From 9845d0d103ac70306086ce6b4588532084bd9ae9 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Tue, 29 Oct 2019 10:57:36 -0400 Subject: [PATCH] extruder: Convert step generation to use trapq system Signed-off-by: Kevin O'Connor --- klippy/chelper/kin_extruder.c | 4 +++- klippy/kinematics/extruder.py | 17 ++++++++++------- 2 files changed, 13 insertions(+), 8 deletions(-) diff --git a/klippy/chelper/kin_extruder.c b/klippy/chelper/kin_extruder.c index dd2d27d6..26513092 100644 --- a/klippy/chelper/kin_extruder.c +++ b/klippy/chelper/kin_extruder.c @@ -1,6 +1,6 @@ // Extruder stepper pulse time generation // -// Copyright (C) 2018 Kevin O'Connor +// Copyright (C) 2018-2019 Kevin O'Connor // // This file may be distributed under the terms of the GNU GPLv3 license. @@ -24,6 +24,7 @@ extruder_stepper_alloc(void) struct stepper_kinematics *sk = malloc(sizeof(*sk)); memset(sk, 0, sizeof(*sk)); sk->calc_position_cb = extruder_calc_position; + sk->active_flags = AF_X; return sk; } @@ -52,4 +53,5 @@ extruder_move_fill(struct move *m, double print_time // Setup start distance m->start_pos.x = start_pos; + m->axes_r.x = 1.; } diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py index 11d00703..a9215688 100644 --- a/klippy/kinematics/extruder.py +++ b/klippy/kinematics/extruder.py @@ -1,6 +1,6 @@ # Code for handling printer nozzle extruders # -# Copyright (C) 2016-2018 Kevin O'Connor +# Copyright (C) 2016-2019 Kevin O'Connor # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging @@ -50,13 +50,18 @@ class PrinterExtruder: 'pressure_advance', 0., minval=0.) self.pressure_advance_lookahead_time = config.getfloat( 'pressure_advance_lookahead_time', 0.010, minval=0.) - self.need_motor_enable = True self.extrude_pos = 0. # Setup iterative solver ffi_main, ffi_lib = chelper.get_ffi() self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free) self.extruder_move_fill = ffi_lib.extruder_move_fill + self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free) + self.trapq_add_move = ffi_lib.trapq_add_move + self.trapq_free_moves = ffi_lib.trapq_free_moves self.stepper.setup_itersolve('extruder_stepper_alloc') + self.stepper.set_trapq(self.trapq) + toolhead.register_move_handler(self.stepper.generate_steps) + toolhead.register_move_handler(self._free_moves) # Setup SET_PRESSURE_ADVANCE command gcode = self.printer.lookup_object('gcode') if self.name in ('extruder', 'extruder0'): @@ -66,6 +71,8 @@ class PrinterExtruder: gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER", self.name, self.cmd_SET_PRESSURE_ADVANCE, desc=self.cmd_SET_PRESSURE_ADVANCE_help) + def _free_moves(self, flush_time): + self.trapq_free_moves(self.trapq, flush_time) def get_status(self, eventtime): return dict( self.get_heater().get_status(eventtime), @@ -84,7 +91,6 @@ class PrinterExtruder: return self.heater.stats(eventtime) def motor_off(self, print_time): self.stepper.motor_enable(print_time, 0) - self.need_motor_enable = True def check_move(self, move): move.extrude_r = move.axes_d[3] / move.move_d move.extrude_max_corner_v = 0. @@ -167,9 +173,6 @@ class PrinterExtruder: move.extrude_max_corner_v = max_corner_v return flush_count def move(self, print_time, move): - if self.need_motor_enable: - self.stepper.motor_enable(print_time, 1) - self.need_motor_enable = False axis_d = move.axes_d[3] axis_r = axis_d / move.move_d accel = move.accel * axis_r @@ -205,7 +208,7 @@ class PrinterExtruder: self.extruder_move_fill( self.cmove, print_time, accel_t, cruise_t, decel_t, start_pos, start_v, cruise_v, accel, extra_accel_v, extra_decel_v) - self.stepper.step_itersolve(self.cmove) + self.trapq_add_move(self.trapq, self.cmove) self.extrude_pos = start_pos + axis_d cmd_SET_PRESSURE_ADVANCE_help = "Set pressure advance parameters" def cmd_default_SET_PRESSURE_ADVANCE(self, params):