diff options
| -rw-r--r-- | klippy/chelper/__init__.py | 4 | ||||
| -rw-r--r-- | klippy/chelper/itersolve.c | 8 | ||||
| -rw-r--r-- | klippy/chelper/itersolve.h | 4 | ||||
| -rw-r--r-- | klippy/mcu.py | 10 | ||||
| -rw-r--r-- | klippy/stepper.py | 1 |
5 files changed, 15 insertions, 12 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index 083fe91b..4b0225ca 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -1,6 +1,6 @@ # Wrapper around C helper code # -# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import os, logging @@ -51,7 +51,7 @@ defs_itersolve = """ int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m); void itersolve_set_stepcompress(struct stepper_kinematics *sk , struct stepcompress *sc, double step_dist); - void itersolve_set_position(struct stepper_kinematics *sk + double itersolve_calc_position_from_coord(struct stepper_kinematics *sk , double x, double y, double z); void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos); double itersolve_get_commanded_pos(struct stepper_kinematics *sk); diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c index 2bd27ac6..78989c4d 100644 --- a/klippy/chelper/itersolve.c +++ b/klippy/chelper/itersolve.c @@ -215,14 +215,14 @@ itersolve_set_stepcompress(struct stepper_kinematics *sk sk->step_dist = step_dist; } -void __visible -itersolve_set_position(struct stepper_kinematics *sk - , double x, double y, double z) +double __visible +itersolve_calc_position_from_coord(struct stepper_kinematics *sk + , double x, double y, double z) { struct move m; memset(&m, 0, sizeof(m)); move_fill(&m, 0., 0., 1., 0., x, y, z, 0., 1., 0., 0., 1., 0.); - sk->commanded_pos = sk->calc_position(sk, &m, 0.); + return sk->calc_position(sk, &m, 0.); } void __visible diff --git a/klippy/chelper/itersolve.h b/klippy/chelper/itersolve.h index 25f26451..d65bab42 100644 --- a/klippy/chelper/itersolve.h +++ b/klippy/chelper/itersolve.h @@ -41,8 +41,8 @@ struct stepper_kinematics { int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m); void itersolve_set_stepcompress(struct stepper_kinematics *sk , struct stepcompress *sc, double step_dist); -void itersolve_set_position(struct stepper_kinematics *sk - , double x, double y, double z); +double itersolve_calc_position_from_coord(struct stepper_kinematics *sk + , double x, double y, double z); void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos); double itersolve_get_commanded_pos(struct stepper_kinematics *sk); diff --git a/klippy/mcu.py b/klippy/mcu.py index 7c2789c6..a25fc3f7 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -69,11 +69,13 @@ class MCU_stepper: return self._oid def get_step_dist(self): return self._step_dist + def calc_position_from_coord(self, coord): + return self._ffi_lib.itersolve_calc_position_from_coord( + self._stepper_kinematics, coord[0], coord[1], coord[2]) def set_position(self, newpos): - orig_cmd_pos = self.get_commanded_position() - self._ffi_lib.itersolve_set_position( - self._stepper_kinematics, newpos[0], newpos[1], newpos[2]) - self._mcu_position_offset += orig_cmd_pos - self.get_commanded_position() + spos = self.calc_position_from_coord(newpos) + self._mcu_position_offset += self.get_commanded_position() - spos + self._ffi_lib.itersolve_set_commanded_pos(self._stepper_kinematics, spos) def get_commanded_position(self): return self._ffi_lib.itersolve_get_commanded_pos( self._stepper_kinematics) diff --git a/klippy/stepper.py b/klippy/stepper.py index f937029a..8128a130 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -64,6 +64,7 @@ class PrinterStepper: self.setup_itersolve = self.mcu_stepper.setup_itersolve self.set_stepper_kinematics = self.mcu_stepper.set_stepper_kinematics self.set_ignore_move = self.mcu_stepper.set_ignore_move + self.calc_position_from_coord = self.mcu_stepper.calc_position_from_coord self.set_position = self.mcu_stepper.set_position self.get_mcu_position = self.mcu_stepper.get_mcu_position self.get_commanded_position = self.mcu_stepper.get_commanded_position |