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itersolve: Support step generation in lead up to and after stepper activity 

Add support for generating steps from kinematic functions that
calculate step times based on a range of the motion queue.  It
requires scanning for step generation during the lead up to stepper
activity (when the stepper would nominally be idle).  And it requires
scanning for step generation just after a stepper has nominally become
idle.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-11-01 22:21:30 -04:00
parent 4dbe795ac2
commit 56cd39f038
2 changed files with 28 additions and 6 deletions
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31
klippy/chelper/itersolve.c
View File

@ -150,21 +150,41 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time)
struct move *m = list_first_entry(&sk->tq->moves, struct move, node); struct move *m = list_first_entry(&sk->tq->moves, struct move, node);
while (last_flush_time >= m->print_time + m->move_t) while (last_flush_time >= m->print_time + m->move_t)
m = list_next_entry(m, node); m = list_next_entry(m, node);
double force_steps_time = sk->last_move_time + sk->scan_past;
for (;;) { for (;;) {
if (last_flush_time >= flush_time)
return 0;
double start = m->print_time, end = start + m->move_t; double start = m->print_time, end = start + m->move_t;
if (start < last_flush_time) if (start < last_flush_time)
start = last_flush_time; start = last_flush_time;
if (start >= flush_time)
return 0;
if (end > flush_time) if (end > flush_time)
end = flush_time; end = flush_time;
if (check_active(sk, m)) { if (check_active(sk, m)) {
if (sk->scan_future && start > last_flush_time) {
// Must generate steps leading up to stepper activity
force_steps_time = start;
if (last_flush_time < start - sk->scan_future)
last_flush_time = start - sk->scan_future;
while (m->print_time > last_flush_time)
m = list_prev_entry(m, node);
continue;
}
// Generate steps for this move
int32_t ret = itersolve_gen_steps_range(sk, m, start, end); int32_t ret = itersolve_gen_steps_range(sk, m, start, end);
if (ret) if (ret)
return ret; return ret;
sk->last_move_time = last_flush_time = end;
force_steps_time = end + sk->scan_past;
} else if (start < force_steps_time) {
// Must generates steps just past stepper activity
if (end > force_steps_time)
end = force_steps_time;
int32_t ret = itersolve_gen_steps_range(sk, m, start, end);
if (ret)
return ret;
last_flush_time = end;
} }
last_flush_time = end; if (flush_time + sk->scan_future <= m->print_time + m->move_t)
if (flush_time <= m->print_time + m->move_t)
return 0; return 0;
m = list_next_entry(m, node); m = list_next_entry(m, node);
} }
@ -212,7 +232,8 @@ itersolve_calc_position_from_coord(struct stepper_kinematics *sk
m.start_pos.x = x; m.start_pos.x = x;
m.start_pos.y = y; m.start_pos.y = y;
m.start_pos.z = z; m.start_pos.z = z;
return sk->calc_position_cb(sk, &m, 0.); m.move_t = 1000.;
return sk->calc_position_cb(sk, &m, 500.);
} }
void __visible void __visible

3
klippy/chelper/itersolve.h
View File

@ -16,7 +16,8 @@ struct stepper_kinematics {
double step_dist, commanded_pos; double step_dist, commanded_pos;
struct stepcompress *sc; struct stepcompress *sc;
double last_flush_time; double last_flush_time, last_move_time;
double scan_past, scan_future;
struct trapq *tq; struct trapq *tq;
int active_flags; int active_flags;