object is used to synchronize the output of mcu
+// step commands.  The mcu can only queue a limited number of step
+// commands - this code tracks when items on the mcu step queue become
+// free so that new commands can be transmitted.  It also ensures the
+// mcu step queue is ordered between steppers so that no stepper
+// starves the other steppers of space in the mcu step queue.
+
+struct steppersync {
+    // Serial port
+    struct serialqueue *sq;
+    struct command_queue *cq;
+    // Storage for associated stepcompress objects
+    struct stepcompress **sc_list;
+    int sc_num;
+    // Storage for list of pending move clocks
+    uint64_t *move_clocks;
+    int num_move_clocks;
+};
+
+// Allocate a new 'steppersync' object
+struct steppersync *
+steppersync_alloc(struct serialqueue *sq, struct stepcompress **sc_list
+                  , int sc_num, int move_num)
+{
+    struct steppersync *ss = malloc(sizeof(*ss));
+    memset(ss, 0, sizeof(*ss));
+    ss->sq = sq;
+    ss->cq = serialqueue_alloc_commandqueue();
+
+    ss->sc_list = malloc(sizeof(*sc_list)*sc_num);
+    memcpy(ss->sc_list, sc_list, sizeof(*sc_list)*sc_num);
+    ss->sc_num = sc_num;
+
+    ss->move_clocks = malloc(sizeof(*ss->move_clocks)*move_num);
+    memset(ss->move_clocks, 0, sizeof(*ss->move_clocks)*move_num);
+    ss->num_move_clocks = move_num;
+
+    return ss;
+}
+
+// Free memory associated with a 'steppersync' object
+void
+steppersync_free(struct steppersync *ss)
+{
+    if (!ss)
+        return;
+    free(ss->sc_list);
+    free(ss->move_clocks);
+    serialqueue_free_commandqueue(ss->cq);
+    free(ss);
+}
+
+// Set the conversion rate of 'print_time' to mcu clock
+void
+steppersync_set_time(struct steppersync *ss, double time_offset, double mcu_freq)
+{
+    int i;
+    for (i=0; i<ss->sc_num; i++) {
+        struct stepcompress *sc = ss->sc_list[i];
+        stepcompress_set_time(sc, time_offset, mcu_freq);
+    }
+}
+
+// Implement a binary heap algorithm to track when the next available
+// 'struct move' in the mcu will be available
+static void
+heap_replace(struct steppersync *ss, uint64_t req_clock)
+{
+    uint64_t *mc = ss->move_clocks;
+    int nmc = ss->num_move_clocks, pos = 0;
+    for (;;) {
+        int child1_pos = 2*pos+1, child2_pos = 2*pos+2;
+        uint64_t child2_clock = child2_pos < nmc ? mc[child2_pos] : UINT64_MAX;
+        uint64_t child1_clock = child1_pos < nmc ? mc[child1_pos] : UINT64_MAX;
+        if (req_clock <= child1_clock && req_clock <= child2_clock) {
+            mc[pos] = req_clock;
+            break;
+        }
+        if (child1_clock < child2_clock) {
+            mc[pos] = child1_clock;
+            pos = child1_pos;
+        } else {
+            mc[pos] = child2_clock;
+            pos = child2_pos;
+        }
+    }
+}
+
+// Find and transmit any scheduled steps prior to the given 'move_clock'
+int
+steppersync_flush(struct steppersync *ss, uint64_t move_clock)
+{
+    // Flush each stepcompress to the specified move_clock
+    int i;
+    for (i=0; i<ss->sc_num; i++) {
+        int ret = stepcompress_flush(ss->sc_list[i], move_clock);
+        if (ret)
+            return ret;
+    }
+
+    // Order commands by the reqclock of each pending command
+    struct list_head msgs;
+    list_init(&msgs);
+    for (;;) {
+        // Find message with lowest reqclock
+        uint64_t req_clock = MAX_CLOCK;
+        struct queue_message *qm = NULL;
+        for (i=0; i<ss->sc_num; i++) {
+            struct stepcompress *sc = ss->sc_list[i];
+            if (!list_empty(&sc->msg_queue)) {
+                struct queue_message *m = list_first_entry(
+                    &sc->msg_queue, struct queue_message, node);
+                if (m->req_clock < req_clock) {
+                    qm = m;
+                    req_clock = m->req_clock;
+                }
+            }
+        }
+        if (!qm || (qm->min_clock && req_clock > move_clock))
+            break;
+
+        uint64_t next_avail = ss->move_clocks[0];
+        if (qm->min_clock)
+            // The qm->min_clock field is overloaded to indicate that
+            // the command uses the 'move queue' and to store the time
+            // that move queue item becomes available.
+            heap_replace(ss, qm->min_clock);
+        // Reset the min_clock to its normal meaning (minimum transmit time)
+        qm->min_clock = next_avail;
+
+        // Batch this command
+        list_del(&qm->node);
+        list_add_tail(&qm->node, &msgs);
+    }
+
+    // Transmit commands
+    if (!list_empty(&msgs))
+        serialqueue_send_batch(ss->sq, ss->cq, &msgs);
+    return 0;
+}