corexy: Convert corexy to use the iterative solver

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

5 files changed, 138 insertions, 42 deletions

diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py
index 36e32303..7366cc81 100644
--- a/klippy/chelper/__init__.py
+++ b/klippy/chelper/__init__.py
@@ -15,8 +15,8 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
                " -flto -fwhole-program -fno-use-linker-plugin"
                " -o %s %s")
 SOURCE_FILES = [
-    'stepcompress.c', 'kin_cartesian.c', 'kin_delta.c', 'itersolve.c',
-    'serialqueue.c', 'pyhelper.c'
+    'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c',
+    'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c',
 ]
 DEST_LIB = "c_helper.so"
 OTHER_FILES = [
@@ -59,6 +59,11 @@ defs_kin_cartesian = """
         , int32_t sdir);
     int32_t stepcompress_push_const(struct stepcompress *sc, double clock_offset
         , double step_offset, double steps, double start_sv, double accel);
+    struct stepper_kinematics *cartesian_stepper_alloc(char axis);
+"""
+
+defs_kin_corexy = """
+    struct stepper_kinematics *corexy_stepper_alloc(char type);
 """
 
 defs_kin_delta = """
@@ -103,8 +108,8 @@ defs_std = """
 """
 
 defs_all = [
-    defs_stepcompress, defs_itersolve, defs_kin_cartesian, defs_kin_delta,
-    defs_serialqueue, defs_pyhelper, defs_std
+    defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress, defs_itersolve,
+    defs_kin_cartesian, defs_kin_corexy, defs_kin_delta
 ]
 
 # Return the list of file modification times
diff --git a/klippy/chelper/kin_cartesian.c b/klippy/chelper/kin_cartesian.c
index 5cefb119..c9d01e0a 100644
--- a/klippy/chelper/kin_cartesian.c
+++ b/klippy/chelper/kin_cartesian.c
@@ -5,10 +5,18 @@
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
 #include <math.h> // sqrt
+#include <stdlib.h> // malloc
+#include <string.h> // memset
 #include "compiler.h" // likely
+#include "itersolve.h" // move_get_coord
 #include "pyhelper.h" // errorf
 #include "stepcompress.h" // queue_append
 
+
+/****************************************************************
+ * Direct step generation
+ ****************************************************************/
+
 // 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
@@ -111,3 +119,43 @@ stepcompress_push_const(
     }
     return res;
 }
+
+
+/****************************************************************
+ * Iterative solver
+ ****************************************************************/
+
+static double
+cart_stepper_x_calc_position(struct stepper_kinematics *sk, struct move *m
+                             , double move_time)
+{
+    return move_get_coord(m, move_time).x;
+}
+
+static double
+cart_stepper_y_calc_position(struct stepper_kinematics *sk, struct move *m
+                             , double move_time)
+{
+    return move_get_coord(m, move_time).y;
+}
+
+static double
+cart_stepper_z_calc_position(struct stepper_kinematics *sk, struct move *m
+                             , double move_time)
+{
+    return move_get_coord(m, move_time).z;
+}
+
+struct stepper_kinematics * __visible
+cartesian_stepper_alloc(char axis)
+{
+    struct stepper_kinematics *sk = malloc(sizeof(*sk));
+    memset(sk, 0, sizeof(*sk));
+    if (axis == 'x')
+        sk->calc_position = cart_stepper_x_calc_position;
+    else if (axis == 'y')
+        sk->calc_position = cart_stepper_y_calc_position;
+    else if (axis == 'z')
+        sk->calc_position = cart_stepper_z_calc_position;
+    return sk;
+}
diff --git a/klippy/chelper/kin_corexy.c b/klippy/chelper/kin_corexy.c
new file mode 100644
index 00000000..2a097d91
--- /dev/null
+++ b/klippy/chelper/kin_corexy.c
@@ -0,0 +1,38 @@
+// CoreXY kinematics 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
+
+static double
+corexy_stepper_plus_calc_position(struct stepper_kinematics *sk, struct move *m
+                                  , double move_time)
+{
+    struct coord c = move_get_coord(m, move_time);
+    return c.x + c.y;
+}
+
+static double
+corexy_stepper_minus_calc_position(struct stepper_kinematics *sk, struct move *m
+                                   , double move_time)
+{
+    struct coord c = move_get_coord(m, move_time);
+    return c.x - c.y;
+}
+
+struct stepper_kinematics * __visible
+corexy_stepper_alloc(char type)
+{
+    struct stepper_kinematics *sk = malloc(sizeof(*sk));
+    memset(sk, 0, sizeof(*sk));
+    if (type == '+')
+        sk->calc_position = corexy_stepper_plus_calc_position;
+    else if (type == '-')
+        sk->calc_position = corexy_stepper_minus_calc_position;
+    return sk;
+}
diff --git a/klippy/corexy.py b/klippy/corexy.py
index 2777eade..e252b05f 100644
--- a/klippy/corexy.py
+++ b/klippy/corexy.py
@@ -1,10 +1,10 @@
 # Code for handling the kinematics of corexy robots
 #
-# Copyright (C) 2017  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2017-2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging, math
-import stepper, homing
+import stepper, homing, chelper
 
 StepList = (0, 1, 2)
 
@@ -26,6 +26,15 @@ class CoreXYKinematics:
             'max_z_accel', max_accel, above=0., maxval=max_accel)
         self.need_motor_enable = True
         self.limits = [(1.0, -1.0)] * 3
+        # Setup iterative solver
+        ffi_main, ffi_lib = chelper.get_ffi()
+        self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
+        self.move_fill = ffi_lib.move_fill
+        self.steppers[0].setup_itersolve(ffi_main.gc(
+            ffi_lib.corexy_stepper_alloc('+'), ffi_lib.free))
+        self.steppers[1].setup_itersolve(ffi_main.gc(
+            ffi_lib.corexy_stepper_alloc('-'), ffi_lib.free))
+        self.steppers[2].setup_cartesian_itersolve('z')
         # Setup stepper max halt velocity
         max_halt_velocity = toolhead.get_max_axis_halt()
         max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
@@ -124,38 +133,17 @@ class CoreXYKinematics:
     def move(self, print_time, move):
         if self.need_motor_enable:
             self._check_motor_enable(print_time, move)
-        sxp = move.start_pos[0]
-        syp = move.start_pos[1]
-        move_start_pos = (sxp + syp, sxp - syp, move.start_pos[2])
-        exp = move.end_pos[0]
-        eyp = move.end_pos[1]
-        axes_d = ((exp + eyp) - move_start_pos[0],
-                  (exp - eyp) - move_start_pos[1], move.axes_d[2])
-        for i in StepList:
-            axis_d = axes_d[i]
-            if not axis_d:
-                continue
-            step_const = self.steppers[i].step_const
-            move_time = print_time
-            start_pos = move_start_pos[i]
-            axis_r = abs(axis_d) / move.move_d
-            accel = move.accel * axis_r
-            cruise_v = move.cruise_v * axis_r
-
-            # Acceleration steps
-            if move.accel_r:
-                accel_d = move.accel_r * axis_d
-                step_const(move_time, start_pos, accel_d,
-                           move.start_v * axis_r, accel)
-                start_pos += accel_d
-                move_time += move.accel_t
-            # Cruising steps
-            if move.cruise_r:
-                cruise_d = move.cruise_r * axis_d
-                step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
-                start_pos += cruise_d
-                move_time += move.cruise_t
-            # Deceleration steps
-            if move.decel_r:
-                decel_d = move.decel_r * axis_d
-                step_const(move_time, start_pos, decel_d, cruise_v, -accel)
+        axes_d = move.axes_d
+        cmove = self.cmove
+        self.move_fill(
+            cmove, print_time,
+            move.accel_t, move.cruise_t, move.decel_t,
+            move.start_pos[0], move.start_pos[1], move.start_pos[2],
+            axes_d[0], axes_d[1], axes_d[2],
+            move.start_v, move.cruise_v, move.accel)
+        stepper_a, stepper_b, stepper_z = self.steppers
+        if axes_d[0] or axes_d[1]:
+            stepper_a.step_itersolve(cmove)
+            stepper_b.step_itersolve(cmove)
+        if axes_d[2]:
+            stepper_z.step_itersolve(cmove)
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 825f636e..3ea04282 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -4,7 +4,7 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging
-import homing
+import homing, chelper
 
 # Tracking of shared stepper enable pins
 class StepperEnablePin:
@@ -155,6 +155,10 @@ class PrinterHomingStepper(PrinterStepper):
                 self.homing_stepper_phases = None
             if self.mcu_endstop.get_mcu().is_fileoutput():
                 self.homing_endstop_accuracy = self.homing_stepper_phases
+    def setup_cartesian_itersolve(self, axis):
+        ffi_main, ffi_lib = chelper.get_ffi()
+        self.setup_itersolve(ffi_main.gc(
+            ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
     def get_endstops(self):
         return [(self.mcu_endstop, self.name)]
     def get_homed_offset(self):
@@ -182,6 +186,7 @@ class PrinterMultiStepper(PrinterHomingStepper):
         self.endstops = PrinterHomingStepper.get_endstops(self)
         self.extras = []
         self.all_step_const = [self.step_const]
+        self.all_step_itersolve = [self.step_itersolve]
         for i in range(1, 99):
             if not config.has_section(config.get_name() + str(i)):
                 break
@@ -189,6 +194,7 @@ class PrinterMultiStepper(PrinterHomingStepper):
             extra = PrinterStepper(printer, extraconfig)
             self.extras.append(extra)
             self.all_step_const.append(extra.step_const)
+            self.all_step_itersolve.append(extra.step_itersolve)
             extraendstop = extraconfig.get('endstop_pin', None)
             if extraendstop is not None:
                 ppins = printer.lookup_object('pins')
@@ -198,9 +204,20 @@ class PrinterMultiStepper(PrinterHomingStepper):
             else:
                 self.mcu_endstop.add_stepper(extra.mcu_stepper)
         self.step_const = self.step_multi_const
+        self.step_itersolve = self.step_multi_itersolve
     def step_multi_const(self, print_time, start_pos, dist, start_v, accel):
         for step_const in self.all_step_const:
             step_const(print_time, start_pos, dist, start_v, accel)
+    def step_multi_itersolve(self, cmove):
+        for step_itersolve in self.all_step_itersolve:
+            step_itersolve(cmove)
+    def setup_cartesian_itersolve(self, axis):
+        ffi_main, ffi_lib = chelper.get_ffi()
+        self.setup_itersolve(ffi_main.gc(
+            ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
+        for extra in self.extras:
+            extra.setup_itersolve(ffi_main.gc(
+                ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
     def set_max_jerk(self, max_halt_velocity, max_accel):
         PrinterHomingStepper.set_max_jerk(self, max_halt_velocity, max_accel)
         for extra in self.extras: