diff options
Diffstat (limited to 'klippy/chelper/trapq.c')
| -rw-r--r-- | klippy/chelper/trapq.c | 24 |
1 files changed, 13 insertions, 11 deletions
diff --git a/klippy/chelper/trapq.c b/klippy/chelper/trapq.c index 828d48cf..966c8a45 100644 --- a/klippy/chelper/trapq.c +++ b/klippy/chelper/trapq.c @@ -12,7 +12,7 @@ #include "trapq.h" // move_get_coord // Allocate a new 'move' object -struct move * __visible +struct move * move_alloc(void) { struct move *m = malloc(sizeof(*m)); @@ -20,14 +20,16 @@ move_alloc(void) return m; } -// Populate a 'struct move' with a velocity trapezoid +// Fill and add a move to the trapezoid velocity queue void __visible -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) +trapq_append(struct trapq *tq, 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) { + struct move *m = move_alloc(); + // Setup velocity trapezoid m->print_time = print_time; m->move_t = accel_t + cruise_t + decel_t; @@ -52,6 +54,8 @@ move_fill(struct move *m, double print_time m->axes_r.x = axes_d_x * inv_move_d; m->axes_r.y = axes_d_y * inv_move_d; m->axes_r.z = axes_d_z * inv_move_d; + + trapq_add_move(tq, m); } // Find the distance travel during acceleration/deceleration @@ -111,12 +115,10 @@ trapq_free(struct trapq *tq) } // Add a move to the trapezoid velocity queue -void __visible +void trapq_add_move(struct trapq *tq, struct move *m) { - struct move *nm = move_alloc(); - memcpy(nm, m, sizeof(*nm)); - list_add_tail(&nm->node, &tq->moves); + list_add_tail(&m->node, &tq->moves); } // Free any moves older than `print_time` from the trapezoid velocity queue |