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itersolve: Add support for generating steps from a trapq

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Support associating a stepper_kinematics with a trapq.  Support
generating steps from a time range on the given trapq.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-10-27 21:05:57 -04:00
parent d3afe4f1d8
commit f3ef9c1889
5 changed files with 158 additions and 10 deletions
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13
klippy/chelper/itersolve.h
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@@ -3,6 +3,10 @@
#include <stdint.h> // int32_t
enum {
AF_X = 1 << 0, AF_Y = 1 << 1, AF_Z = 1 <<2,
};
struct stepper_kinematics;
struct move;
typedef double (*sk_calc_callback)(struct stepper_kinematics *sk, struct move *m
@@ -11,11 +15,20 @@ typedef void (*sk_post_callback)(struct stepper_kinematics *sk);
struct stepper_kinematics {
double step_dist, commanded_pos;
struct stepcompress *sc;
double last_flush_time;
struct trapq *tq;
int active_flags;
sk_calc_callback calc_position_cb;
sk_post_callback post_cb;
};
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
int32_t itersolve_generate_steps(struct stepper_kinematics *sk
, double flush_time);
double itersolve_check_active(struct stepper_kinematics *sk, double flush_time);
void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
double itersolve_calc_position_from_coord(struct stepper_kinematics *sk