diff options
Diffstat (limited to 'klippy/chelper/itersolve.c')
| -rw-r--r-- | klippy/chelper/itersolve.c | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c index 3ecb4888..5cb3fffc 100644 --- a/klippy/chelper/itersolve.c +++ b/klippy/chelper/itersolve.c @@ -1,6 +1,6 @@ // Iterative solver for kinematic moves // -// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> +// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net> // // This file may be distributed under the terms of the GNU GPLv3 license. @@ -108,7 +108,7 @@ itersolve_find_step(struct stepper_kinematics *sk, struct move *m , struct timepos low, struct timepos high , double target) { - sk_callback calc_position = sk->calc_position; + sk_calc_callback calc_position_cb = sk->calc_position_cb; struct timepos best_guess = high; low.position -= target; high.position -= target; @@ -125,7 +125,7 @@ itersolve_find_step(struct stepper_kinematics *sk, struct move *m if (fabs(guess_time - best_guess.time) <= .000000001) break; best_guess.time = guess_time; - best_guess.position = calc_position(sk, m, guess_time); + best_guess.position = calc_position_cb(sk, m, guess_time); double guess_position = best_guess.position - target; int guess_sign = signbit(guess_position); if (guess_sign == high_sign) { @@ -144,7 +144,7 @@ int32_t __visible itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m) { struct stepcompress *sc = sk->sc; - sk_callback calc_position = sk->calc_position; + sk_calc_callback calc_position_cb = sk->calc_position_cb; double half_step = .5 * sk->step_dist; double mcu_freq = stepcompress_get_mcu_freq(sc); struct timepos last = { 0., sk->commanded_pos }, low = last, high = last; @@ -165,7 +165,7 @@ itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m) seek_time_delta += seek_time_delta; if (high.time > m->move_t) high.time = m->move_t; - high.position = calc_position(sk, m, high.time); + high.position = calc_position_cb(sk, m, high.time); continue; } int next_sdir = dist > 0.; @@ -179,7 +179,7 @@ itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m) if (high.time < last.time + .000000001) goto seek_new_high_range; high.time = (last.time + high.time) * .5; - high.position = calc_position(sk, m, high.time); + high.position = calc_position_cb(sk, m, high.time); continue; } int ret = queue_append_set_next_step_dir(&qa, next_sdir); @@ -224,7 +224,7 @@ itersolve_calc_position_from_coord(struct stepper_kinematics *sk struct move m; memset(&m, 0, sizeof(m)); move_fill(&m, 0., 0., 1., 0., x, y, z, 0., 1., 0., 0., 1., 0.); - return sk->calc_position(sk, &m, 0.); + return sk->calc_position_cb(sk, &m, 0.); } void __visible |