Commit Graph

34 Commits

Author SHA1 Message Date
Kevin O'Connor c6c360c4e1 serialqueue: Support notification of when a command is processed
Add ability for the host code to get a notification when the ack for a
command sent to the micro-controller is received.  This is in
preparation for improved detection of message loss between mcu and
host.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2020-02-20 12:01:21 -05:00
Kevin O'Connor d1972b1e9c itersolve: Add ability to query the active_flags state
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2020-01-23 20:47:01 -05:00
Kevin O'Connor ac863a95b6 rotary_delta: Initial support for rotary delta kinematics
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2020-01-06 11:52:42 -05:00
Kevin O'Connor e43ad4c953 itersolve: Export itersolve_calc_position_from_coord()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2020-01-06 11:49:41 -05:00
Kevin O'Connor 080ee0b512 kin_extruder: Apply pressure advance in kin_extruder.c
Implement the pressure advance calculations while performing the
definitive integral calculations.  This simplifies both the
extruder.py and kin_extruder.c code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-12-08 20:41:35 -05:00
Kevin O'Connor 6d0c55b6c1 extruder: Initial support for "smoothed pressure advance"
Support averaging the extruder position over a time range to "smooth
out" the velocity changes that occur during pressure advance.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-21 13:18:19 -05:00
Kevin O'Connor d39142139e stepper: Remove set_commanded_position() call
Now that the only caller to set_commanded_position() is
set_position(), remove the set_commanded_position() method and pass
the set_position() call directly to the itersolve.c code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-13 19:35:26 -05:00
Kevin O'Connor f63f68bbbb chelper: Report an error if the C host code does not compile
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-07 11:32:20 -05:00
Kevin O'Connor 86121ff79e toolhead: Calculate and store axes_r in move class
Calculate the ratio of axis distance to total move distance (axis_d /
move_d) and store in a new member variable axes_r.  This avoids
needing to recalculate the value in other code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 076a66f791 trapq: Use separate 'move' entries for accel, cruise, and decel phases
Only track a single acceleration movement in a 'struct move' instance.
Break the classic trapezoid movement (accel, cruise, decel) into three
separate movements.  This simplifies the calculation logic.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 1acaaa98c2 trapq: Remove move_fill()
Now that all callers use the trapq system to queue moves, it is no
longer necessary to individually allocate and fill a 'struct move'.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 797dcfcb12 itersolve: Remove unused gen_steps()
Eliminate the old gen_steps() call now that all callers have been
converted to the newer trapq based generate_steps().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor f3ef9c1889 itersolve: Add support for generating steps from a trapq
Support associating a stepper_kinematics with a trapq.  Support
generating steps from a time range on the given trapq.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor d3afe4f1d8 trapq: Initial support for building a queue of trapezoidal velocity moves
Add support for building a list of moves in the trapq.c code.  Update
the toolhead code so that moves generated from the look-ahead code are
added to that list.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor fdbdb3c707 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>
2019-11-06 15:51:51 -05:00
Kevin O'Connor c3fe3d0d2c stepcompress: Remove no longer needed stepcompress_set_homing()
Now that homing is implemented via "drip moves", it is no longer
necessary for the stepcompress code to have special homing logic.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-07-10 10:43:20 -04:00
Kevin O'Connor af882ee0fe chelper: Wrap code to 80 columns
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-02-27 13:20:57 -05:00
Kevin O'Connor 5dc74f3152 winch: Add experimental support for cable winch kinematics
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-12-24 11:38:59 -05:00
Kevin O'Connor ec9cb3a1b3 polar: Experimental support for polar kinematics
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-12-24 11:38:59 -05:00
lf e7498fa241 chelper: Add a quick __main__ to compile c helper (#782)
Signed-off-by: Lucas Fink <software@lfcode.ca>
2018-10-16 12:21:18 -04:00
Kevin O'Connor cb29143939 itersolve: Support calculating a stepper position from a cartesian coordinate
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-07-18 11:51:28 -04:00
Kevin O'Connor 890298d34d itersolve: Support setting the stepper position via a cartesian coordinate
Add support for an itersolve_set_position() function that sets a
stepper position from a cartesian coordinate.  This eliminates the
need for both the python and C code to be able to translate from a
cartesian coordinate to a stepper position.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-22 14:09:01 -04:00
Kevin O'Connor 926829e737 itersolve: Move tracking of commanded position to itersolve code
Track the commanded position in just the itersolve.c code instead of
in mcu.py.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Kevin O'Connor 8f747e2720 kin_cartesian: Remove stepcompress_push_const()
All the kinematic code now uses the iterative solver to generate
steps.  Remove the old stepcompress_push_const() mechanism.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Kevin O'Connor bbe53cf8e5 extruder: Convert to using iterative solver
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Kevin O'Connor fc4a9e7564 corexy: Convert corexy to use the iterative solver
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Kevin O'Connor ca0d0135dc delta: Convert delta kinematics to use iterative solver
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Kevin O'Connor 2511471b0d itersolve: Add kinematic iterative solver code
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Kevin O'Connor ba3428822d stepcompress: Allow stepcompress_alloc() to be called early
Don't require an mcu connection to allocate the stepcompress object.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Kevin O'Connor 9a2eb4bedd chelper: Move cartesian and delta kinematics code to their own C files
Move the cartesian and delta specific code to new files
kin_cartesian.c and kin_delta.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Kevin O'Connor 8a830ff0ce chelper: Compile with gcc -fwhole-program option
Use the -fwhole-program option when compiling the host C code.  This
makes it easier to support inlining across C files.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Kevin O'Connor d798fae20b serialqueue: Limit message transmission to available receive buffer size
If the mcu is using a traditional serial port, then only send a new
message block if there is space available in the mcu receive buffer.
This should make it significantly less likely that high load on the
mcu will result in retransmits.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-05-28 11:12:30 -04:00
cruwaller 7fd14848ca chelper: Fix hub-ctrl compilation
Signed-off-by: Petri Honkala <cruwaller@gmail.com>
2018-05-05 11:23:18 -04:00
Kevin O'Connor 15248706ae chelper: Move the host C code to a new klippy/chelper/ directory
Move the C code out of the main klippy/ directory and into its own
directory.  This reduces the clutter in the main klippy directory.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-04-30 11:44:53 -04:00