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63 Commits

Author SHA1 Message Date
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