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motion_queuing: Automatically detect changes to kin_flush_delay

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Remove the toolhead note_step_generation_scan_time() code and
automatically detect the itersolve scan windows that are in use.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2023-11-29 01:04:28 -05:00
parent d1974c0d3d
commit 5426943501
10 changed files with 68 additions and 42 deletions
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7
klippy/chelper/__init__.py
View File

@@ -56,6 +56,8 @@ defs_stepcompress = """
, uint64_t start_clock, uint64_t end_clock);
void stepcompress_set_stepper_kinematics(struct stepcompress *sc
, struct stepper_kinematics *sk);
struct stepper_kinematics *stepcompress_get_stepper_kinematics(
struct stepcompress *sc);
"""
defs_steppersync = """
@@ -76,11 +78,14 @@ defs_itersolve = """
int32_t itersolve_is_active_axis(struct stepper_kinematics *sk, char axis);
void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq
, double step_dist);
struct trapq *itersolve_get_trapq(struct stepper_kinematics *sk);
double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
, double x, double y, double z);
void itersolve_set_position(struct stepper_kinematics *sk
, double x, double y, double z);
double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
double itersolve_get_gen_steps_pre_active(struct stepper_kinematics *sk);
double itersolve_get_gen_steps_post_active(struct stepper_kinematics *sk);
"""
defs_trapq = """
@@ -157,8 +162,6 @@ defs_kin_extruder = """
"""
defs_kin_shaper = """
double input_shaper_get_step_generation_window(
struct stepper_kinematics *sk);
int input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
, int n, double a[], double t[]);
int input_shaper_set_sk(struct stepper_kinematics *sk

18
klippy/chelper/itersolve.c
View File

@@ -248,6 +248,12 @@ itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq
sk->step_dist = step_dist;
}
struct trapq * __visible
itersolve_get_trapq(struct stepper_kinematics *sk)
{
return sk->tq;
}
double __visible
itersolve_calc_position_from_coord(struct stepper_kinematics *sk
, double x, double y, double z)
@@ -273,3 +279,15 @@ itersolve_get_commanded_pos(struct stepper_kinematics *sk)
{
return sk->commanded_pos;
}
double __visible
itersolve_get_gen_steps_pre_active(struct stepper_kinematics *sk)
{
return sk->gen_steps_pre_active;
}
double __visible
itersolve_get_gen_steps_post_active(struct stepper_kinematics *sk)
{
return sk->gen_steps_post_active;
}

3
klippy/chelper/itersolve.h
View File

@@ -31,10 +31,13 @@ double itersolve_check_active(struct stepper_kinematics *sk, double flush_time);
int32_t itersolve_is_active_axis(struct stepper_kinematics *sk, char axis);
void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq
, double step_dist);
struct trapq *itersolve_get_trapq(struct stepper_kinematics *sk);
double itersolve_calc_position_from_coord(struct stepper_kinematics *sk
, double x, double y, double z);
void itersolve_set_position(struct stepper_kinematics *sk
, double x, double y, double z);
double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
double itersolve_get_gen_steps_pre_active(struct stepper_kinematics *sk);
double itersolve_get_gen_steps_post_active(struct stepper_kinematics *sk);
#endif // itersolve.h

8
klippy/chelper/kin_shaper.c
View File

@@ -239,14 +239,6 @@ input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
return status;
}
double __visible
input_shaper_get_step_generation_window(struct stepper_kinematics *sk)
{
struct input_shaper *is = container_of(sk, struct input_shaper, sk);
return is->sk.gen_steps_pre_active > is->sk.gen_steps_post_active
? is->sk.gen_steps_pre_active : is->sk.gen_steps_post_active;
}
struct stepper_kinematics * __visible
input_shaper_alloc(void)
{

7
klippy/chelper/stepcompress.c
View File

@@ -674,6 +674,13 @@ stepcompress_set_stepper_kinematics(struct stepcompress *sc
sc->sk = sk;
}
// Report current stepper_kinematics
struct stepper_kinematics * __visible
stepcompress_get_stepper_kinematics(struct stepcompress *sc)
{
return sc->sk;
}
// Generate steps (via itersolve) and flush
int32_t
stepcompress_generate_steps(struct stepcompress *sc, double gen_steps_time

2
klippy/chelper/stepcompress.h
View File

@@ -41,6 +41,8 @@ int stepcompress_extract_old(struct stepcompress *sc
struct stepper_kinematics;
void stepcompress_set_stepper_kinematics(struct stepcompress *sc
, struct stepper_kinematics *sk);
struct stepper_kinematics *stepcompress_get_stepper_kinematics(
struct stepcompress *sc);
int32_t stepcompress_generate_steps(struct stepcompress *sc
, double gen_steps_time
, uint64_t flush_clock);