diff options
Diffstat (limited to 'klippy/chelper/__init__.py')
| -rw-r--r-- | klippy/chelper/__init__.py | 27 |
1 files changed, 23 insertions, 4 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index 32b065d3..da31ec38 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -15,11 +15,13 @@ 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', + 'stepcompress.c', 'kin_cartesian.c', 'kin_delta.c', 'itersolve.c', 'serialqueue.c', 'pyhelper.c' ] DEST_LIB = "c_helper.so" -OTHER_FILES = ['list.h', 'serialqueue.h', 'stepcompress.h', 'pyhelper.h'] +OTHER_FILES = [ + 'list.h', 'serialqueue.h', 'stepcompress.h', 'itersolve.h', 'pyhelper.h' +] defs_stepcompress = """ struct stepcompress *stepcompress_alloc(uint32_t oid); @@ -39,6 +41,19 @@ defs_stepcompress = """ int steppersync_flush(struct steppersync *ss, uint64_t move_clock); """ +defs_itersolve = """ + 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); + int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m); + void itersolve_set_commanded_pos(struct stepper_kinematics *sk, double pos); + void itersolve_set_stepcompress(struct stepper_kinematics *sk + , struct stepcompress *sc, double step_dist); +""" + defs_kin_cartesian = """ int32_t stepcompress_push(struct stepcompress *sc, double step_clock , int32_t sdir); @@ -84,9 +99,13 @@ defs_pyhelper = """ double get_monotonic(void); """ +defs_std = """ + void free(void*); +""" + defs_all = [ - defs_stepcompress, defs_kin_cartesian, defs_kin_delta, - defs_serialqueue, defs_pyhelper + defs_stepcompress, defs_itersolve, defs_kin_cartesian, defs_kin_delta, + defs_serialqueue, defs_pyhelper, defs_std ] # Return the list of file modification times |