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input_shaper: Fix for polar kinematics

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Forward post_cb calls from itersolve to the original kinematics.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2025-03-02 01:45:57 +01:00
committed by KevinOConnor
parent fbd5b49215
commit 47aa28e530
1 changed files with 13 additions and 0 deletions
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13
klippy/chelper/kin_shaper.c
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@@ -156,6 +156,16 @@ shaper_xy_calc_position(struct stepper_kinematics *sk, struct move *m
return is->orig_sk->calc_position_cb(is->orig_sk, &is->m, DUMMY_T); return is->orig_sk->calc_position_cb(is->orig_sk, &is->m, DUMMY_T);
} }
// A callback that forwards post_cb call to the original kinematics
static void
shaper_commanded_pos_post_fixup(struct stepper_kinematics *sk)
{
struct input_shaper *is = container_of(sk, struct input_shaper, sk);
is->orig_sk->commanded_pos = sk->commanded_pos;
is->orig_sk->post_cb(is->orig_sk);
sk->commanded_pos = is->orig_sk->commanded_pos;
}
int __visible int __visible
input_shaper_set_sk(struct stepper_kinematics *sk input_shaper_set_sk(struct stepper_kinematics *sk
, struct stepper_kinematics *orig_sk) , struct stepper_kinematics *orig_sk)
@@ -174,6 +184,9 @@ input_shaper_set_sk(struct stepper_kinematics *sk
is->sk.commanded_pos = orig_sk->commanded_pos; is->sk.commanded_pos = orig_sk->commanded_pos;
is->sk.last_flush_time = orig_sk->last_flush_time; is->sk.last_flush_time = orig_sk->last_flush_time;
is->sk.last_move_time = orig_sk->last_move_time; is->sk.last_move_time = orig_sk->last_move_time;
if (orig_sk->post_cb) {
is->sk.post_cb = shaper_commanded_pos_post_fixup;
}
return 0; return 0;
} }