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input_shaper: Factored out AxisInputShaper class

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2021-10-24 17:00:40 +02:00
committed by KevinOConnor
parent d5a7a7f00f
commit 54e21a7c26
3 changed files with 129 additions and 113 deletions
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5
klippy/chelper/__init__.py
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@@ -140,9 +140,8 @@ defs_kin_extruder = """
defs_kin_shaper = """
double input_shaper_get_step_generation_window(int n, double a[]
, double t[]);
int input_shaper_set_shaper_params(struct stepper_kinematics *sk
, int n_x, double a_x[], double t_x[]
, int n_y, double a_y[], double t_y[]);
int input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
, int n, double a[], double t[]);
int input_shaper_set_sk(struct stepper_kinematics *sk
, struct stepper_kinematics *orig_sk);
struct stepper_kinematics * input_shaper_alloc(void);

26
klippy/chelper/kin_shaper.c
View File

@@ -38,12 +38,12 @@ shift_pulses(struct shaper_pulses *sp)
sp->pulses[i].t -= ts;
}
static void
static int
init_shaper(int n, double a[], double t[], struct shaper_pulses *sp)
{
if (n < 0 || n > ARRAY_SIZE(sp->pulses)) {
sp->num_pulses = 0;
return;
return -1;
}
int i;
double sum_a = 0.;
@@ -57,6 +57,7 @@ init_shaper(int n, double a[], double t[], struct shaper_pulses *sp)
}
sp->num_pulses = n;
shift_pulses(sp);
return 0;
}
@@ -192,21 +193,20 @@ shaper_note_generation_time(struct input_shaper *is)
}
int __visible
input_shaper_set_shaper_params(struct stepper_kinematics *sk
, int n_x, double a_x[], double t_x[]
, int n_y, double a_y[], double t_y[])
input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
, int n, double a[], double t[])
{
if (axis != 'x' && axis != 'y')
return -1;
struct input_shaper *is = container_of(sk, struct input_shaper, sk);
if (is->orig_sk->active_flags & AF_X)
init_shaper(n_x, a_x, t_x, &is->sx);
struct shaper_pulses *sp = axis == 'x' ? &is->sx : &is->sy;
int status = 0;
if (is->orig_sk->active_flags & (axis == 'x' ? AF_X : AF_Y))
status = init_shaper(n, a, t, sp);
else
is->sx.num_pulses = 0;
if (is->orig_sk->active_flags & AF_Y)
init_shaper(n_y, a_y, t_y, &is->sy);
else
is->sy.num_pulses = 0;
sp->num_pulses = 0;
shaper_note_generation_time(is);
return 0;
return status;
}
double __visible