mirror of https://github.com/Desuuuu/klipper.git
70 lines
2.6 KiB
C
70 lines
2.6 KiB
C
// Extruder stepper pulse time generation
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//
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// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <stddef.h> // offsetof
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#include <stdlib.h> // malloc
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#include <string.h> // memset
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#include "compiler.h" // __visible
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#include "itersolve.h" // struct stepper_kinematics
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#include "pyhelper.h" // errorf
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#include "trapq.h" // move_get_distance
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struct extruder_stepper {
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struct stepper_kinematics sk;
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double pressure_advance_factor, half_smooth_time, inv_smooth_time;
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};
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static double
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extruder_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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struct extruder_stepper *es = container_of(sk, struct extruder_stepper, sk);
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double hst = es->half_smooth_time;
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if (!hst)
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// Pressure advance not enabled
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return m->start_pos.x + move_get_distance(m, move_time);
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// Calculate average position over smooth_time
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double area = trapq_integrate(m, 'x', move_time - hst, move_time + hst);
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double base_pos = area * es->inv_smooth_time;
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// Calculate position 'half_smooth_time' in the past
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double start_time = move_time - hst;
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struct move *sm = trapq_find_move(m, &start_time);
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double start_dist = move_get_distance(sm, start_time);
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double pa_start_pos = sm->start_pos.y + (sm->axes_r.y ? start_dist : 0.);
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// Calculate position 'half_smooth_time' in the future
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double end_time = move_time + hst;
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struct move *em = trapq_find_move(m, &end_time);
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double end_dist = move_get_distance(em, end_time);
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double pa_end_pos = em->start_pos.y + (em->axes_r.y ? end_dist : 0.);
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// Calculate position with pressure advance
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return base_pos + (pa_end_pos - pa_start_pos) * es->pressure_advance_factor;
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}
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void __visible
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extruder_set_pressure(struct stepper_kinematics *sk
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, double pressure_advance, double half_smooth_time)
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{
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struct extruder_stepper *es = container_of(sk, struct extruder_stepper, sk);
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if (! half_smooth_time) {
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es->pressure_advance_factor = es->half_smooth_time = 0.;
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return;
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}
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es->sk.scan_past = es->sk.scan_future = half_smooth_time;
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es->half_smooth_time = half_smooth_time;
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es->inv_smooth_time = .5 / half_smooth_time;
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es->pressure_advance_factor = pressure_advance * es->inv_smooth_time;
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}
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struct stepper_kinematics * __visible
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extruder_stepper_alloc(void)
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{
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struct extruder_stepper *es = malloc(sizeof(*es));
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memset(es, 0, sizeof(*es));
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es->sk.calc_position_cb = extruder_calc_position;
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es->sk.active_flags = AF_X;
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return &es->sk;
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}
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