diff options
Diffstat (limited to 'klippy/chelper')
| -rw-r--r-- | klippy/chelper/itersolve.c | 31 | ||||
| -rw-r--r-- | klippy/chelper/itersolve.h | 3 |
2 files changed, 28 insertions, 6 deletions
diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c index 84fd5f71..570ad2df 100644 --- a/klippy/chelper/itersolve.c +++ b/klippy/chelper/itersolve.c @@ -150,21 +150,41 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time) struct move *m = list_first_entry(&sk->tq->moves, struct move, node); while (last_flush_time >= m->print_time + m->move_t) m = list_next_entry(m, node); + double force_steps_time = sk->last_move_time + sk->scan_past; for (;;) { + if (last_flush_time >= flush_time) + return 0; double start = m->print_time, end = start + m->move_t; if (start < last_flush_time) start = last_flush_time; - if (start >= flush_time) - return 0; if (end > flush_time) end = flush_time; if (check_active(sk, m)) { + if (sk->scan_future && start > last_flush_time) { + // Must generate steps leading up to stepper activity + force_steps_time = start; + if (last_flush_time < start - sk->scan_future) + last_flush_time = start - sk->scan_future; + while (m->print_time > last_flush_time) + m = list_prev_entry(m, node); + continue; + } + // Generate steps for this move int32_t ret = itersolve_gen_steps_range(sk, m, start, end); if (ret) return ret; + sk->last_move_time = last_flush_time = end; + force_steps_time = end + sk->scan_past; + } else if (start < force_steps_time) { + // Must generates steps just past stepper activity + if (end > force_steps_time) + end = force_steps_time; + int32_t ret = itersolve_gen_steps_range(sk, m, start, end); + if (ret) + return ret; + last_flush_time = end; } - last_flush_time = end; - if (flush_time <= m->print_time + m->move_t) + if (flush_time + sk->scan_future <= m->print_time + m->move_t) return 0; m = list_next_entry(m, node); } @@ -212,7 +232,8 @@ itersolve_calc_position_from_coord(struct stepper_kinematics *sk m.start_pos.x = x; m.start_pos.y = y; m.start_pos.z = z; - return sk->calc_position_cb(sk, &m, 0.); + m.move_t = 1000.; + return sk->calc_position_cb(sk, &m, 500.); } void __visible diff --git a/klippy/chelper/itersolve.h b/klippy/chelper/itersolve.h index 1615fc32..b7ab771a 100644 --- a/klippy/chelper/itersolve.h +++ b/klippy/chelper/itersolve.h @@ -16,7 +16,8 @@ struct stepper_kinematics { double step_dist, commanded_pos; struct stepcompress *sc; - double last_flush_time; + double last_flush_time, last_move_time; + double scan_past, scan_future; struct trapq *tq; int active_flags; |