aboutsummaryrefslogtreecommitdiffstats
path: root/klippy/chelper
diff options
context:
space:
mode:
Diffstat (limited to 'klippy/chelper')
-rw-r--r--klippy/chelper/__init__.py5
-rw-r--r--klippy/chelper/itersolve.c98
-rw-r--r--klippy/chelper/itersolve.h13
3 files changed, 109 insertions, 7 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py
index 91929747..1d980a77 100644
--- a/klippy/chelper/__init__.py
+++ b/klippy/chelper/__init__.py
@@ -45,6 +45,11 @@ defs_stepcompress = """
defs_itersolve = """
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
+ int32_t itersolve_generate_steps(struct stepper_kinematics *sk
+ , double flush_time);
+ double itersolve_check_active(struct stepper_kinematics *sk
+ , double flush_time);
+ void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c
index 3f35f1d4..c84d25cc 100644
--- a/klippy/chelper/itersolve.c
+++ b/klippy/chelper/itersolve.c
@@ -5,6 +5,7 @@
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <math.h> // fabs
+#include <stddef.h> // offsetof
#include <string.h> // memset
#include "compiler.h" // __visible
#include "itersolve.h" // itersolve_gen_steps
@@ -53,15 +54,17 @@ itersolve_find_step(struct stepper_kinematics *sk, struct move *m
return best_guess;
}
-// Generate step times for a stepper during a move
-int32_t __visible
-itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m)
+// Generate step times for a portion of a move
+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);
- struct timepos last = { 0., sk->commanded_pos }, low = last, high = last;
+ 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);
@@ -70,15 +73,15 @@ itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m)
double dist = high.position - last.position;
if (fabs(dist) < half_step) {
seek_new_high_range:
- if (high.time >= m->move_t)
+ if (high.time >= end)
// At end of move
break;
// Need to increase next step search range
low = high;
high.time = last.time + seek_time_delta;
seek_time_delta += seek_time_delta;
- if (high.time > m->move_t)
- high.time = m->move_t;
+ if (high.time > end)
+ high.time = end;
high.position = calc_position_cb(sk, m, high.time);
continue;
}
@@ -125,6 +128,87 @@ itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m)
return 0;
}
+// Generate step times for a move
+int32_t __visible
+itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m)
+{
+ return itersolve_gen_steps_range(sk, m, m->print_time
+ , m->print_time + m->move_t);
+}
+
+// Check if a move is likely to cause movement on a stepper
+static inline int
+check_active(struct stepper_kinematics *sk, struct move *m)
+{
+ int af = sk->active_flags;
+ return ((af & AF_X && m->axes_r.x != 0.)
+ || (af & AF_Y && m->axes_r.y != 0.)
+ || (af & AF_Z && m->axes_r.z != 0.));
+}
+
+// Generate step times for a range of moves on the trapq
+int32_t __visible
+itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time)
+{
+ double last_flush_time = sk->last_flush_time;
+ sk->last_flush_time = flush_time;
+ if (!sk->tq || list_empty(&sk->tq->moves))
+ return 0;
+ struct move *m = list_first_entry(&sk->tq->moves, struct move, node);
+ for (;;) {
+ double move_print_time = m->print_time;
+ double move_end_time = move_print_time + m->move_t;
+ if (last_flush_time >= move_end_time) {
+ if (list_is_last(&m->node, &sk->tq->moves))
+ break;
+ m = list_next_entry(m, node);
+ continue;
+ }
+ double start = move_print_time, end = move_end_time;
+ if (start < last_flush_time)
+ start = last_flush_time;
+ if (start >= flush_time)
+ break;
+ if (end > flush_time)
+ end = flush_time;
+ if (check_active(sk, m)) {
+ int32_t ret = itersolve_gen_steps_range(sk, m, start, end);
+ if (ret)
+ return ret;
+ }
+ last_flush_time = end;
+ }
+ return 0;
+}
+
+// Check if the given stepper is likely to be active in the given time range
+double __visible
+itersolve_check_active(struct stepper_kinematics *sk, double flush_time)
+{
+ if (!sk->tq || list_empty(&sk->tq->moves))
+ return 0.;
+ struct move *m = list_first_entry(&sk->tq->moves, struct move, node);
+ while (sk->last_flush_time >= m->print_time + m->move_t) {
+ if (list_is_last(&m->node, &sk->tq->moves))
+ return 0.;
+ m = list_next_entry(m, node);
+ }
+ while (m->print_time < flush_time) {
+ if (check_active(sk, m))
+ return m->print_time;
+ if (list_is_last(&m->node, &sk->tq->moves))
+ return 0.;
+ m = list_next_entry(m, node);
+ }
+ return 0.;
+}
+
+void __visible
+itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq)
+{
+ sk->tq = tq;
+}
+
void __visible
itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist)
diff --git a/klippy/chelper/itersolve.h b/klippy/chelper/itersolve.h
index da3a9fa7..e7548849 100644
--- a/klippy/chelper/itersolve.h
+++ b/klippy/chelper/itersolve.h
@@ -3,6 +3,10 @@
#include <stdint.h> // int32_t
+enum {
+ AF_X = 1 << 0, AF_Y = 1 << 1, AF_Z = 1 <<2,
+};
+
struct stepper_kinematics;
struct move;
typedef double (*sk_calc_callback)(struct stepper_kinematics *sk, struct move *m
@@ -11,11 +15,20 @@ typedef void (*sk_post_callback)(struct stepper_kinematics *sk);
struct stepper_kinematics {
double step_dist, commanded_pos;
struct stepcompress *sc;
+
+ double last_flush_time;
+ struct trapq *tq;
+ int active_flags;
+
sk_calc_callback calc_position_cb;
sk_post_callback post_cb;
};
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
+int32_t itersolve_generate_steps(struct stepper_kinematics *sk
+ , double flush_time);
+double itersolve_check_active(struct stepper_kinematics *sk, double flush_time);
+void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-02 10:39:56 +0000