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stepcompress: Do all step rounding in C code

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Commits f0cefebf and 8f331f08 changed the way the code determined what
steps to take on fractional steps.  Unfortunately, it was possible in
some situations for the C code to round differently from the python
code which could result in warnings and lost steps.

Change the code so that all fractional step handling is done in the C
code.  Implementing the step rounding logic in one location avoids any
conflicts.

In order to efficiently handle the step rounding in the C code, the C
code has also been extended to directly send the "set_next_step_dir"
command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-10 12:44:04 -05:00
parent 79da35d023
commit 7554c7f694
6 changed files with 154 additions and 131 deletions
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10
klippy/chelper.py
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@ -13,12 +13,14 @@ OTHER_FILES = ['list.h', 'serialqueue.h']
defs_stepcompress = """
struct stepcompress *stepcompress_alloc(uint32_t max_error
, uint32_t queue_step_msgid, uint32_t oid);
void stepcompress_push(struct stepcompress *sc, double step_clock);
double stepcompress_push_factor(struct stepcompress *sc
, uint32_t queue_step_msgid, uint32_t set_next_step_dir_msgid
, uint32_t invert_sdir, uint32_t oid);
void stepcompress_push(struct stepcompress *sc, double step_clock
, int32_t sdir);
int32_t stepcompress_push_factor(struct stepcompress *sc
, double steps, double step_offset
, double clock_offset, double factor);
double stepcompress_push_sqrt(struct stepcompress *sc
int32_t stepcompress_push_sqrt(struct stepcompress *sc
, double steps, double step_offset
, double clock_offset, double sqrt_offset, double factor);
void stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);