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itersolve: Export itersolve_calc_position_from_coord() 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-11-19 12:27:33 -05:00
parent 97d976fc53
commit e43ad4c953
4 changed files with 13 additions and 4 deletions
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2
klippy/chelper/__init__.py
View File

@ -51,6 +51,8 @@ defs_itersolve = """
void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
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);

2
klippy/chelper/itersolve.c
View File

@ -226,7 +226,7 @@ itersolve_set_stepcompress(struct stepper_kinematics *sk
sk->step_dist = step_dist;
}
static double
double __visible
itersolve_calc_position_from_coord(struct stepper_kinematics *sk
, double x, double y, double z)
{

2
klippy/chelper/itersolve.h
View File

@ -31,6 +31,8 @@ double itersolve_check_active(struct stepper_kinematics *sk, double flush_time);
void itersolve_set_trapq(struct stepper_kinematics *sk, struct trapq *tq);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
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);

11
klippy/stepper.py
View File

@ -95,6 +95,9 @@ class MCU_stepper:
return self._step_dist
def is_dir_inverted(self):
return self._invert_dir
def calc_position_from_coord(self, coord):
return self._ffi_lib.itersolve_calc_position_from_coord(
self._stepper_kinematics, coord[0], coord[1], coord[2])
def set_position(self, coord):
opos = self.get_commanded_position()
sk = self._stepper_kinematics
@ -199,9 +202,11 @@ class PrinterRail:
self.steppers = []
self.endstops = []
self.add_extra_stepper(config)
self.get_commanded_position = self.steppers[0].get_commanded_position
self.get_tag_position = self.steppers[0].get_tag_position
self.set_tag_position = self.steppers[0].set_tag_position
mcu_stepper = self.steppers[0]
self.get_commanded_position = mcu_stepper.get_commanded_position
self.get_tag_position = mcu_stepper.get_tag_position
self.set_tag_position = mcu_stepper.set_tag_position
self.calc_position_from_coord = mcu_stepper.calc_position_from_coord
# Primary endstop position
mcu_endstop = self.endstops[0][0]
if hasattr(mcu_endstop, "get_position_endstop"):