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klipper/klippy/chelper/stepcompress.h

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chelper: Move cartesian and delta kinematics code to their own C files Move the cartesian and delta specific code to new files kin_cartesian.c and kin_delta.c. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-06 23:49:44 +03:00
#ifndef STEPCOMPRESS_H
#define STEPCOMPRESS_H
#include <stdint.h> // uint32_t
#define ERROR_RET -989898989
stepcompress: Allow stepcompress_alloc() to be called early Don't require an mcu connection to allocate the stepcompress object. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-09 00:02:20 +03:00
struct stepcompress *stepcompress_alloc(uint32_t oid);
void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
buildcommands: Extend number of available mcu messages from 96 to 128 Some internal code treats the message ids as encoded "variable length quantities", while other internal code assumes the message id is always one byte long. Continue using this scheme, but convert the VLQ users to use the name "msgtag" while the 1-byte users use "msgid". Increase the number of available msgids from 96 to 127 - the higher values get encoded as negative "msgtags". Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2021-02-05 00:33:03 +03:00
, uint32_t invert_sdir, int32_t queue_step_msgtag
, int32_t set_next_step_dir_msgtag);
chelper: Move cartesian and delta kinematics code to their own C files Move the cartesian and delta specific code to new files kin_cartesian.c and kin_delta.c. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-06 23:49:44 +03:00
void stepcompress_free(struct stepcompress *sc);
uint32_t stepcompress_get_oid(struct stepcompress *sc);
itersolve: Add kinematic iterative solver code Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-09 02:55:24 +03:00
int stepcompress_get_step_dir(struct stepcompress *sc);
stepcompress: Remove "queue append" abstraction The queue_append system predates the iterative solver - it was useful when many different kinematic functions directly added steps to the step compression queues. With the iterative solver being the only source of step generation, it is simpler to directly add steps from the iterative solver code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2020-02-25 05:59:39 +03:00
int stepcompress_append(struct stepcompress *sc, int sdir
, double print_time, double step_time);
stepcompress: Implement a step+dir+step filter Some stepper motor drivers do not respond well to rapid "step + direction change + step" events. In particular, it is believed this can cause "over current" events on the tmc2208 drivers when they are in "stealthchop" mode. Detect these events and remove them from the generated step times. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2020-02-25 20:54:55 +03:00
int stepcompress_commit(struct stepcompress *sc);
stepcompress: Move code around in stepcompress.c Just code movement - no code changes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2020-03-08 18:14:26 +03:00
int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
chelper: Move cartesian and delta kinematics code to their own C files Move the cartesian and delta specific code to new files kin_cartesian.c and kin_delta.c. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-06 23:49:44 +03:00
struct serialqueue;
struct steppersync *steppersync_alloc(
struct serialqueue *sq, struct stepcompress **sc_list, int sc_num
, int move_num);
void steppersync_free(struct steppersync *ss);
void steppersync_set_time(struct steppersync *ss, double time_offset
, double mcu_freq);
int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
#endif // stepcompress.h