mirror of https://github.com/Desuuuu/klipper.git
41 lines
1.2 KiB
C
41 lines
1.2 KiB
C
|
// CoreXZ kinematics stepper pulse time generation
|
||
|
|
//
|
||
|
|
// Copyright (C) 2020 Maks Zolin <mzolin@vorondesign.com>
|
||
|
|
//
|
||
|
|
// This file may be distributed under the terms of the GNU GPLv3 license.
|
||
|
|
|
||
|
|
#include <stdlib.h> // malloc
|
||
|
|
#include <string.h> // memset
|
||
|
|
#include "compiler.h" // __visible
|
||
|
|
#include "itersolve.h" // struct stepper_kinematics
|
||
|
|
#include "trapq.h" // move_get_coord
|
||
|
|
|
||
|
|
static double
|
||
|
|
corexz_stepper_plus_calc_position(struct stepper_kinematics *sk, struct move *m
|
||
|
|
, double move_time)
|
||
|
|
{
|
||
|
|
struct coord c = move_get_coord(m, move_time);
|
||
|
|
return c.x + c.z;
|
||
|
|
}
|
||
|
|
|
||
|
|
static double
|
||
|
|
corexz_stepper_minus_calc_position(struct stepper_kinematics *sk, struct move *m
|
||
|
|
, double move_time)
|
||
|
|
{
|
||
|
|
struct coord c = move_get_coord(m, move_time);
|
||
|
|
return c.x - c.z;
|
||
|
|
}
|
||
|
|
|
||
|
|
struct stepper_kinematics * __visible
|
||
|
|
corexz_stepper_alloc(char type)
|
||
|
|
{
|
||
|
|
struct stepper_kinematics *sk = malloc(sizeof(*sk));
|
||
|
|
memset(sk, 0, sizeof(*sk));
|
||
|
|
if (type == '+')
|
||
|
|
sk->calc_position_cb = corexz_stepper_plus_calc_position;
|
||
|
|
else if (type == '-')
|
||
|
|
sk->calc_position_cb = corexz_stepper_minus_calc_position;
|
||
|
|
sk->active_flags = AF_X | AF_Z;
|
||
|
|
return sk;
|
||
|
|
}
|