diff options
Diffstat (limited to 'klippy/chelper/itersolve.c')
| -rw-r--r-- | klippy/chelper/itersolve.c | 13 |
1 files changed, 3 insertions, 10 deletions
diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c index 0b7c4b04..9dde391a 100644 --- a/klippy/chelper/itersolve.c +++ b/klippy/chelper/itersolve.c @@ -1,6 +1,6 @@ // Iterative solver for kinematic moves // -// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net> +// Copyright (C) 2018-2020 Kevin O'Connor <kevin@koconnor.net> // // This file may be distributed under the terms of the GNU GPLv3 license. @@ -59,15 +59,12 @@ static int32_t itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m , double move_start, double move_end) { - struct stepcompress *sc = sk->sc; 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); double start = move_start - m->print_time, end = move_end - m->print_time; struct timepos last = { start, sk->commanded_pos }, low = last, high = last; double seek_time_delta = 0.000100; - int sdir = stepcompress_get_step_dir(sc); - struct queue_append qa = queue_append_start(sc, m->print_time, .5); + int sdir = stepcompress_get_step_dir(sk->sc); for (;;) { // Determine if next step is in forward or reverse direction double dist = high.position - last.position; @@ -101,16 +98,13 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m high.position = calc_position_cb(sk, m, high.time); continue; } - int ret = queue_append_set_next_step_dir(&qa, next_sdir); - if (ret) - return ret; sdir = next_sdir; } // Find step double target = last.position + (sdir ? half_step : -half_step); struct timepos next = itersolve_find_step(sk, m, low, high, target); // Add step at given time - int ret = queue_append(&qa, next.time * mcu_freq); + int ret = stepcompress_append(sk->sc, sdir, m->print_time, next.time); if (ret) return ret; seek_time_delta = next.time - last.time; @@ -123,7 +117,6 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m // The high range is no longer valid - recalculate it goto seek_new_high_range; } - queue_append_finish(qa); sk->commanded_pos = last.position; if (sk->post_cb) sk->post_cb(sk); |