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* toolhead: Keep stepcompress move history relative to current time (#6439)Francois Chagnon2023-12-301-1/+2
| | | | | Expire history relative to current time rather than last move in history queue Signed-off-by: Francois Chagnon <fc@francoischagnon.net>
* stepcompress: Add support for queuing messages that consume move queue spaceKevin O'Connor2023-11-161-0/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* extruder: Add support for reversing the direction of extruder stepper movementKevin O'Connor2022-02-101-1/+3
| | | | | | | Extend SET_EXTRUDER_ROTATION_DISTANCE to support reversing the direction of extruder movement. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepcompress: Pass clock to stepcompress_set_last_position()Kevin O'Connor2021-08-061-1/+1
| | | | | | | | | Using sc->last_step_clock for the last position marker does not work properly, because the stepper.py code calls stepcompress_reset() prior to calling stepcompress_set_last_position(). Fix by passing an explicit clock to stepcompress_set_last_position(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepcompress: Support extracting stepcompress historyKevin O'Connor2021-07-291-0/+9
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepcompress: Add missing functions to stepcompress.hKevin O'Connor2021-06-111-0/+4
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* buildcommands: Extend number of available mcu messages from 96 to 128Kevin O'Connor2021-02-181-2/+2
| | | | | | | | | | | Some internal code treats the message ids as encoded "variable length quantities", while other internal code assumes the message id is always one byte long. Continue using this scheme, but convert the VLQ users to use the name "msgtag" while the 1-byte users use "msgid". Increase the number of available msgids from 96 to 127 - the higher values get encoded as negative "msgtags". Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepcompress: Implement a step+dir+step filterKevin O'Connor2020-03-131-0/+1
| | | | | | | | | | Some stepper motor drivers do not respond well to rapid "step + direction change + step" events. In particular, it is believed this can cause "over current" events on the tmc2208 drivers when they are in "stealthchop" mode. Detect these events and remove them from the generated step times. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepcompress: Move code around in stepcompress.cKevin O'Connor2020-03-131-2/+2
| | | | | | Just code movement - no code changes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepcompress: Remove "queue append" abstractionKevin O'Connor2020-03-041-12/+2
| | | | | | | | | | The queue_append system predates the iterative solver - it was useful when many different kinematic functions directly added steps to the step compression queues. With the iterative solver being the only source of step generation, it is simpler to directly add steps from the iterative solver code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepcompress: Remove no longer needed stepcompress_set_homing()Kevin O'Connor2019-07-101-1/+0
| | | | | | | Now that homing is implemented via "drip moves", it is no longer necessary for the stepcompress code to have special homing logic. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* kin_cartesian: Remove stepcompress_push_const()Kevin O'Connor2018-06-201-3/+0
| | | | | | | All the kinematic code now uses the iterative solver to generate steps. Remove the old stepcompress_push_const() mechanism. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* itersolve: Add kinematic iterative solver codeKevin O'Connor2018-06-201-0/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepcompress: Allow stepcompress_alloc() to be called earlyKevin O'Connor2018-06-201-3/+4
| | | | | | Don't require an mcu connection to allocate the stepcompress object. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* chelper: Move cartesian and delta kinematics code to their own C filesKevin O'Connor2018-06-201-0/+40
Move the cartesian and delta specific code to new files kin_cartesian.c and kin_delta.c. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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