mirror of https://github.com/Desuuuu/klipper.git
kin_shaper: Group shaper setup code together
No code changes - just code movement. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
0e21188cb2
commit
d28e148ddc
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@ -13,33 +13,11 @@
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#include "itersolve.h" // struct stepper_kinematics
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#include "trapq.h" // struct move
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/****************************************************************
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* Generic position calculation via shaper convolution
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* Shaper-specific initialization
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****************************************************************/
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static inline double
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get_axis_position(struct move *m, int axis, double move_time)
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{
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double axis_r = m->axes_r.axis[axis - 'x'];
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double start_pos = m->start_pos.axis[axis - 'x'];
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double move_dist = move_get_distance(m, move_time);
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return start_pos + axis_r * move_dist;
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}
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static inline double
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get_axis_position_across_moves(struct move *m, int axis, double time)
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{
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while (likely(time < 0.)) {
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m = list_prev_entry(m, node);
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time += m->move_t;
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}
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while (likely(time > m->move_t)) {
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time -= m->move_t;
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m = list_next_entry(m, node);
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}
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return get_axis_position(m, axis, time);
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}
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struct shaper_pulses {
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int num_pulses;
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struct {
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@ -47,46 +25,6 @@ struct shaper_pulses {
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} pulses[5];
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};
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// Calculate the position from the convolution of the shaper with input signal
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static inline double
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calc_position(struct move *m, int axis, double move_time
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, struct shaper_pulses *sp)
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{
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double res = 0.;
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int num_pulses = sp->num_pulses, i;
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for (i = 0; i < num_pulses; ++i) {
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double t = sp->pulses[i].t, a = sp->pulses[i].a;
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res += a * get_axis_position_across_moves(m, axis, move_time + t);
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}
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return res;
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}
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/****************************************************************
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* Shaper-specific initialization
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****************************************************************/
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#define EI_SHAPER_VIB_TOL 0.05
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enum INPUT_SHAPER_TYPE {
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INPUT_SHAPER_ZV = 0,
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INPUT_SHAPER_ZVD = 1,
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INPUT_SHAPER_MZV = 2,
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INPUT_SHAPER_EI = 3,
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INPUT_SHAPER_2HUMP_EI = 4,
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INPUT_SHAPER_3HUMP_EI = 5,
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};
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struct input_shaper {
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struct stepper_kinematics sk;
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struct stepper_kinematics *orig_sk;
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struct move m;
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struct shaper_pulses sx, sy;
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};
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typedef void (*is_init_shaper_callback)(double shaper_freq
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, double damping_ratio
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, struct shaper_pulses *sp);
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static inline double
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calc_ZV_K(double damping_ratio)
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{
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@ -162,6 +100,8 @@ init_shaper_mzv(double shaper_freq, double damping_ratio
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sp->pulses[2].a = a1 * inv_D;
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}
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#define EI_SHAPER_VIB_TOL 0.05
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static void
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init_shaper_ei(double shaper_freq, double damping_ratio
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, struct shaper_pulses *sp)
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@ -256,12 +196,84 @@ shift_pulses(struct shaper_pulses *sp)
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sp->pulses[i].t -= ts;
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}
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enum INPUT_SHAPER_TYPE {
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INPUT_SHAPER_ZV = 0,
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INPUT_SHAPER_ZVD = 1,
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INPUT_SHAPER_MZV = 2,
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INPUT_SHAPER_EI = 3,
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INPUT_SHAPER_2HUMP_EI = 4,
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INPUT_SHAPER_3HUMP_EI = 5,
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};
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typedef void (*is_init_shaper_callback)(double shaper_freq
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, double damping_ratio
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, struct shaper_pulses *sp);
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static is_init_shaper_callback init_shaper_callbacks[] = {
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[INPUT_SHAPER_ZV] = &init_shaper_zv,
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[INPUT_SHAPER_ZVD] = &init_shaper_zvd,
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[INPUT_SHAPER_MZV] = &init_shaper_mzv,
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[INPUT_SHAPER_EI] = &init_shaper_ei,
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[INPUT_SHAPER_2HUMP_EI] = &init_shaper_2hump_ei,
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[INPUT_SHAPER_3HUMP_EI] = &init_shaper_3hump_ei,
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};
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/****************************************************************
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* Generic position calculation via shaper convolution
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****************************************************************/
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static inline double
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get_axis_position(struct move *m, int axis, double move_time)
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{
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double axis_r = m->axes_r.axis[axis - 'x'];
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double start_pos = m->start_pos.axis[axis - 'x'];
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double move_dist = move_get_distance(m, move_time);
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return start_pos + axis_r * move_dist;
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}
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static inline double
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get_axis_position_across_moves(struct move *m, int axis, double time)
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{
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while (likely(time < 0.)) {
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m = list_prev_entry(m, node);
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time += m->move_t;
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}
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while (likely(time > m->move_t)) {
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time -= m->move_t;
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m = list_next_entry(m, node);
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}
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return get_axis_position(m, axis, time);
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}
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// Calculate the position from the convolution of the shaper with input signal
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static inline double
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calc_position(struct move *m, int axis, double move_time
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, struct shaper_pulses *sp)
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{
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double res = 0.;
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int num_pulses = sp->num_pulses, i;
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for (i = 0; i < num_pulses; ++i) {
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double t = sp->pulses[i].t, a = sp->pulses[i].a;
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res += a * get_axis_position_across_moves(m, axis, move_time + t);
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}
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return res;
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}
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/****************************************************************
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* Kinematics-related shaper code
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****************************************************************/
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#define DUMMY_T 500.0
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struct input_shaper {
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struct stepper_kinematics sk;
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struct stepper_kinematics *orig_sk;
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struct move m;
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struct shaper_pulses sx, sy;
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};
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// Optimized calc_position when only x axis is needed
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static double
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shaper_x_calc_position(struct stepper_kinematics *sk, struct move *m
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@ -302,24 +314,6 @@ shaper_xy_calc_position(struct stepper_kinematics *sk, struct move *m
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return is->orig_sk->calc_position_cb(is->orig_sk, &is->m, DUMMY_T);
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}
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static void
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shaper_note_generation_time(struct input_shaper *is)
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{
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double pre_active = 0., post_active = 0.;
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if ((is->sk.active_flags & AF_X) && is->sx.num_pulses) {
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pre_active = is->sx.pulses[is->sx.num_pulses-1].t;
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post_active = -is->sx.pulses[0].t;
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}
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if ((is->sk.active_flags & AF_Y) && is->sy.num_pulses) {
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pre_active = is->sy.pulses[is->sy.num_pulses-1].t > pre_active
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? is->sy.pulses[is->sy.num_pulses-1].t : pre_active;
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post_active = -is->sy.pulses[0].t > post_active
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? -is->sy.pulses[0].t : post_active;
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}
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is->sk.gen_steps_pre_active = pre_active;
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is->sk.gen_steps_post_active = post_active;
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}
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int __visible
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input_shaper_set_sk(struct stepper_kinematics *sk
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, struct stepper_kinematics *orig_sk)
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@ -339,14 +333,23 @@ input_shaper_set_sk(struct stepper_kinematics *sk
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return 0;
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}
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static is_init_shaper_callback init_shaper_callbacks[] = {
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[INPUT_SHAPER_ZV] = &init_shaper_zv,
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[INPUT_SHAPER_ZVD] = &init_shaper_zvd,
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[INPUT_SHAPER_MZV] = &init_shaper_mzv,
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[INPUT_SHAPER_EI] = &init_shaper_ei,
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[INPUT_SHAPER_2HUMP_EI] = &init_shaper_2hump_ei,
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[INPUT_SHAPER_3HUMP_EI] = &init_shaper_3hump_ei,
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};
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static void
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shaper_note_generation_time(struct input_shaper *is)
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{
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double pre_active = 0., post_active = 0.;
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if ((is->sk.active_flags & AF_X) && is->sx.num_pulses) {
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pre_active = is->sx.pulses[is->sx.num_pulses-1].t;
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post_active = -is->sx.pulses[0].t;
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}
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if ((is->sk.active_flags & AF_Y) && is->sy.num_pulses) {
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pre_active = is->sy.pulses[is->sy.num_pulses-1].t > pre_active
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? is->sy.pulses[is->sy.num_pulses-1].t : pre_active;
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post_active = -is->sy.pulses[0].t > post_active
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? -is->sy.pulses[0].t : post_active;
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}
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is->sk.gen_steps_pre_active = pre_active;
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is->sk.gen_steps_post_active = post_active;
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}
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int __visible
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input_shaper_set_shaper_params(struct stepper_kinematics *sk
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