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extruder: Add support for reversing the direction of extruder stepper movement

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Extend SET_EXTRUDER_ROTATION_DISTANCE to support reversing the
direction of extruder movement.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2022-01-29 19:13:31 -05:00
parent 189188e3ca
commit 9ec9742484
9 changed files with 60 additions and 19 deletions
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5
klippy/chelper/__init__.py
View File

@@ -38,8 +38,9 @@ defs_stepcompress = """
struct stepcompress *stepcompress_alloc(uint32_t oid);
void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
, uint32_t invert_sdir, int32_t queue_step_msgtag
, int32_t set_next_step_dir_msgtag);
, int32_t queue_step_msgtag, int32_t set_next_step_dir_msgtag);
void stepcompress_set_invert_sdir(struct stepcompress *sc
, uint32_t invert_sdir);
void stepcompress_free(struct stepcompress *sc);
int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
int stepcompress_set_last_position(struct stepcompress *sc

16
klippy/chelper/stepcompress.c
View File

@@ -259,15 +259,25 @@ stepcompress_alloc(uint32_t oid)
// Fill message id information
void __visible
stepcompress_fill(struct stepcompress *sc, uint32_t max_error
, uint32_t invert_sdir, int32_t queue_step_msgtag
, int32_t set_next_step_dir_msgtag)
, int32_t queue_step_msgtag, int32_t set_next_step_dir_msgtag)
{
sc->max_error = max_error;
sc->invert_sdir = !!invert_sdir;
sc->queue_step_msgtag = queue_step_msgtag;
sc->set_next_step_dir_msgtag = set_next_step_dir_msgtag;
}
// Set the inverted stepper direction flag
void __visible
stepcompress_set_invert_sdir(struct stepcompress *sc, uint32_t invert_sdir)
{
invert_sdir = !!invert_sdir;
if (invert_sdir != sc->invert_sdir) {
sc->invert_sdir = invert_sdir;
if (sc->sdir >= 0)
sc->sdir ^= 1;
}
}
// Helper to free items from the history_list
static void
free_history(struct stepcompress *sc, uint64_t end_clock)

4
klippy/chelper/stepcompress.h
View File

@@ -13,8 +13,10 @@ struct pull_history_steps {
struct stepcompress *stepcompress_alloc(uint32_t oid);
void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
, uint32_t invert_sdir, int32_t queue_step_msgtag
, int32_t queue_step_msgtag
, int32_t set_next_step_dir_msgtag);
void stepcompress_set_invert_sdir(struct stepcompress *sc
, uint32_t invert_sdir);
void stepcompress_free(struct stepcompress *sc);
uint32_t stepcompress_get_oid(struct stepcompress *sc);
int stepcompress_get_step_dir(struct stepcompress *sc);