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plus4的klipper版本

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whb0514
2024-09-02 13:37:34 +08:00
parent 653d7a8f6e
commit b90736975b
1006 changed files with 1195894 additions and 11114 deletions
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44
klippy/chelper/stepcompress.c
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@@ -54,8 +54,6 @@ struct step_move {
int16_t add;
};
#define HISTORY_EXPIRE (30.0)
struct history_steps {
struct list_node node;
uint64_t first_clock, last_clock;
@@ -292,6 +290,13 @@ free_history(struct stepcompress *sc, uint64_t end_clock)
}
}
// Expire the stepcompress history older than the given clock
static void
stepcompress_history_expire(struct stepcompress *sc, uint64_t end_clock)
{
free_history(sc, end_clock);
}
// Free memory associated with a 'stepcompress' object
void __visible
stepcompress_free(struct stepcompress *sc)
@@ -322,9 +327,6 @@ calc_last_step_print_time(struct stepcompress *sc)
{
double lsc = sc->last_step_clock;
sc->last_step_print_time = sc->mcu_time_offset + (lsc - .5) / sc->mcu_freq;
if (lsc > sc->mcu_freq * HISTORY_EXPIRE)
free_history(sc, lsc - sc->mcu_freq * HISTORY_EXPIRE);
}
// Set the conversion rate of 'print_time' to mcu clock
@@ -623,6 +625,21 @@ stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len)
return 0;
}
// Queue an mcu command that will consume space in the mcu move queue
int __visible
stepcompress_queue_mq_msg(struct stepcompress *sc, uint64_t req_clock
, uint32_t *data, int len)
{
int ret = stepcompress_flush(sc, UINT64_MAX);
if (ret)
return ret;
struct queue_message *qm = message_alloc_and_encode(data, len);
qm->min_clock = qm->req_clock = req_clock;
list_add_tail(&qm->node, &sc->msg_queue);
return 0;
}
// Return history of queue_step commands
int __visible
stepcompress_extract_old(struct stepcompress *sc, struct pull_history_steps *p
@@ -716,6 +733,18 @@ steppersync_set_time(struct steppersync *ss, double time_offset
}
}
// Expire the stepcompress history before the given clock time
static void
steppersync_history_expire(struct steppersync *ss, uint64_t end_clock)
{
int i;
for (i = 0; i < ss->sc_num; i++)
{
struct stepcompress *sc = ss->sc_list[i];
stepcompress_history_expire(sc, end_clock);
}
}
// Implement a binary heap algorithm to track when the next available
// 'struct move' in the mcu will be available
static void
@@ -743,7 +772,8 @@ heap_replace(struct steppersync *ss, uint64_t req_clock)
// Find and transmit any scheduled steps prior to the given 'move_clock'
int __visible
steppersync_flush(struct steppersync *ss, uint64_t move_clock)
steppersync_flush(struct steppersync *ss, uint64_t move_clock
, uint64_t clear_history_clock)
{
// Flush each stepcompress to the specified move_clock
int i;
@@ -791,5 +821,7 @@ steppersync_flush(struct steppersync *ss, uint64_t move_clock)
// Transmit commands
if (!list_empty(&msgs))
serialqueue_send_batch(ss->sq, ss->cq, &msgs);
steppersync_history_expire(ss, clear_history_clock);
return 0;
}