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chelper: Move cartesian and delta kinematics code to their own C files

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Move the cartesian and delta specific code to new files
kin_cartesian.c and kin_delta.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2018-06-06 16:49:44 -04:00
parent 8a830ff0ce
commit 9a2eb4bedd
5 changed files with 328 additions and 255 deletions
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38
klippy/chelper/__init__.py
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@@ -14,9 +14,12 @@ import cffi
COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
" -flto -fwhole-program -fno-use-linker-plugin"
" -o %s %s")
SOURCE_FILES = ['stepcompress.c', 'serialqueue.c', 'pyhelper.c']
SOURCE_FILES = [
'stepcompress.c', 'kin_cartesian.c', 'kin_delta.c',
'serialqueue.c', 'pyhelper.c'
]
DEST_LIB = "c_helper.so"
OTHER_FILES = ['list.h', 'serialqueue.h', 'pyhelper.h']
OTHER_FILES = ['list.h', 'serialqueue.h', 'stepcompress.h', 'pyhelper.h']
defs_stepcompress = """
struct stepcompress *stepcompress_alloc(uint32_t max_error
@@ -27,14 +30,6 @@ defs_stepcompress = """
int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock);
int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
int32_t stepcompress_push(struct stepcompress *sc, double step_clock
, int32_t sdir);
int32_t stepcompress_push_const(struct stepcompress *sc, double clock_offset
, double step_offset, double steps, double start_sv, double accel);
int32_t stepcompress_push_delta(struct stepcompress *sc
, double clock_offset, double move_sd, double start_sv, double accel
, double height, double startxy_sd, double arm_d, double movez_r);
struct steppersync *steppersync_alloc(struct serialqueue *sq
, struct stepcompress **sc_list, int sc_num, int move_num);
void steppersync_free(struct steppersync *ss);
@@ -43,6 +38,19 @@ defs_stepcompress = """
int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
"""
defs_kin_cartesian = """
int32_t stepcompress_push(struct stepcompress *sc, double step_clock
, int32_t sdir);
int32_t stepcompress_push_const(struct stepcompress *sc, double clock_offset
, double step_offset, double steps, double start_sv, double accel);
"""
defs_kin_delta = """
int32_t stepcompress_push_delta(struct stepcompress *sc
, double clock_offset, double move_sd, double start_sv, double accel
, double height, double startxy_sd, double arm_d, double movez_r);
"""
defs_serialqueue = """
#define MESSAGE_MAX 64
struct pull_queue_message {
@@ -75,6 +83,11 @@ defs_pyhelper = """
double get_monotonic(void);
"""
defs_all = [
defs_stepcompress, defs_kin_cartesian, defs_kin_delta,
defs_serialqueue, defs_pyhelper
]
# Return the list of file modification times
def get_mtimes(srcdir, filelist):
out = []
@@ -109,9 +122,8 @@ def get_ffi():
check_build_code(srcdir, DEST_LIB, SOURCE_FILES, COMPILE_CMD
, OTHER_FILES)
FFI_main = cffi.FFI()
FFI_main.cdef(defs_stepcompress)
FFI_main.cdef(defs_serialqueue)
FFI_main.cdef(defs_pyhelper)
for d in defs_all:
FFI_main.cdef(d)
FFI_lib = FFI_main.dlopen(os.path.join(srcdir, DEST_LIB))
# Setup error logging
def logging_callback(msg):