Rename calc_position() to calc_tag_position() and have it calculate
the value of the position from the last stepper set_tag_position()
call. This enables the calc_tag_position() code to be more flexible
as it can be run with arbitrary positions.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Directly disable all the stepper motors on a global motor_off() from
the StepperEnable() class in stepper_enable.py. This simplifies the
toolhead and kinematic classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for an itersolve_set_position() function that sets a
stepper position from a cartesian coordinate. This eliminates the
need for both the python and C code to be able to translate from a
cartesian coordinate to a stepper position.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Calculating the cartesian position from the stepper positions can be
complex and cpu intensive, so rename it to calc_position() to be more
descriptive.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the C code out of the main klippy/ directory and into its own
directory. This reduces the clutter in the main klippy directory.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Implement the conversion from print_time to the local mcu's clock
within the C code. This simplifies the python code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The term "firmware" is ambiguous - it could refer to the entire
project (host and micro-controller software) or to just the
micro-controller software. Avoid the term in the documentation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename sched_timer_kick() to sched_timer_dispatch() and move its loop
into its callers in the board code. This eliminates the need to
export timer_try_set_next() from the board code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Writing to the debug log can cause an unbounded delay due to disk IO.
This is particularly so on embedded machines such as the Raspberry Pi
that run on SD cards. These log writing delays can cause problems for
the main processing threads.
The new "queuelogger" code forwards all the main thread log messages
to a queue, and a background thread writes the log messages from the
queue to the destination file. This eliminates the IO delay from the
main threads.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some details on the code flow and organization have changed since
support for ARM processors was added. Update Code_Overview.md
accordingly.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor