1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
|
// Extruder stepper pulse time generation
//
// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <stddef.h> // offsetof
#include <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics
#include "pyhelper.h" // errorf
#include "trapq.h" // move_get_distance
struct extruder_stepper {
struct stepper_kinematics sk;
double pressure_advance_factor, half_smooth_time, inv_smooth_time;
};
static double
extruder_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct extruder_stepper *es = container_of(sk, struct extruder_stepper, sk);
double hst = es->half_smooth_time;
if (!hst)
// Pressure advance not enabled
return m->start_pos.x + move_get_distance(m, move_time);
// Calculate average position over smooth_time
double area = trapq_integrate(m, 'x', move_time - hst, move_time + hst);
double base_pos = area * es->inv_smooth_time;
// Calculate position 'half_smooth_time' in the past
double start_time = move_time - hst;
struct move *sm = trapq_find_move(m, &start_time);
double start_dist = move_get_distance(sm, start_time);
double pa_start_pos = sm->start_pos.y + (sm->axes_r.y ? start_dist : 0.);
// Calculate position 'half_smooth_time' in the future
double end_time = move_time + hst;
struct move *em = trapq_find_move(m, &end_time);
double end_dist = move_get_distance(em, end_time);
double pa_end_pos = em->start_pos.y + (em->axes_r.y ? end_dist : 0.);
// Calculate position with pressure advance
return base_pos + (pa_end_pos - pa_start_pos) * es->pressure_advance_factor;
}
void __visible
extruder_set_pressure(struct stepper_kinematics *sk
, double pressure_advance, double half_smooth_time)
{
struct extruder_stepper *es = container_of(sk, struct extruder_stepper, sk);
if (! half_smooth_time) {
es->pressure_advance_factor = es->half_smooth_time = 0.;
return;
}
es->sk.scan_past = es->sk.scan_future = half_smooth_time;
es->half_smooth_time = half_smooth_time;
es->inv_smooth_time = .5 / half_smooth_time;
es->pressure_advance_factor = pressure_advance * es->inv_smooth_time;
}
struct stepper_kinematics * __visible
extruder_stepper_alloc(void)
{
struct extruder_stepper *es = malloc(sizeof(*es));
memset(es, 0, sizeof(*es));
es->sk.calc_position_cb = extruder_calc_position;
es->sk.active_flags = AF_X;
return &es->sk;
}
|
