diff options
Diffstat (limited to 'klippy/chelper')
| -rw-r--r-- | klippy/chelper/kin_shaper.c | 48 |
1 files changed, 22 insertions, 26 deletions
diff --git a/klippy/chelper/kin_shaper.c b/klippy/chelper/kin_shaper.c index caa9e2e1..0d62ada0 100644 --- a/klippy/chelper/kin_shaper.c +++ b/klippy/chelper/kin_shaper.c @@ -218,6 +218,19 @@ static is_init_shaper_callback init_shaper_callbacks[] = { [INPUT_SHAPER_3HUMP_EI] = &init_shaper_3hump_ei, }; +static void +init_shaper(int shaper_type, double shaper_freq, double damping_ratio + , struct shaper_pulses *sp) +{ + if (shaper_type < 0 || shaper_type >= ARRAY_SIZE(init_shaper_callbacks) + || shaper_freq <= 0.) { + sp->num_pulses = 0; + return; + } + init_shaper_callbacks[shaper_type](shaper_freq, damping_ratio, sp); + shift_pulses(sp); +} + /**************************************************************** * Generic position calculation via shaper convolution @@ -361,27 +374,14 @@ input_shaper_set_shaper_params(struct stepper_kinematics *sk , double damping_ratio_y) { struct input_shaper *is = container_of(sk, struct input_shaper, sk); - - if (shaper_type_x >= ARRAY_SIZE(init_shaper_callbacks) || shaper_type_x < 0) - return -1; - if (shaper_type_y >= ARRAY_SIZE(init_shaper_callbacks) || shaper_type_y < 0) - return -1; - - int af = is->orig_sk->active_flags & (AF_X | AF_Y); - if ((af & AF_X) && shaper_freq_x > 0.) { - init_shaper_callbacks[shaper_type_x]( - shaper_freq_x, damping_ratio_x, &is->sx); - shift_pulses(&is->sx); - } else { + if (is->orig_sk->active_flags & AF_X) + init_shaper(shaper_type_x, shaper_freq_x, damping_ratio_x, &is->sx); + else is->sx.num_pulses = 0; - } - if ((af & AF_Y) && shaper_freq_y > 0.) { - init_shaper_callbacks[shaper_type_y]( - shaper_freq_y, damping_ratio_y, &is->sy); - shift_pulses(&is->sy); - } else { + if (is->orig_sk->active_flags & AF_Y) + init_shaper(shaper_type_y, shaper_freq_y, damping_ratio_y, &is->sy); + else is->sy.num_pulses = 0; - } shaper_note_generation_time(is); return 0; } @@ -390,14 +390,10 @@ double __visible input_shaper_get_step_generation_window(int shaper_type, double shaper_freq , double damping_ratio) { - if (shaper_freq <= 0.) - return 0.; - if (shaper_type >= ARRAY_SIZE(init_shaper_callbacks) || shaper_type < 0) - return 0.; - is_init_shaper_callback init_shaper_cb = init_shaper_callbacks[shaper_type]; struct shaper_pulses sp; - init_shaper_cb(shaper_freq, damping_ratio, &sp); - shift_pulses(&sp); + init_shaper(shaper_type, shaper_freq, damping_ratio, &sp); + if (!sp.num_pulses) + return 0.; double window = -sp.pulses[0].t; if (sp.pulses[sp.num_pulses-1].t > window) window = sp.pulses[sp.num_pulses-1].t; |