91 lines
2.6 KiB
C
91 lines
2.6 KiB
C
// Cartesian kinematics stepper pulse time generation
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//
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// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <stdlib.h> // malloc
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#include <string.h> // memset
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#include "compiler.h" // __visible
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#include "itersolve.h" // struct stepper_kinematics
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#include "pyhelper.h" // errorf
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#include "trapq.h" // move_get_coord
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static double
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cart_stepper_x_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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return move_get_coord(m, move_time).x;
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}
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static double
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cart_stepper_y_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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return move_get_coord(m, move_time).y;
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}
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static double
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cart_stepper_z_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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return move_get_coord(m, move_time).z;
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}
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struct stepper_kinematics * __visible
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cartesian_stepper_alloc(char axis)
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{
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struct stepper_kinematics *sk = malloc(sizeof(*sk));
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memset(sk, 0, sizeof(*sk));
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if (axis == 'x') {
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sk->calc_position_cb = cart_stepper_x_calc_position;
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sk->active_flags = AF_X;
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} else if (axis == 'y') {
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sk->calc_position_cb = cart_stepper_y_calc_position;
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sk->active_flags = AF_Y;
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} else if (axis == 'z') {
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sk->calc_position_cb = cart_stepper_z_calc_position;
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sk->active_flags = AF_Z;
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}
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return sk;
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}
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static double
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cart_reverse_stepper_x_calc_position(struct stepper_kinematics *sk
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, struct move *m, double move_time)
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{
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return -move_get_coord(m, move_time).x;
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}
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static double
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cart_reverse_stepper_y_calc_position(struct stepper_kinematics *sk
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, struct move *m, double move_time)
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{
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return -move_get_coord(m, move_time).y;
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}
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static double
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cart_reverse_stepper_z_calc_position(struct stepper_kinematics *sk
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, struct move *m, double move_time)
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{
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return -move_get_coord(m, move_time).z;
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}
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struct stepper_kinematics * __visible
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cartesian_reverse_stepper_alloc(char axis)
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{
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struct stepper_kinematics *sk = malloc(sizeof(*sk));
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memset(sk, 0, sizeof(*sk));
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if (axis == 'x') {
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sk->calc_position_cb = cart_reverse_stepper_x_calc_position;
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sk->active_flags = AF_X;
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} else if (axis == 'y') {
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sk->calc_position_cb = cart_reverse_stepper_y_calc_position;
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sk->active_flags = AF_Y;
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} else if (axis == 'z') {
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sk->calc_position_cb = cart_reverse_stepper_z_calc_position;
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sk->active_flags = AF_Z;
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}
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return sk;
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}
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