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-rw-r--r--klippy/chelper/itersolve.c14
-rw-r--r--klippy/chelper/itersolve.h6
-rw-r--r--klippy/chelper/kin_cartesian.c6
-rw-r--r--klippy/chelper/kin_corexy.c4
-rw-r--r--klippy/chelper/kin_delta.c2
-rw-r--r--klippy/chelper/kin_extruder.c2
-rw-r--r--klippy/chelper/kin_polar.c4
-rw-r--r--klippy/chelper/kin_winch.c2
8 files changed, 20 insertions, 20 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
diff --git a/klippy/chelper/itersolve.h b/klippy/chelper/itersolve.h
index d65bab42..08447fa6 100644
--- a/klippy/chelper/itersolve.h
+++ b/klippy/chelper/itersolve.h
@@ -30,12 +30,12 @@ double move_get_distance(struct move *m, double move_time);
struct coord move_get_coord(struct move *m, double move_time);
struct stepper_kinematics;
-typedef double (*sk_callback)(struct stepper_kinematics *sk, struct move *m
- , double move_time);
+typedef double (*sk_calc_callback)(struct stepper_kinematics *sk, struct move *m
+ , double move_time);
struct stepper_kinematics {
double step_dist, commanded_pos;
struct stepcompress *sc;
- sk_callback calc_position;
+ sk_calc_callback calc_position_cb;
};
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
diff --git a/klippy/chelper/kin_cartesian.c b/klippy/chelper/kin_cartesian.c
index 2b323d14..c59410b5 100644
--- a/klippy/chelper/kin_cartesian.c
+++ b/klippy/chelper/kin_cartesian.c
@@ -37,10 +37,10 @@ cartesian_stepper_alloc(char axis)
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
if (axis == 'x')
- sk->calc_position = cart_stepper_x_calc_position;
+ sk->calc_position_cb = cart_stepper_x_calc_position;
else if (axis == 'y')
- sk->calc_position = cart_stepper_y_calc_position;
+ sk->calc_position_cb = cart_stepper_y_calc_position;
else if (axis == 'z')
- sk->calc_position = cart_stepper_z_calc_position;
+ sk->calc_position_cb = cart_stepper_z_calc_position;
return sk;
}
diff --git a/klippy/chelper/kin_corexy.c b/klippy/chelper/kin_corexy.c
index 2a097d91..6339b32b 100644
--- a/klippy/chelper/kin_corexy.c
+++ b/klippy/chelper/kin_corexy.c
@@ -31,8 +31,8 @@ corexy_stepper_alloc(char type)
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
if (type == '+')
- sk->calc_position = corexy_stepper_plus_calc_position;
+ sk->calc_position_cb = corexy_stepper_plus_calc_position;
else if (type == '-')
- sk->calc_position = corexy_stepper_minus_calc_position;
+ sk->calc_position_cb = corexy_stepper_minus_calc_position;
return sk;
}
diff --git a/klippy/chelper/kin_delta.c b/klippy/chelper/kin_delta.c
index 91794be9..04509976 100644
--- a/klippy/chelper/kin_delta.c
+++ b/klippy/chelper/kin_delta.c
@@ -34,6 +34,6 @@ delta_stepper_alloc(double arm2, double tower_x, double tower_y)
ds->arm2 = arm2;
ds->tower_x = tower_x;
ds->tower_y = tower_y;
- ds->sk.calc_position = delta_stepper_calc_position;
+ ds->sk.calc_position_cb = delta_stepper_calc_position;
return &ds->sk;
}
diff --git a/klippy/chelper/kin_extruder.c b/klippy/chelper/kin_extruder.c
index 6b34980f..92b220f6 100644
--- a/klippy/chelper/kin_extruder.c
+++ b/klippy/chelper/kin_extruder.c
@@ -22,7 +22,7 @@ extruder_stepper_alloc(void)
{
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
- sk->calc_position = extruder_calc_position;
+ sk->calc_position_cb = extruder_calc_position;
return sk;
}
diff --git a/klippy/chelper/kin_polar.c b/klippy/chelper/kin_polar.c
index d1a00273..bba5546a 100644
--- a/klippy/chelper/kin_polar.c
+++ b/klippy/chelper/kin_polar.c
@@ -38,8 +38,8 @@ polar_stepper_alloc(char type)
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
if (type == 'r')
- sk->calc_position = polar_stepper_radius_calc_position;
+ sk->calc_position_cb = polar_stepper_radius_calc_position;
else if (type == 'a')
- sk->calc_position = polar_stepper_angle_calc_position;
+ sk->calc_position_cb = polar_stepper_angle_calc_position;
return sk;
}
diff --git a/klippy/chelper/kin_winch.c b/klippy/chelper/kin_winch.c
index df894352..3d3b8916 100644
--- a/klippy/chelper/kin_winch.c
+++ b/klippy/chelper/kin_winch.c
@@ -35,6 +35,6 @@ winch_stepper_alloc(double anchor_x, double anchor_y, double anchor_z)
hs->anchor.x = anchor_x;
hs->anchor.y = anchor_y;
hs->anchor.z = anchor_z;
- hs->sk.calc_position = winch_stepper_calc_position;
+ hs->sk.calc_position_cb = winch_stepper_calc_position;
return &hs->sk;
}
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-02 15:42:40 +0000