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

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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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22
klippy/chelper/__init__.py
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@@ -15,13 +15,14 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
" -flto -fwhole-program -fno-use-linker-plugin"
" -o %s %s")
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_winch.c', 'kin_extruder.c',
]
DEST_LIB = "c_helper.so"
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 = """
@@ -43,12 +44,6 @@ defs_stepcompress = """
"""
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);
void itersolve_set_stepcompress(struct stepper_kinematics *sk
, struct stepcompress *sc, double step_dist);
@@ -58,6 +53,15 @@ defs_itersolve = """
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 = """
struct stepper_kinematics *cartesian_stepper_alloc(char axis);
"""
@@ -127,7 +131,7 @@ defs_std = """
defs_all = [
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_winch, defs_kin_extruder
]