From 9845d0d103ac70306086ce6b4588532084bd9ae9 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Tue, 29 Oct 2019 10:57:36 -0400
Subject: [PATCH] extruder: Convert step generation to use trapq system
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
klippy/chelper/kin_extruder.c | 4 +++-
klippy/kinematics/extruder.py | 17 ++++++++++-------
2 files changed, 13 insertions(+), 8 deletions(-)
diff --git a/klippy/chelper/kin_extruder.c b/klippy/chelper/kin_extruder.c
index dd2d27d61..265130920 100644
--- a/klippy/chelper/kin_extruder.c
+++ b/klippy/chelper/kin_extruder.c
@@ -1,6 +1,6 @@
// Extruder stepper pulse time generation
//
-// Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
@@ -24,6 +24,7 @@ extruder_stepper_alloc(void)
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
sk->calc_position_cb = extruder_calc_position;
+ sk->active_flags = AF_X;
return sk;
}
@@ -52,4 +53,5 @@ extruder_move_fill(struct move *m, double print_time
// Setup start distance
m->start_pos.x = start_pos;
+ m->axes_r.x = 1.;
}
diff --git a/klippy/kinematics/extruder.py b/klippy/kinematics/extruder.py
index 11d00703d..a92156885 100644
--- a/klippy/kinematics/extruder.py
+++ b/klippy/kinematics/extruder.py
@@ -1,6 +1,6 @@
# Code for handling printer nozzle extruders
#
-# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
@@ -50,13 +50,18 @@ class PrinterExtruder:
'pressure_advance', 0., minval=0.)
self.pressure_advance_lookahead_time = config.getfloat(
'pressure_advance_lookahead_time', 0.010, minval=0.)
- self.need_motor_enable = True
self.extrude_pos = 0.
# Setup iterative solver
ffi_main, ffi_lib = chelper.get_ffi()
self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
self.extruder_move_fill = ffi_lib.extruder_move_fill
+ self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
+ self.trapq_add_move = ffi_lib.trapq_add_move
+ self.trapq_free_moves = ffi_lib.trapq_free_moves
self.stepper.setup_itersolve('extruder_stepper_alloc')
+ self.stepper.set_trapq(self.trapq)
+ toolhead.register_move_handler(self.stepper.generate_steps)
+ toolhead.register_move_handler(self._free_moves)
# Setup SET_PRESSURE_ADVANCE command
gcode = self.printer.lookup_object('gcode')
if self.name in ('extruder', 'extruder0'):
@@ -66,6 +71,8 @@ class PrinterExtruder:
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER",
self.name, self.cmd_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
+ def _free_moves(self, flush_time):
+ self.trapq_free_moves(self.trapq, flush_time)
def get_status(self, eventtime):
return dict(
self.get_heater().get_status(eventtime),
@@ -84,7 +91,6 @@ class PrinterExtruder:
return self.heater.stats(eventtime)
def motor_off(self, print_time):
self.stepper.motor_enable(print_time, 0)
- self.need_motor_enable = True
def check_move(self, move):
move.extrude_r = move.axes_d[3] / move.move_d
move.extrude_max_corner_v = 0.
@@ -167,9 +173,6 @@ class PrinterExtruder:
move.extrude_max_corner_v = max_corner_v
return flush_count
def move(self, print_time, move):
- if self.need_motor_enable:
- self.stepper.motor_enable(print_time, 1)
- self.need_motor_enable = False
axis_d = move.axes_d[3]
axis_r = axis_d / move.move_d
accel = move.accel * axis_r
@@ -205,7 +208,7 @@ class PrinterExtruder:
self.extruder_move_fill(
self.cmove, print_time, accel_t, cruise_t, decel_t, start_pos,
start_v, cruise_v, accel, extra_accel_v, extra_decel_v)
- self.stepper.step_itersolve(self.cmove)
+ self.trapq_add_move(self.trapq, self.cmove)
self.extrude_pos = start_pos + axis_d
cmd_SET_PRESSURE_ADVANCE_help = "Set pressure advance parameters"
def cmd_default_SET_PRESSURE_ADVANCE(self, params):