Commit Graph

30 Commits

Author SHA1 Message Date
Kevin O'Connor 92993c062b itersolve: Rename calc_position to calc_position_cb
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-11-06 15:51:51 -05:00
Kevin O'Connor 9945cc0f46 itersolve: Fix possible infinite loop in itersolve_gen_steps()
If the kinematic position calculation function had an error in it (if
it produces sudden position changes) then it could lead to an infinite
loop in itersolve_gen_steps().

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 e5f74a64ed polar: Add initial support for multiple bed rotations
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-06-28 10:00:40 -04:00
Kevin O'Connor adc4af2fc4 serialqueue: Wrap code to 80 columns
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-02-27 14:20:15 -05:00
Kevin O'Connor e4d52a19b8 stepcompress: Wrap code to 80 columns
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2019-02-27 14:20:15 -05:00
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 5632cf6d77 serialqueue: Increase receive message debug queue to 100 messages
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-09-02 12:16:13 -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 e1833e020a chelper: Use CLOCK_MONOTONIC_RAW
Switch the host code from the CLOCK_MONOTONIC clock to the Linux
specific CLOCK_MONOTONIC_RAW clock.  It's common for ntp to slew the
CLOCK_MONOTONIC clock to account for drift, and that can break the
host's ability to make accurate predictions of the micro-controller
clock.  This could lead to "move queue empty" errors.  The
CLOCK_MONOTONIC_RAW clock is not slewed and thus should not have this
problem.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-07-09 12:25:19 -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 189ebb4c7d chelper: Add compiler.h header
Add the compiler.h header file to the chelper code - this adds a
number of useful gcc definitions.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Michael Barbour a748cf39eb stepcompress: Fix comment typo.
Signed-off-by: Michael Barbour <barbour.michael.0@gmail.com>
2018-06-04 09:41:55 -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
Kevin O'Connor 75f8709947 command: Wait to send ack until after processing commands
Send the ack after processing commands - this gives the host code more
information on serial buffer utilization.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-05-28 10:43:40 -04:00
Kevin O'Connor 99b233df3f serialqueue: Fix batching of BACKGROUND_PRIORITY_CLOCK messages
In order to properly delay BACKGROUND_PRIORITY_CLOCK messages, they
must be 5ms beyond the minimum defined by MIN_REQTIME_DELTA.  So, add
both MIN_REQTIME_DELTA and MIN_BACKGROUND_DELTA to the timing of these
messages.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-05-05 20:59:33 -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