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stepcompress: Move stepcompress_push_* functions to their own section 

This is only code movement; no code changes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-04 19:37:54 -04:00
parent bfad970e4d
commit 47f12f107d
2 changed files with 62 additions and 56 deletions
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7
klippy/chelper.py
View File

@ -16,6 +16,10 @@ defs_stepcompress = """
, uint32_t queue_step_msgid, uint32_t set_next_step_dir_msgid
, uint32_t invert_sdir, uint32_t oid);
void stepcompress_free(struct stepcompress *sc);
int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock);
int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
int stepcompress_push(struct stepcompress *sc, double step_clock
, int32_t sdir);
int32_t stepcompress_push_factor(struct stepcompress *sc
@ -32,9 +36,6 @@ defs_stepcompress = """
, double clock_offset, double dist, double start_pos
, double accel_multiplier, double step_dist, double height
, double closestxy_d, double closest_height2, double movez_r);
int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock);
int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
struct steppersync *steppersync_alloc(struct serialqueue *sq
, struct stepcompress **sc_list, int sc_num, int move_num);

111
klippy/stepcompress.c
View File

@ -275,22 +275,6 @@ check_line(struct stepcompress *sc, struct step_move move)
* Step compress interface
****************************************************************/
#define likely(x) __builtin_expect(!!(x), 1)
// Wrapper around sqrt() to handle small negative numbers
static double
_safe_sqrt(double v)
{
// Due to floating point truncation, it's possible to get a small
// negative number - treat it as zero.
if (v < -0.001)
errorf("safe_sqrt of %.9f", v);
return 0.;
}
static inline double safe_sqrt(double v) {
return likely(v >= 0.) ? sqrt(v) : _safe_sqrt(v);
}
// Allocate a new 'stepcompress' object
struct stepcompress *
stepcompress_alloc(uint32_t max_error, uint32_t queue_step_msgid
@ -378,6 +362,8 @@ set_next_step_dir(struct stepcompress *sc, int sdir)
return 0;
}
#define likely(x) __builtin_expect(!!(x), 1)
// Check if the internal queue needs to be expanded, and expand if so
static int
_check_expand(struct stepcompress *sc, uint64_t *qn)
@ -405,6 +391,62 @@ check_expand(struct stepcompress *sc, uint64_t **pqn, uint64_t **pqend)
return 0;
}
// Reset the internal state of the stepcompress object
int
stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock)
{
int ret = stepcompress_flush(sc, UINT64_MAX);
if (ret)
return ret;
sc->last_step_clock = last_step_clock;
sc->sdir = -1;
return 0;
}
// Indicate the stepper is in homing mode (or done homing if zero)
int
stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock)
{
int ret = stepcompress_flush(sc, UINT64_MAX);
if (ret)
return ret;
sc->homing_clock = homing_clock;
return 0;
}
// Queue an mcu command to go out in order with stepper commands
int
stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len)
{
int ret = stepcompress_flush(sc, UINT64_MAX);
if (ret)
return ret;
struct queue_message *qm = message_alloc_and_encode(data, len);
qm->req_clock = sc->homing_clock ?: sc->last_step_clock;
list_add_tail(&qm->node, &sc->msg_queue);
return 0;
}
/****************************************************************
* Motion to step conversions
****************************************************************/
// Wrapper around sqrt() to handle small negative numbers
static double
_safe_sqrt(double v)
{
// Due to floating point truncation, it's possible to get a small
// negative number - treat it as zero.
if (v < -0.001)
errorf("safe_sqrt of %.9f", v);
return 0.;
}
static inline double safe_sqrt(double v) {
return likely(v >= 0.) ? sqrt(v) : _safe_sqrt(v);
}
// Schedule a step event at the specified step_clock time
int
stepcompress_push(struct stepcompress *sc, double step_clock, int32_t sdir)
@ -625,43 +667,6 @@ stepcompress_push_delta_accel(
return res;
}
// Reset the internal state of the stepcompress object
int
stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock)
{
int ret = stepcompress_flush(sc, UINT64_MAX);
if (ret)
return ret;
sc->last_step_clock = last_step_clock;
sc->sdir = -1;
return 0;
}
// Indicate the stepper is in homing mode (or done homing if zero)
int
stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock)
{
int ret = stepcompress_flush(sc, UINT64_MAX);
if (ret)
return ret;
sc->homing_clock = homing_clock;
return 0;
}
// Queue an mcu command to go out in order with stepper commands
int
stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len)
{
int ret = stepcompress_flush(sc, UINT64_MAX);
if (ret)
return ret;
struct queue_message *qm = message_alloc_and_encode(data, len);
qm->req_clock = sc->homing_clock ?: sc->last_step_clock;
list_add_tail(&qm->node, &sc->msg_queue);
return 0;
}
/****************************************************************
* Step compress synchronization