trapq: Add new trapq.c file with code for trapezoidal velocity handling

Move the "struct move" code from itersolve.c to new file trapq.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/chelper/__init__.py

@@ -15,13 +15,14 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
                " -flto -fwhole-program -fno-use-linker-plugin"
                " -o %s %s")
 SOURCE_FILES = [
-    'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c',
+    'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
     'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c',
     'kin_winch.c', 'kin_extruder.c',
 ]
 DEST_LIB = "c_helper.so"
 OTHER_FILES = [
-    'list.h', 'serialqueue.h', 'stepcompress.h', 'itersolve.h', 'pyhelper.h'
+    'list.h', 'serialqueue.h', 'stepcompress.h', 'itersolve.h', 'pyhelper.h',
+    'trapq.h',
 ]
 
 defs_stepcompress = """
@@ -43,12 +44,6 @@ defs_stepcompress = """
 """
 
 defs_itersolve = """
-    struct move *move_alloc(void);
-    void move_fill(struct move *m, double print_time
-        , double accel_t, double cruise_t, double decel_t
-        , double start_pos_x, double start_pos_y, double start_pos_z
-        , double axes_d_x, double axes_d_y, double axes_d_z
-        , double start_v, double cruise_v, double accel);
     int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
     void itersolve_set_stepcompress(struct stepper_kinematics *sk
         , struct stepcompress *sc, double step_dist);
@@ -58,6 +53,15 @@ defs_itersolve = """
     double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
 """
 
+defs_trapq = """
+    struct move *move_alloc(void);
+    void move_fill(struct move *m, double print_time
+        , double accel_t, double cruise_t, double decel_t
+        , double start_pos_x, double start_pos_y, double start_pos_z
+        , double axes_d_x, double axes_d_y, double axes_d_z
+        , double start_v, double cruise_v, double accel);
+"""
+
 defs_kin_cartesian = """
     struct stepper_kinematics *cartesian_stepper_alloc(char axis);
 """
@@ -127,7 +131,7 @@ defs_std = """
 
 defs_all = [
     defs_pyhelper, defs_serialqueue, defs_std,
-    defs_stepcompress, defs_itersolve,
+    defs_stepcompress, defs_itersolve, defs_trapq,
     defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar,
     defs_kin_winch, defs_kin_extruder
 ]

klippy/chelper/itersolve.c

@@ -4,99 +4,13 @@
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
-#include <math.h> // sqrt
+#include <math.h> // fabs
-#include <stdlib.h> // malloc
 #include <string.h> // memset
 #include "compiler.h" // __visible
-#include "itersolve.h" // struct coord
+#include "itersolve.h" // itersolve_gen_steps
 #include "pyhelper.h" // errorf
 #include "stepcompress.h" // queue_append_start
-
+#include "trapq.h" // struct move
-
-/****************************************************************
- * Kinematic moves
- ****************************************************************/
-
-struct move * __visible
-move_alloc(void)
-{
-    struct move *m = malloc(sizeof(*m));
-    memset(m, 0, sizeof(*m));
-    return m;
-}
-
-// Populate a 'struct move' with a velocity trapezoid
-void __visible
-move_fill(struct move *m, double print_time
-          , double accel_t, double cruise_t, double decel_t
-          , double start_pos_x, double start_pos_y, double start_pos_z
-          , double axes_d_x, double axes_d_y, double axes_d_z
-          , double start_v, double cruise_v, double accel)
-{
-    // Setup velocity trapezoid
-    m->print_time = print_time;
-    m->move_t = accel_t + cruise_t + decel_t;
-    m->accel_t = accel_t;
-    m->cruise_t = cruise_t;
-    m->cruise_start_d = accel_t * .5 * (cruise_v + start_v);
-    m->decel_start_d = m->cruise_start_d + cruise_t * cruise_v;
-
-    // Setup for accel/cruise/decel phases
-    m->cruise_v = cruise_v;
-    m->accel.c1 = start_v;
-    m->accel.c2 = .5 * accel;
-    m->decel.c1 = cruise_v;
-    m->decel.c2 = -m->accel.c2;
-
-    // Setup for move_get_coord()
-    m->start_pos.x = start_pos_x;
-    m->start_pos.y = start_pos_y;
-    m->start_pos.z = start_pos_z;
-    double inv_move_d = 1. / sqrt(axes_d_x*axes_d_x + axes_d_y*axes_d_y
-                                  + axes_d_z*axes_d_z);
-    m->axes_r.x = axes_d_x * inv_move_d;
-    m->axes_r.y = axes_d_y * inv_move_d;
-    m->axes_r.z = axes_d_z * inv_move_d;
-}
-
-// Find the distance travel during acceleration/deceleration
-static inline double
-move_eval_accel(struct move_accel *ma, double move_time)
-{
-    return (ma->c1 + ma->c2 * move_time) * move_time;
-}
-
-// Return the distance moved given a time in a move
-inline double
-move_get_distance(struct move *m, double move_time)
-{
-    if (unlikely(move_time < m->accel_t))
-        // Acceleration phase of move
-        return move_eval_accel(&m->accel, move_time);
-    move_time -= m->accel_t;
-    if (likely(move_time <= m->cruise_t))
-        // Cruising phase
-        return m->cruise_start_d + m->cruise_v * move_time;
-    // Deceleration phase
-    move_time -= m->cruise_t;
-    return m->decel_start_d + move_eval_accel(&m->decel, move_time);
-}
-
-// Return the XYZ coordinates given a time in a move
-inline struct coord
-move_get_coord(struct move *m, double move_time)
-{
-    double move_dist = move_get_distance(m, move_time);
-    return (struct coord) {
-        .x = m->start_pos.x + m->axes_r.x * move_dist,
-        .y = m->start_pos.y + m->axes_r.y * move_dist,
-        .z = m->start_pos.z + m->axes_r.z * move_dist };
-}
-
-
-/****************************************************************
- * Iterative solver
- ****************************************************************/
 
 struct timepos {
     double time, position;

klippy/chelper/itersolve.h

@@ -1,35 +1,10 @@
 #ifndef ITERSOLVE_H
 #define ITERSOLVE_H
 
-#include <stdint.h> // uint32_t
+#include <stdint.h> // int32_t
-
-struct coord {
-    double x, y, z;
-};
-
-struct move_accel {
-    double c1, c2;
-};
-
-struct move {
-    double print_time, move_t;
-    double accel_t, cruise_t;
-    double cruise_start_d, decel_start_d;
-    double cruise_v;
-    struct move_accel accel, decel;
-    struct coord start_pos, axes_r;
-};
-
-struct move *move_alloc(void);
-void move_fill(struct move *m, double print_time
-               , double accel_t, double cruise_t, double decel_t
-               , double start_pos_x, double start_pos_y, double start_pos_z
-               , double axes_d_x, double axes_d_y, double axes_d_z
-               , double start_v, double cruise_v, double accel);
-double move_get_distance(struct move *m, double move_time);
-struct coord move_get_coord(struct move *m, double move_time);
 
 struct stepper_kinematics;
+struct move;
 typedef double (*sk_calc_callback)(struct stepper_kinematics *sk, struct move *m
                                    , double move_time);
 typedef void (*sk_post_callback)(struct stepper_kinematics *sk);

klippy/chelper/kin_cartesian.c

@@ -7,8 +7,9 @@
 #include <stdlib.h> // malloc
 #include <string.h> // memset
 #include "compiler.h" // __visible
-#include "itersolve.h" // move_get_coord
+#include "itersolve.h" // struct stepper_kinematics
 #include "pyhelper.h" // errorf
+#include "trapq.h" // move_get_coord
 
 static double
 cart_stepper_x_calc_position(struct stepper_kinematics *sk, struct move *m

klippy/chelper/kin_corexy.c

@@ -8,6 +8,7 @@
 #include <string.h> // memset
 #include "compiler.h" // __visible
 #include "itersolve.h" // struct stepper_kinematics
+#include "trapq.h" // move_get_coord
 
 static double
 corexy_stepper_plus_calc_position(struct stepper_kinematics *sk, struct move *m

klippy/chelper/kin_delta.c

@@ -10,6 +10,7 @@
 #include <string.h> // memset
 #include "compiler.h" // __visible
 #include "itersolve.h" // struct stepper_kinematics
+#include "trapq.h" // move_get_coord
 
 struct delta_stepper {
     struct stepper_kinematics sk;

klippy/chelper/kin_extruder.c

@@ -9,6 +9,7 @@
 #include "compiler.h" // __visible
 #include "itersolve.h" // struct stepper_kinematics
 #include "pyhelper.h" // errorf
+#include "trapq.h" // move_get_distance
 
 static double
 extruder_calc_position(struct stepper_kinematics *sk, struct move *m

klippy/chelper/kin_polar.c

@@ -9,6 +9,7 @@
 #include <string.h> // memset
 #include "compiler.h" // __visible
 #include "itersolve.h" // struct stepper_kinematics
+#include "trapq.h" // move_get_coord
 
 static double
 polar_stepper_radius_calc_position(struct stepper_kinematics *sk, struct move *m

klippy/chelper/kin_winch.c

@@ -10,6 +10,7 @@
 #include <string.h> // memset
 #include "compiler.h" // __visible
 #include "itersolve.h" // struct stepper_kinematics
+#include "trapq.h" // move_get_coord
 
 struct winch_stepper {
     struct stepper_kinematics sk;

klippy/chelper/trapq.c

@@ -0,0 +1,87 @@
+// Trapezoidal velocity movement queue
+//
+// Copyright (C) 2018-2019  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include <math.h> // sqrt
+#include <stdlib.h> // malloc
+#include <string.h> // memset
+#include "compiler.h" // unlikely
+#include "trapq.h" // move_get_coord
+
+struct move * __visible
+move_alloc(void)
+{
+    struct move *m = malloc(sizeof(*m));
+    memset(m, 0, sizeof(*m));
+    return m;
+}
+
+// Populate a 'struct move' with a velocity trapezoid
+void __visible
+move_fill(struct move *m, double print_time
+          , double accel_t, double cruise_t, double decel_t
+          , double start_pos_x, double start_pos_y, double start_pos_z
+          , double axes_d_x, double axes_d_y, double axes_d_z
+          , double start_v, double cruise_v, double accel)
+{
+    // Setup velocity trapezoid
+    m->print_time = print_time;
+    m->move_t = accel_t + cruise_t + decel_t;
+    m->accel_t = accel_t;
+    m->cruise_t = cruise_t;
+    m->cruise_start_d = accel_t * .5 * (cruise_v + start_v);
+    m->decel_start_d = m->cruise_start_d + cruise_t * cruise_v;
+
+    // Setup for accel/cruise/decel phases
+    m->cruise_v = cruise_v;
+    m->accel.c1 = start_v;
+    m->accel.c2 = .5 * accel;
+    m->decel.c1 = cruise_v;
+    m->decel.c2 = -m->accel.c2;
+
+    // Setup for move_get_coord()
+    m->start_pos.x = start_pos_x;
+    m->start_pos.y = start_pos_y;
+    m->start_pos.z = start_pos_z;
+    double inv_move_d = 1. / sqrt(axes_d_x*axes_d_x + axes_d_y*axes_d_y
+                                  + axes_d_z*axes_d_z);
+    m->axes_r.x = axes_d_x * inv_move_d;
+    m->axes_r.y = axes_d_y * inv_move_d;
+    m->axes_r.z = axes_d_z * inv_move_d;
+}
+
+// Find the distance travel during acceleration/deceleration
+static inline double
+move_eval_accel(struct move_accel *ma, double move_time)
+{
+    return (ma->c1 + ma->c2 * move_time) * move_time;
+}
+
+// Return the distance moved given a time in a move
+inline double
+move_get_distance(struct move *m, double move_time)
+{
+    if (unlikely(move_time < m->accel_t))
+        // Acceleration phase of move
+        return move_eval_accel(&m->accel, move_time);
+    move_time -= m->accel_t;
+    if (likely(move_time <= m->cruise_t))
+        // Cruising phase
+        return m->cruise_start_d + m->cruise_v * move_time;
+    // Deceleration phase
+    move_time -= m->cruise_t;
+    return m->decel_start_d + move_eval_accel(&m->decel, move_time);
+}
+
+// Return the XYZ coordinates given a time in a move
+inline struct coord
+move_get_coord(struct move *m, double move_time)
+{
+    double move_dist = move_get_distance(m, move_time);
+    return (struct coord) {
+        .x = m->start_pos.x + m->axes_r.x * move_dist,
+        .y = m->start_pos.y + m->axes_r.y * move_dist,
+        .z = m->start_pos.z + m->axes_r.z * move_dist };
+}

klippy/chelper/trapq.h

@@ -0,0 +1,30 @@
+#ifndef TRAPQ_H
+#define TRAPQ_H
+
+struct coord {
+    double x, y, z;
+};
+
+struct move_accel {
+    double c1, c2;
+};
+
+struct move {
+    double print_time, move_t;
+    double accel_t, cruise_t;
+    double cruise_start_d, decel_start_d;
+    double cruise_v;
+    struct move_accel accel, decel;
+    struct coord start_pos, axes_r;
+};
+
+struct move *move_alloc(void);
+void move_fill(struct move *m, double print_time
+               , double accel_t, double cruise_t, double decel_t
+               , double start_pos_x, double start_pos_y, double start_pos_z
+               , double axes_d_x, double axes_d_y, double axes_d_z
+               , double start_v, double cruise_v, double accel);
+double move_get_distance(struct move *m, double move_time);
+struct coord move_get_coord(struct move *m, double move_time);
+
+#endif // trapq.h