diff options
Diffstat (limited to 'klippy/chelper/__init__.py')
| -rw-r--r-- | klippy/chelper/__init__.py | 36 |
1 files changed, 24 insertions, 12 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index ed5e156c..00fec80c 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -14,9 +14,12 @@ import cffi COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC" " -flto -fwhole-program -fno-use-linker-plugin" " -o %s %s") -SOURCE_FILES = ['stepcompress.c', 'serialqueue.c', 'pyhelper.c'] +SOURCE_FILES = [ + 'stepcompress.c', 'kin_cartesian.c', 'kin_delta.c', + 'serialqueue.c', 'pyhelper.c' +] DEST_LIB = "c_helper.so" -OTHER_FILES = ['list.h', 'serialqueue.h', 'pyhelper.h'] +OTHER_FILES = ['list.h', 'serialqueue.h', 'stepcompress.h', 'pyhelper.h'] defs_stepcompress = """ struct stepcompress *stepcompress_alloc(uint32_t max_error @@ -27,20 +30,25 @@ defs_stepcompress = """ int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock); int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len); + struct steppersync *steppersync_alloc(struct serialqueue *sq + , struct stepcompress **sc_list, int sc_num, int move_num); + void steppersync_free(struct steppersync *ss); + void steppersync_set_time(struct steppersync *ss + , double time_offset, double mcu_freq); + int steppersync_flush(struct steppersync *ss, uint64_t move_clock); +""" + +defs_kin_cartesian = """ int32_t stepcompress_push(struct stepcompress *sc, double step_clock , int32_t sdir); int32_t stepcompress_push_const(struct stepcompress *sc, double clock_offset , double step_offset, double steps, double start_sv, double accel); +""" + +defs_kin_delta = """ int32_t stepcompress_push_delta(struct stepcompress *sc , double clock_offset, double move_sd, double start_sv, double accel , double height, double startxy_sd, double arm_d, double movez_r); - - struct steppersync *steppersync_alloc(struct serialqueue *sq - , struct stepcompress **sc_list, int sc_num, int move_num); - void steppersync_free(struct steppersync *ss); - void steppersync_set_time(struct steppersync *ss - , double time_offset, double mcu_freq); - int steppersync_flush(struct steppersync *ss, uint64_t move_clock); """ defs_serialqueue = """ @@ -75,6 +83,11 @@ defs_pyhelper = """ double get_monotonic(void); """ +defs_all = [ + defs_stepcompress, defs_kin_cartesian, defs_kin_delta, + defs_serialqueue, defs_pyhelper +] + # Return the list of file modification times def get_mtimes(srcdir, filelist): out = [] @@ -109,9 +122,8 @@ def get_ffi(): check_build_code(srcdir, DEST_LIB, SOURCE_FILES, COMPILE_CMD , OTHER_FILES) FFI_main = cffi.FFI() - FFI_main.cdef(defs_stepcompress) - FFI_main.cdef(defs_serialqueue) - FFI_main.cdef(defs_pyhelper) + for d in defs_all: + FFI_main.cdef(d) FFI_lib = FFI_main.dlopen(os.path.join(srcdir, DEST_LIB)) # Setup error logging def logging_callback(msg): |