trapq: Add new trapq.c file with code for trapezoidal velocity handling

Move the "struct move" code from itersolve.c to new file trapq.c.

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

1 files changed, 30 insertions, 0 deletions

diff --git a/klippy/chelper/trapq.h b/klippy/chelper/trapq.h
new file mode 100644
index 00000000..15d7b44c
--- /dev/null
+++ b/klippy/chelper/trapq.h
@@ -0,0 +1,30 @@
+#ifndef TRAPQ_H
+#define TRAPQ_H
+
+struct coord {
+    double x, y, z;
+};
+
+struct move_accel {
+    double c1, c2;
+};
+
+struct move {
+    double print_time, move_t;
+    double accel_t, cruise_t;
+    double cruise_start_d, decel_start_d;
+    double cruise_v;
+    struct move_accel accel, decel;
+    struct coord start_pos, axes_r;
+};
+
+struct move *move_alloc(void);
+void move_fill(struct move *m, double print_time
+               , double accel_t, double cruise_t, double decel_t
+               , double start_pos_x, double start_pos_y, double start_pos_z
+               , double axes_d_x, double axes_d_y, double axes_d_z
+               , double start_v, double cruise_v, double accel);
+double move_get_distance(struct move *m, double move_time);
+struct coord move_get_coord(struct move *m, double move_time);
+
+#endif // trapq.h