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input_shaper: Track kinematics updates by dual_carriage

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2025-05-23 01:44:47 +02:00
committed by KevinOConnor
parent 14cbb8dd2d
commit 4d4b9684a5
5 changed files with 95 additions and 38 deletions
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1
klippy/chelper/__init__.py
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@@ -160,6 +160,7 @@ defs_kin_shaper = """
, int n, double a[], double t[]);
int input_shaper_set_sk(struct stepper_kinematics *sk
, struct stepper_kinematics *orig_sk);
void input_shaper_update_sk(struct stepper_kinematics *sk);
struct stepper_kinematics * input_shaper_alloc(void);
"""

50
klippy/chelper/kin_shaper.c
View File

@@ -166,6 +166,38 @@ shaper_commanded_pos_post_fixup(struct stepper_kinematics *sk)
sk->commanded_pos = is->orig_sk->commanded_pos;
}
static void
shaper_note_generation_time(struct input_shaper *is)
{
double pre_active = 0., post_active = 0.;
if ((is->sk.active_flags & AF_X) && is->sx.num_pulses) {
pre_active = is->sx.pulses[is->sx.num_pulses-1].t;
post_active = -is->sx.pulses[0].t;
}
if ((is->sk.active_flags & AF_Y) && is->sy.num_pulses) {
pre_active = is->sy.pulses[is->sy.num_pulses-1].t > pre_active
? is->sy.pulses[is->sy.num_pulses-1].t : pre_active;
post_active = -is->sy.pulses[0].t > post_active
? -is->sy.pulses[0].t : post_active;
}
is->sk.gen_steps_pre_active = pre_active;
is->sk.gen_steps_post_active = post_active;
}
void __visible
input_shaper_update_sk(struct stepper_kinematics *sk)
{
struct input_shaper *is = container_of(sk, struct input_shaper, sk);
if ((is->orig_sk->active_flags & (AF_X | AF_Y)) == (AF_X | AF_Y))
is->sk.calc_position_cb = shaper_xy_calc_position;
else if (is->orig_sk->active_flags & AF_X)
is->sk.calc_position_cb = shaper_x_calc_position;
else if (is->orig_sk->active_flags & AF_Y)
is->sk.calc_position_cb = shaper_y_calc_position;
is->sk.active_flags = is->orig_sk->active_flags;
shaper_note_generation_time(is);
}
int __visible
input_shaper_set_sk(struct stepper_kinematics *sk
, struct stepper_kinematics *orig_sk)
@@ -190,24 +222,6 @@ input_shaper_set_sk(struct stepper_kinematics *sk
return 0;
}
static void
shaper_note_generation_time(struct input_shaper *is)
{
double pre_active = 0., post_active = 0.;
if ((is->sk.active_flags & AF_X) && is->sx.num_pulses) {
pre_active = is->sx.pulses[is->sx.num_pulses-1].t;
post_active = -is->sx.pulses[0].t;
}
if ((is->sk.active_flags & AF_Y) && is->sy.num_pulses) {
pre_active = is->sy.pulses[is->sy.num_pulses-1].t > pre_active
? is->sy.pulses[is->sy.num_pulses-1].t : pre_active;
post_active = -is->sy.pulses[0].t > post_active
? -is->sy.pulses[0].t : post_active;
}
is->sk.gen_steps_pre_active = pre_active;
is->sk.gen_steps_post_active = post_active;
}
int __visible
input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
, int n, double a[], double t[])