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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: Support extracting stepcompress history Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2021-07-19 21:51:05 +03:00
struct pull_history_steps {
uint64_t first_clock, last_clock;
int64_t start_position;
int step_count, interval, add;
};
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
extruder: Add support for reversing the direction of extruder stepper movement Extend SET_EXTRUDER_ROTATION_DISTANCE to support reversing the direction of extruder movement. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2022-01-30 03:13:31 +03:00
, int32_t queue_step_msgtag
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
, int32_t set_next_step_dir_msgtag);
extruder: Add support for reversing the direction of extruder stepper movement Extend SET_EXTRUDER_ROTATION_DISTANCE to support reversing the direction of extruder movement. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2022-01-30 03:13:31 +03:00
void stepcompress_set_invert_sdir(struct stepcompress *sc
, uint32_t invert_sdir);
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);
stepcompress: Pass clock to stepcompress_set_last_position() Using sc->last_step_clock for the last position marker does not work properly, because the stepper.py code calls stepcompress_reset() prior to calling stepcompress_set_last_position(). Fix by passing an explicit clock to stepcompress_set_last_position(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2021-08-06 16:56:06 +03:00
int stepcompress_set_last_position(struct stepcompress *sc, uint64_t clock
stepcompress: Add missing functions to stepcompress.h Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2021-06-12 06:12:16 +03:00
, int64_t last_position);
int64_t stepcompress_find_past_position(struct stepcompress *sc
, uint64_t clock);
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_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
stepcompress: Support extracting stepcompress history Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2021-07-19 21:51:05 +03:00
int stepcompress_extract_old(struct stepcompress *sc
, struct pull_history_steps *p, int max
, uint64_t start_clock, uint64_t end_clock);
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