plus4的klipper版本

klippy/chelper/__init__.py

@@ -20,8 +20,8 @@ SOURCE_FILES = [
     'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
     'pollreactor.c', 'msgblock.c', 'trdispatch.c',
     'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c',
-    'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c',
-    'kin_shaper.c',
+    'kin_deltesian.c', 'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c',
+    'kin_extruder.c', 'kin_shaper.c', 'kin_idex.c',
 ]
 DEST_LIB = "c_helper.so"
 OTHER_FILES = [
@@ -49,6 +49,8 @@ defs_stepcompress = """
         , uint64_t clock);
     int stepcompress_queue_msg(struct stepcompress *sc
         , uint32_t *data, int len);
+    int stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock
+        , uint32_t *data, int len);
     int stepcompress_extract_old(struct stepcompress *sc
         , struct pull_history_steps *p, int max
         , uint64_t start_clock, uint64_t end_clock);
@@ -58,7 +60,8 @@ defs_stepcompress = """
     void steppersync_free(struct steppersync *ss);
     void steppersync_set_time(struct steppersync *ss
         , double time_offset, double mcu_freq);
-    int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
+    int steppersync_flush(struct steppersync *ss, uint64_t move_clock
+        , uint64_t clear_history_clock);
 """
 
 defs_itersolve = """
@@ -85,14 +88,15 @@ defs_trapq = """
         double x_r, y_r, z_r;
     };
 
+    struct trapq *trapq_alloc(void);
+    void trapq_free(struct trapq *tq);
     void trapq_append(struct trapq *tq, 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_r_x, double axes_r_y, double axes_r_z
         , double start_v, double cruise_v, double accel);
-    struct trapq *trapq_alloc(void);
-    void trapq_free(struct trapq *tq);
-    void trapq_finalize_moves(struct trapq *tq, double print_time);
+    void trapq_finalize_moves(struct trapq *tq, double print_time
+        , double clear_history_time);
     void trapq_set_position(struct trapq *tq, double print_time
         , double pos_x, double pos_y, double pos_z);
     int trapq_extract_old(struct trapq *tq, struct pull_move *p, int max
@@ -101,7 +105,6 @@ defs_trapq = """
 
 defs_kin_cartesian = """
     struct stepper_kinematics *cartesian_stepper_alloc(char axis);
-    struct stepper_kinematics *cartesian_reverse_stepper_alloc(char axis);
 """
 
 defs_kin_corexy = """
@@ -117,6 +120,11 @@ defs_kin_delta = """
         , double tower_x, double tower_y);
 """
 
+defs_kin_deltesian = """
+    struct stepper_kinematics *deltesian_stepper_alloc(double arm2
+        , double arm_x);
+"""
+
 defs_kin_polar = """
     struct stepper_kinematics *polar_stepper_alloc(char type);
 """
@@ -139,8 +147,8 @@ defs_kin_extruder = """
 """
 
 defs_kin_shaper = """
-    double input_shaper_get_step_generation_window(int n, double a[]
-        , double t[]);
+    double input_shaper_get_step_generation_window(
+        struct stepper_kinematics *sk);
     int input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
         , int n, double a[], double t[]);
     int input_shaper_set_sk(struct stepper_kinematics *sk
@@ -148,6 +156,14 @@ defs_kin_shaper = """
     struct stepper_kinematics * input_shaper_alloc(void);
 """
 
+defs_kin_idex = """
+    void dual_carriage_set_sk(struct stepper_kinematics *sk
+        , struct stepper_kinematics *orig_sk);
+    int dual_carriage_set_transform(struct stepper_kinematics *sk
+        , char axis, double scale, double offs);
+    struct stepper_kinematics * dual_carriage_alloc(void);
+"""
+
 defs_serialqueue = """
     #define MESSAGE_MAX 64
     struct pull_queue_message {
@@ -168,8 +184,8 @@ defs_serialqueue = """
         , uint64_t notify_id);
     void serialqueue_pull(struct serialqueue *sq
         , struct pull_queue_message *pqm);
-    void serialqueue_set_baud_adjust(struct serialqueue *sq
-        , double baud_adjust);
+    void serialqueue_set_wire_frequency(struct serialqueue *sq
+        , double frequency);
     void serialqueue_set_receive_window(struct serialqueue *sq
         , int receive_window);
     void serialqueue_set_clock_est(struct serialqueue *sq, double est_freq
@@ -205,8 +221,8 @@ defs_all = [
     defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress,
     defs_itersolve, defs_trapq, defs_trdispatch,
     defs_kin_cartesian, defs_kin_corexy, defs_kin_corexz, defs_kin_delta,
-    defs_kin_polar, defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder,
-    defs_kin_shaper,
+    defs_kin_deltesian, defs_kin_polar, defs_kin_rotary_delta, defs_kin_winch,
+    defs_kin_extruder, defs_kin_shaper, defs_kin_idex,
 ]
 
 # Update filenames to an absolute path