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klipper update

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Rainboooom
2023-06-15 11:41:08 +08:00
parent 845d13acb1
commit dffff1ae35
1921 changed files with 1625400 additions and 0 deletions
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klippy/chelper/kin_cartesian.c Normal file
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// Cartesian kinematics stepper pulse time generation
//
// Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics
#include "pyhelper.h" // errorf
#include "trapq.h" // move_get_coord
static double
cart_stepper_x_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
return move_get_coord(m, move_time).x;
}
static double
cart_stepper_y_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
return move_get_coord(m, move_time).y;
}
static double
cart_stepper_z_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
return move_get_coord(m, move_time).z;
}
struct stepper_kinematics * __visible
cartesian_stepper_alloc(char axis)
{
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
if (axis == 'x') {
sk->calc_position_cb = cart_stepper_x_calc_position;
sk->active_flags = AF_X;
} else if (axis == 'y') {
sk->calc_position_cb = cart_stepper_y_calc_position;
sk->active_flags = AF_Y;
} else if (axis == 'z') {
sk->calc_position_cb = cart_stepper_z_calc_position;
sk->active_flags = AF_Z;
}
return sk;
}
static double
cart_reverse_stepper_x_calc_position(struct stepper_kinematics *sk
, struct move *m, double move_time)
{
return -move_get_coord(m, move_time).x;
}
static double
cart_reverse_stepper_y_calc_position(struct stepper_kinematics *sk
, struct move *m, double move_time)
{
return -move_get_coord(m, move_time).y;
}
static double
cart_reverse_stepper_z_calc_position(struct stepper_kinematics *sk
, struct move *m, double move_time)
{
return -move_get_coord(m, move_time).z;
}
struct stepper_kinematics * __visible
cartesian_reverse_stepper_alloc(char axis)
{
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
if (axis == 'x') {
sk->calc_position_cb = cart_reverse_stepper_x_calc_position;
sk->active_flags = AF_X;
} else if (axis == 'y') {
sk->calc_position_cb = cart_reverse_stepper_y_calc_position;
sk->active_flags = AF_Y;
} else if (axis == 'z') {
sk->calc_position_cb = cart_reverse_stepper_z_calc_position;
sk->active_flags = AF_Z;
}
return sk;
}