From 9a2eb4beddf1f6e551f4e85836cf1e0bd056ea03 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Wed, 6 Jun 2018 16:49:44 -0400
Subject: chelper: Move cartesian and delta kinematics code to their own C
 files

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>
---
 klippy/chelper/kin_cartesian.c | 113 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 113 insertions(+)
 create mode 100644 klippy/chelper/kin_cartesian.c

(limited to 'klippy/chelper/kin_cartesian.c')

diff --git a/klippy/chelper/kin_cartesian.c b/klippy/chelper/kin_cartesian.c
new file mode 100644
index 00000000..5cefb119
--- /dev/null
+++ b/klippy/chelper/kin_cartesian.c
@@ -0,0 +1,113 @@
+// Cartesian kinematics stepper pulse time generation
+//
+// Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include <math.h> // sqrt
+#include "compiler.h" // likely
+#include "pyhelper.h" // errorf
+#include "stepcompress.h" // queue_append
+
+// Common suffixes: _sd is step distance (a unit length the same
+// distance the stepper moves on each step), _sv is step velocity (in
+// units of step distance per time), _sd2 is step distance squared, _r
+// is ratio (scalar usually between 0.0 and 1.0).  Times are in
+// seconds and acceleration is in units of step distance per second
+// squared.
+
+// Wrapper around sqrt() to handle small negative numbers
+static double
+_safe_sqrt(double v)
+{
+    // Due to floating point truncation, it's possible to get a small
+    // negative number - treat it as zero.
+    if (v < -0.001)
+        errorf("safe_sqrt of %.9f", v);
+    return 0.;
+}
+inline double safe_sqrt(double v) {
+    return likely(v >= 0.) ? sqrt(v) : _safe_sqrt(v);
+}
+
+// Schedule a step event at the specified step_clock time
+int32_t __visible
+stepcompress_push(struct stepcompress *sc, double print_time, int32_t sdir)
+{
+    int ret = set_next_step_dir(sc, !!sdir);
+    if (ret)
+        return ret;
+    struct queue_append qa = queue_append_start(sc, print_time, 0.5);
+    ret = queue_append(&qa, 0.);
+    if (ret)
+        return ret;
+    queue_append_finish(qa);
+    return sdir ? 1 : -1;
+}
+
+// Schedule 'steps' number of steps at constant acceleration. If
+// acceleration is zero (ie, constant velocity) it uses the formula:
+//  step_time = print_time + step_num/start_sv
+// Otherwise it uses the formula:
+//  step_time = (print_time + sqrt(2*step_num/accel + (start_sv/accel)**2)
+//               - start_sv/accel)
+int32_t __visible
+stepcompress_push_const(
+    struct stepcompress *sc, double print_time
+    , double step_offset, double steps, double start_sv, double accel)
+{
+    // Calculate number of steps to take
+    int sdir = 1;
+    if (steps < 0) {
+        sdir = 0;
+        steps = -steps;
+        step_offset = -step_offset;
+    }
+    int count = steps + .5 - step_offset;
+    if (count <= 0 || count > 10000000) {
+        if (count && steps) {
+            errorf("push_const invalid count %d %f %f %f %f %f"
+                   , stepcompress_get_oid(sc), print_time, step_offset, steps
+                   , start_sv, accel);
+            return ERROR_RET;
+        }
+        return 0;
+    }
+    int ret = set_next_step_dir(sc, sdir);
+    if (ret)
+        return ret;
+    int res = sdir ? count : -count;
+
+    // Calculate each step time
+    if (!accel) {
+        // Move at constant velocity (zero acceleration)
+        struct queue_append qa = queue_append_start(sc, print_time, .5);
+        double inv_cruise_sv = stepcompress_get_mcu_freq(sc) / start_sv;
+        double pos = (step_offset + .5) * inv_cruise_sv;
+        while (count--) {
+            ret = queue_append(&qa, pos);
+            if (ret)
+                return ret;
+            pos += inv_cruise_sv;
+        }
+        queue_append_finish(qa);
+    } else {
+        // Move with constant acceleration
+        double inv_accel = 1. / accel;
+        double mcu_freq = stepcompress_get_mcu_freq(sc);
+        double accel_time = start_sv * inv_accel * mcu_freq;
+        struct queue_append qa = queue_append_start(
+            sc, print_time, 0.5 - accel_time);
+        double accel_multiplier = 2. * inv_accel * mcu_freq * mcu_freq;
+        double pos = (step_offset + .5)*accel_multiplier + accel_time*accel_time;
+        while (count--) {
+            double v = safe_sqrt(pos);
+            int ret = queue_append(&qa, accel_multiplier >= 0. ? v : -v);
+            if (ret)
+                return ret;
+            pos += accel_multiplier;
+        }
+        queue_append_finish(qa);
+    }
+    return res;
+}
-- 
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