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extruder: Convert step generation to use trapq system 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-29 10:57:36 -04:00
parent 746b928c8b
commit 9845d0d103
2 changed files with 13 additions and 8 deletions
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4
klippy/chelper/kin_extruder.c
View File

@ -1,6 +1,6 @@
// Extruder stepper pulse time generation
//
// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
@ -24,6 +24,7 @@ extruder_stepper_alloc(void)
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
sk->calc_position_cb = extruder_calc_position;
sk->active_flags = AF_X;
return sk;
}
@ -52,4 +53,5 @@ extruder_move_fill(struct move *m, double print_time
// Setup start distance
m->start_pos.x = start_pos;
m->axes_r.x = 1.;
}

17
klippy/kinematics/extruder.py
View File

@ -1,6 +1,6 @@
# Code for handling printer nozzle extruders
#
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
@ -50,13 +50,18 @@ class PrinterExtruder:
'pressure_advance', 0., minval=0.)
self.pressure_advance_lookahead_time = config.getfloat(
'pressure_advance_lookahead_time', 0.010, minval=0.)
self.need_motor_enable = True
self.extrude_pos = 0.
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.extruder_move_fill = ffi_lib.extruder_move_fill
self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapq_add_move = ffi_lib.trapq_add_move
self.trapq_free_moves = ffi_lib.trapq_free_moves
self.stepper.setup_itersolve('extruder_stepper_alloc')
self.stepper.set_trapq(self.trapq)
toolhead.register_move_handler(self.stepper.generate_steps)
toolhead.register_move_handler(self._free_moves)
# Setup SET_PRESSURE_ADVANCE command
gcode = self.printer.lookup_object('gcode')
if self.name in ('extruder', 'extruder0'):
@ -66,6 +71,8 @@ class PrinterExtruder:
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER",
self.name, self.cmd_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
def _free_moves(self, flush_time):
self.trapq_free_moves(self.trapq, flush_time)
def get_status(self, eventtime):
return dict(
self.get_heater().get_status(eventtime),
@ -84,7 +91,6 @@ class PrinterExtruder:
return self.heater.stats(eventtime)
def motor_off(self, print_time):
self.stepper.motor_enable(print_time, 0)
self.need_motor_enable = True
def check_move(self, move):
move.extrude_r = move.axes_d[3] / move.move_d
move.extrude_max_corner_v = 0.
@ -167,9 +173,6 @@ class PrinterExtruder:
move.extrude_max_corner_v = max_corner_v
return flush_count
def move(self, print_time, move):
if self.need_motor_enable:
self.stepper.motor_enable(print_time, 1)
self.need_motor_enable = False
axis_d = move.axes_d[3]
axis_r = axis_d / move.move_d
accel = move.accel * axis_r
@ -205,7 +208,7 @@ class PrinterExtruder:
self.extruder_move_fill(
self.cmove, print_time, accel_t, cruise_t, decel_t, start_pos,
start_v, cruise_v, accel, extra_accel_v, extra_decel_v)
self.stepper.step_itersolve(self.cmove)
self.trapq_add_move(self.trapq, self.cmove)
self.extrude_pos = start_pos + axis_d
cmd_SET_PRESSURE_ADVANCE_help = "Set pressure advance parameters"
def cmd_default_SET_PRESSURE_ADVANCE(self, params):