shinys000114/klipper
1
0
Fork 0
mirror of git://soft.sys114.com/klipper synced 2026-02-11 13:30:25 +09:00
Code Issues Packages Projects Releases Wiki Activity

corexy: Convert corexy to use the iterative solver

Browse Source 
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-06-09 14:30:22 -04:00
parent ca0d0135dc
commit fc4a9e7564
5 changed files with 138 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
klippy/chelper/__init__.py
View File

@@ -15,8 +15,8 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
" -flto -fwhole-program -fno-use-linker-plugin"
" -o %s %s")
SOURCE_FILES = [
'stepcompress.c', 'kin_cartesian.c', 'kin_delta.c', 'itersolve.c',
'serialqueue.c', 'pyhelper.c'
'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c',
'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c',
]
DEST_LIB = "c_helper.so"
OTHER_FILES = [
@@ -59,6 +59,11 @@ defs_kin_cartesian = """
, int32_t sdir);
int32_t stepcompress_push_const(struct stepcompress *sc, double clock_offset
, double step_offset, double steps, double start_sv, double accel);
struct stepper_kinematics *cartesian_stepper_alloc(char axis);
"""
defs_kin_corexy = """
struct stepper_kinematics *corexy_stepper_alloc(char type);
"""
defs_kin_delta = """
@@ -103,8 +108,8 @@ defs_std = """
"""
defs_all = [
defs_stepcompress, defs_itersolve, defs_kin_cartesian, defs_kin_delta,
defs_serialqueue, defs_pyhelper, defs_std
defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress, defs_itersolve,
defs_kin_cartesian, defs_kin_corexy, defs_kin_delta
]
# Return the list of file modification times

48
klippy/chelper/kin_cartesian.c
View File

@@ -5,10 +5,18 @@
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <math.h> // sqrt
#include <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // likely
#include "itersolve.h" // move_get_coord
#include "pyhelper.h" // errorf
#include "stepcompress.h" // queue_append
/****************************************************************
* Direct step generation
****************************************************************/
// 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
@@ -111,3 +119,43 @@ stepcompress_push_const(
}
return res;
}
/****************************************************************
* Iterative solver
****************************************************************/
static double
cart_stepper_x_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
return move_get_coord(m, move_time).x;
}
static double
cart_stepper_y_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
return move_get_coord(m, move_time).y;
}
static double
cart_stepper_z_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
return move_get_coord(m, move_time).z;
}
struct stepper_kinematics * __visible
cartesian_stepper_alloc(char axis)
{
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
if (axis == 'x')
sk->calc_position = cart_stepper_x_calc_position;
else if (axis == 'y')
sk->calc_position = cart_stepper_y_calc_position;
else if (axis == 'z')
sk->calc_position = cart_stepper_z_calc_position;
return sk;
}

38
klippy/chelper/kin_corexy.c Normal file
View File

@@ -0,0 +1,38 @@
// CoreXY kinematics stepper pulse time generation
//
// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics
static double
corexy_stepper_plus_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct coord c = move_get_coord(m, move_time);
return c.x + c.y;
}
static double
corexy_stepper_minus_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct coord c = move_get_coord(m, move_time);
return c.x - c.y;
}
struct stepper_kinematics * __visible
corexy_stepper_alloc(char type)
{
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
if (type == '+')
sk->calc_position = corexy_stepper_plus_calc_position;
else if (type == '-')
sk->calc_position = corexy_stepper_minus_calc_position;
return sk;
}