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itersolve: Support step generation in lead up to and after stepper activity

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Add support for generating steps from kinematic functions that
calculate step times based on a range of the motion queue.  It
requires scanning for step generation during the lead up to stepper
activity (when the stepper would nominally be idle).  And it requires
scanning for step generation just after a stepper has nominally become
idle.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-11-01 22:21:30 -04:00
parent 4dbe795ac2
commit 56cd39f038
2 changed files with 28 additions and 6 deletions
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3
klippy/chelper/itersolve.h
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@ -16,7 +16,8 @@ struct stepper_kinematics {
double step_dist, commanded_pos;
struct stepcompress *sc;
double last_flush_time;
double last_flush_time, last_move_time;
double scan_past, scan_future;
struct trapq *tq;
int active_flags;