trapq: Add new trapq.c file with code for trapezoidal velocity handling

Move the "struct move" code from itersolve.c to new file trapq.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-10-27 13:23:03 -04:00
parent 374eb98765
commit fdbdb3c707
11 changed files with 142 additions and 126 deletions

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@ -15,13 +15,14 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
" -flto -fwhole-program -fno-use-linker-plugin" " -flto -fwhole-program -fno-use-linker-plugin"
" -o %s %s") " -o %s %s")
SOURCE_FILES = [ SOURCE_FILES = [
'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c', 'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c',
'kin_winch.c', 'kin_extruder.c', 'kin_winch.c', 'kin_extruder.c',
] ]
DEST_LIB = "c_helper.so" DEST_LIB = "c_helper.so"
OTHER_FILES = [ OTHER_FILES = [
'list.h', 'serialqueue.h', 'stepcompress.h', 'itersolve.h', 'pyhelper.h' 'list.h', 'serialqueue.h', 'stepcompress.h', 'itersolve.h', 'pyhelper.h',
'trapq.h',
] ]
defs_stepcompress = """ defs_stepcompress = """
@ -43,12 +44,6 @@ defs_stepcompress = """
""" """
defs_itersolve = """ defs_itersolve = """
struct move *move_alloc(void);
void move_fill(struct move *m, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel);
int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m); int32_t itersolve_gen_steps(struct stepper_kinematics *sk, struct move *m);
void itersolve_set_stepcompress(struct stepper_kinematics *sk void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist); , struct stepcompress *sc, double step_dist);
@ -58,6 +53,15 @@ defs_itersolve = """
double itersolve_get_commanded_pos(struct stepper_kinematics *sk); double itersolve_get_commanded_pos(struct stepper_kinematics *sk);
""" """
defs_trapq = """
struct move *move_alloc(void);
void move_fill(struct move *m, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel);
"""
defs_kin_cartesian = """ defs_kin_cartesian = """
struct stepper_kinematics *cartesian_stepper_alloc(char axis); struct stepper_kinematics *cartesian_stepper_alloc(char axis);
""" """
@ -127,7 +131,7 @@ defs_std = """
defs_all = [ defs_all = [
defs_pyhelper, defs_serialqueue, defs_std, defs_pyhelper, defs_serialqueue, defs_std,
defs_stepcompress, defs_itersolve, defs_stepcompress, defs_itersolve, defs_trapq,
defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar, defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar,
defs_kin_winch, defs_kin_extruder defs_kin_winch, defs_kin_extruder
] ]

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@ -4,99 +4,13 @@
// //
// This file may be distributed under the terms of the GNU GPLv3 license. // This file may be distributed under the terms of the GNU GPLv3 license.
#include <math.h> // sqrt #include <math.h> // fabs
#include <stdlib.h> // malloc
#include <string.h> // memset #include <string.h> // memset
#include "compiler.h" // __visible #include "compiler.h" // __visible
#include "itersolve.h" // struct coord #include "itersolve.h" // itersolve_gen_steps
#include "pyhelper.h" // errorf #include "pyhelper.h" // errorf
#include "stepcompress.h" // queue_append_start #include "stepcompress.h" // queue_append_start
#include "trapq.h" // struct move
/****************************************************************
* Kinematic moves
****************************************************************/
struct move * __visible
move_alloc(void)
{
struct move *m = malloc(sizeof(*m));
memset(m, 0, sizeof(*m));
return m;
}
// Populate a 'struct move' with a velocity trapezoid
void __visible
move_fill(struct move *m, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel)
{
// Setup velocity trapezoid
m->print_time = print_time;
m->move_t = accel_t + cruise_t + decel_t;
m->accel_t = accel_t;
m->cruise_t = cruise_t;
m->cruise_start_d = accel_t * .5 * (cruise_v + start_v);
m->decel_start_d = m->cruise_start_d + cruise_t * cruise_v;
// Setup for accel/cruise/decel phases
m->cruise_v = cruise_v;
m->accel.c1 = start_v;
m->accel.c2 = .5 * accel;
m->decel.c1 = cruise_v;
m->decel.c2 = -m->accel.c2;
// Setup for move_get_coord()
m->start_pos.x = start_pos_x;
m->start_pos.y = start_pos_y;
m->start_pos.z = start_pos_z;
double inv_move_d = 1. / sqrt(axes_d_x*axes_d_x + axes_d_y*axes_d_y
+ axes_d_z*axes_d_z);
m->axes_r.x = axes_d_x * inv_move_d;
m->axes_r.y = axes_d_y * inv_move_d;
m->axes_r.z = axes_d_z * inv_move_d;
}
// Find the distance travel during acceleration/deceleration
static inline double
move_eval_accel(struct move_accel *ma, double move_time)
{
return (ma->c1 + ma->c2 * move_time) * move_time;
}
// Return the distance moved given a time in a move
inline double
move_get_distance(struct move *m, double move_time)
{
if (unlikely(move_time < m->accel_t))
// Acceleration phase of move
return move_eval_accel(&m->accel, move_time);
move_time -= m->accel_t;
if (likely(move_time <= m->cruise_t))
// Cruising phase
return m->cruise_start_d + m->cruise_v * move_time;
// Deceleration phase
move_time -= m->cruise_t;
return m->decel_start_d + move_eval_accel(&m->decel, move_time);
}
// Return the XYZ coordinates given a time in a move
inline struct coord
move_get_coord(struct move *m, double move_time)
{
double move_dist = move_get_distance(m, move_time);
return (struct coord) {
.x = m->start_pos.x + m->axes_r.x * move_dist,
.y = m->start_pos.y + m->axes_r.y * move_dist,
.z = m->start_pos.z + m->axes_r.z * move_dist };
}
/****************************************************************
* Iterative solver
****************************************************************/
struct timepos { struct timepos {
double time, position; double time, position;

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@ -1,35 +1,10 @@
#ifndef ITERSOLVE_H #ifndef ITERSOLVE_H
#define ITERSOLVE_H #define ITERSOLVE_H
#include <stdint.h> // uint32_t #include <stdint.h> // int32_t
struct coord {
double x, y, z;
};
struct move_accel {
double c1, c2;
};
struct move {
double print_time, move_t;
double accel_t, cruise_t;
double cruise_start_d, decel_start_d;
double cruise_v;
struct move_accel accel, decel;
struct coord start_pos, axes_r;
};
struct move *move_alloc(void);
void move_fill(struct move *m, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel);
double move_get_distance(struct move *m, double move_time);
struct coord move_get_coord(struct move *m, double move_time);
struct stepper_kinematics; struct stepper_kinematics;
struct move;
typedef double (*sk_calc_callback)(struct stepper_kinematics *sk, struct move *m typedef double (*sk_calc_callback)(struct stepper_kinematics *sk, struct move *m
, double move_time); , double move_time);
typedef void (*sk_post_callback)(struct stepper_kinematics *sk); typedef void (*sk_post_callback)(struct stepper_kinematics *sk);

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@ -7,8 +7,9 @@
#include <stdlib.h> // malloc #include <stdlib.h> // malloc
#include <string.h> // memset #include <string.h> // memset
#include "compiler.h" // __visible #include "compiler.h" // __visible
#include "itersolve.h" // move_get_coord #include "itersolve.h" // struct stepper_kinematics
#include "pyhelper.h" // errorf #include "pyhelper.h" // errorf
#include "trapq.h" // move_get_coord
static double static double
cart_stepper_x_calc_position(struct stepper_kinematics *sk, struct move *m cart_stepper_x_calc_position(struct stepper_kinematics *sk, struct move *m

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@ -8,6 +8,7 @@
#include <string.h> // memset #include <string.h> // memset
#include "compiler.h" // __visible #include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics #include "itersolve.h" // struct stepper_kinematics
#include "trapq.h" // move_get_coord
static double static double
corexy_stepper_plus_calc_position(struct stepper_kinematics *sk, struct move *m corexy_stepper_plus_calc_position(struct stepper_kinematics *sk, struct move *m

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@ -10,6 +10,7 @@
#include <string.h> // memset #include <string.h> // memset
#include "compiler.h" // __visible #include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics #include "itersolve.h" // struct stepper_kinematics
#include "trapq.h" // move_get_coord
struct delta_stepper { struct delta_stepper {
struct stepper_kinematics sk; struct stepper_kinematics sk;

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@ -9,6 +9,7 @@
#include "compiler.h" // __visible #include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics #include "itersolve.h" // struct stepper_kinematics
#include "pyhelper.h" // errorf #include "pyhelper.h" // errorf
#include "trapq.h" // move_get_distance
static double static double
extruder_calc_position(struct stepper_kinematics *sk, struct move *m extruder_calc_position(struct stepper_kinematics *sk, struct move *m

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@ -9,6 +9,7 @@
#include <string.h> // memset #include <string.h> // memset
#include "compiler.h" // __visible #include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics #include "itersolve.h" // struct stepper_kinematics
#include "trapq.h" // move_get_coord
static double static double
polar_stepper_radius_calc_position(struct stepper_kinematics *sk, struct move *m polar_stepper_radius_calc_position(struct stepper_kinematics *sk, struct move *m

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@ -10,6 +10,7 @@
#include <string.h> // memset #include <string.h> // memset
#include "compiler.h" // __visible #include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics #include "itersolve.h" // struct stepper_kinematics
#include "trapq.h" // move_get_coord
struct winch_stepper { struct winch_stepper {
struct stepper_kinematics sk; struct stepper_kinematics sk;

87
klippy/chelper/trapq.c Normal file
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@ -0,0 +1,87 @@
// Trapezoidal velocity movement queue
//
// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <math.h> // sqrt
#include <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // unlikely
#include "trapq.h" // move_get_coord
struct move * __visible
move_alloc(void)
{
struct move *m = malloc(sizeof(*m));
memset(m, 0, sizeof(*m));
return m;
}
// Populate a 'struct move' with a velocity trapezoid
void __visible
move_fill(struct move *m, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel)
{
// Setup velocity trapezoid
m->print_time = print_time;
m->move_t = accel_t + cruise_t + decel_t;
m->accel_t = accel_t;
m->cruise_t = cruise_t;
m->cruise_start_d = accel_t * .5 * (cruise_v + start_v);
m->decel_start_d = m->cruise_start_d + cruise_t * cruise_v;
// Setup for accel/cruise/decel phases
m->cruise_v = cruise_v;
m->accel.c1 = start_v;
m->accel.c2 = .5 * accel;
m->decel.c1 = cruise_v;
m->decel.c2 = -m->accel.c2;
// Setup for move_get_coord()
m->start_pos.x = start_pos_x;
m->start_pos.y = start_pos_y;
m->start_pos.z = start_pos_z;
double inv_move_d = 1. / sqrt(axes_d_x*axes_d_x + axes_d_y*axes_d_y
+ axes_d_z*axes_d_z);
m->axes_r.x = axes_d_x * inv_move_d;
m->axes_r.y = axes_d_y * inv_move_d;
m->axes_r.z = axes_d_z * inv_move_d;
}
// Find the distance travel during acceleration/deceleration
static inline double
move_eval_accel(struct move_accel *ma, double move_time)
{
return (ma->c1 + ma->c2 * move_time) * move_time;
}
// Return the distance moved given a time in a move
inline double
move_get_distance(struct move *m, double move_time)
{
if (unlikely(move_time < m->accel_t))
// Acceleration phase of move
return move_eval_accel(&m->accel, move_time);
move_time -= m->accel_t;
if (likely(move_time <= m->cruise_t))
// Cruising phase
return m->cruise_start_d + m->cruise_v * move_time;
// Deceleration phase
move_time -= m->cruise_t;
return m->decel_start_d + move_eval_accel(&m->decel, move_time);
}
// Return the XYZ coordinates given a time in a move
inline struct coord
move_get_coord(struct move *m, double move_time)
{
double move_dist = move_get_distance(m, move_time);
return (struct coord) {
.x = m->start_pos.x + m->axes_r.x * move_dist,
.y = m->start_pos.y + m->axes_r.y * move_dist,
.z = m->start_pos.z + m->axes_r.z * move_dist };
}

30
klippy/chelper/trapq.h Normal file
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@ -0,0 +1,30 @@
#ifndef TRAPQ_H
#define TRAPQ_H
struct coord {
double x, y, z;
};
struct move_accel {
double c1, c2;
};
struct move {
double print_time, move_t;
double accel_t, cruise_t;
double cruise_start_d, decel_start_d;
double cruise_v;
struct move_accel accel, decel;
struct coord start_pos, axes_r;
};
struct move *move_alloc(void);
void move_fill(struct move *m, double print_time
, double accel_t, double cruise_t, double decel_t
, double start_pos_x, double start_pos_y, double start_pos_z
, double axes_d_x, double axes_d_y, double axes_d_z
, double start_v, double cruise_v, double accel);
double move_get_distance(struct move *m, double move_time);
struct coord move_get_coord(struct move *m, double move_time);
#endif // trapq.h