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kin_shaper: Add an init_shaper() helper function 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-08-30 11:58:45 -04:00
parent d28e148ddc
commit 08ddf25cf3
1 changed files with 22 additions and 26 deletions
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48
klippy/chelper/kin_shaper.c
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@ -218,6 +218,19 @@ static is_init_shaper_callback init_shaper_callbacks[] = {
[INPUT_SHAPER_3HUMP_EI] = &init_shaper_3hump_ei,
};
static void
init_shaper(int shaper_type, double shaper_freq, double damping_ratio
, struct shaper_pulses *sp)
{
if (shaper_type < 0 || shaper_type >= ARRAY_SIZE(init_shaper_callbacks)
|| shaper_freq <= 0.) {
sp->num_pulses = 0;
return;
}
init_shaper_callbacks[shaper_type](shaper_freq, damping_ratio, sp);
shift_pulses(sp);
}
/****************************************************************
* Generic position calculation via shaper convolution
@ -361,27 +374,14 @@ input_shaper_set_shaper_params(struct stepper_kinematics *sk
, double damping_ratio_y)
{
struct input_shaper *is = container_of(sk, struct input_shaper, sk);
if (shaper_type_x >= ARRAY_SIZE(init_shaper_callbacks) || shaper_type_x < 0)
return -1;
if (shaper_type_y >= ARRAY_SIZE(init_shaper_callbacks) || shaper_type_y < 0)
return -1;
int af = is->orig_sk->active_flags & (AF_X | AF_Y);
if ((af & AF_X) && shaper_freq_x > 0.) {
init_shaper_callbacks[shaper_type_x](
shaper_freq_x, damping_ratio_x, &is->sx);
shift_pulses(&is->sx);
} else {
if (is->orig_sk->active_flags & AF_X)
init_shaper(shaper_type_x, shaper_freq_x, damping_ratio_x, &is->sx);
else
is->sx.num_pulses = 0;
}
if ((af & AF_Y) && shaper_freq_y > 0.) {
init_shaper_callbacks[shaper_type_y](
shaper_freq_y, damping_ratio_y, &is->sy);
shift_pulses(&is->sy);
} else {
if (is->orig_sk->active_flags & AF_Y)
init_shaper(shaper_type_y, shaper_freq_y, damping_ratio_y, &is->sy);
else
is->sy.num_pulses = 0;
}
shaper_note_generation_time(is);
return 0;
}
@ -390,14 +390,10 @@ double __visible
input_shaper_get_step_generation_window(int shaper_type, double shaper_freq
, double damping_ratio)
{
if (shaper_freq <= 0.)
return 0.;
if (shaper_type >= ARRAY_SIZE(init_shaper_callbacks) || shaper_type < 0)
return 0.;
is_init_shaper_callback init_shaper_cb = init_shaper_callbacks[shaper_type];
struct shaper_pulses sp;
init_shaper_cb(shaper_freq, damping_ratio, &sp);
shift_pulses(&sp);
init_shaper(shaper_type, shaper_freq, damping_ratio, &sp);
if (!sp.num_pulses)
return 0.;
double window = -sp.pulses[0].t;
if (sp.pulses[sp.num_pulses-1].t > window)
window = sp.pulses[sp.num_pulses-1].t;