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stepcompress: Store a reference to 'struct stepper_kinematics'

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Support storing a reference to 'struct stepper_kinematics' in 'struct
stepcompress' and support globally generating steps via the
steppersync mechanism.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-08-05 17:51:59 -04:00
parent dd4cc8eb4c
commit 2919f37343
8 changed files with 67 additions and 29 deletions
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25
klippy/chelper/steppersync.c
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@@ -76,6 +76,22 @@ steppersync_set_time(struct steppersync *ss, double time_offset
}
}
// Generate steps and flush stepcompress objects
int32_t __visible
steppersync_generate_steps(struct steppersync *ss, double gen_steps_time
, uint64_t flush_clock)
{
int i;
for (i=0; i<ss->sc_num; i++) {
struct stepcompress *sc = ss->sc_list[i];
int32_t ret = stepcompress_generate_steps(sc, gen_steps_time
, flush_clock);
if (ret)
return ret;
}
return 0;
}
// Expire the stepcompress history before the given clock time
void __visible
steppersync_history_expire(struct steppersync *ss, uint64_t end_clock)
@@ -116,14 +132,6 @@ heap_replace(struct steppersync *ss, uint64_t req_clock)
int __visible
steppersync_flush(struct steppersync *ss, uint64_t move_clock)
{
// Flush each stepcompress to the specified move_clock
int i;
for (i=0; i<ss->sc_num; i++) {
int ret = stepcompress_flush(ss->sc_list[i], move_clock);
if (ret)
return ret;
}
// Order commands by the reqclock of each pending command
struct list_head msgs;
list_init(&msgs);
@@ -131,6 +139,7 @@ steppersync_flush(struct steppersync *ss, uint64_t move_clock)
// Find message with lowest reqclock
uint64_t req_clock = MAX_CLOCK;
struct queue_message *qm = NULL;
int i;
for (i=0; i<ss->sc_num; i++) {
struct stepcompress *sc = ss->sc_list[i];
struct list_head *sc_mq = stepcompress_get_msg_queue(sc);