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trdispatch: Support fast responses to trsync_state messages

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Add C code that can process trsync_state messages and dispatch
responses with low-latency.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-02-11 17:49:47 -05:00
parent b6d8cf27d2
commit e1f7748e1a
2 changed files with 244 additions and 4 deletions
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22
klippy/chelper/__init__.py
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@ -18,7 +18,7 @@ COMPILE_ARGS = ("-Wall -g -O2 -shared -fPIC"
SSE_FLAGS = "-mfpmath=sse -msse2"
SOURCE_FILES = [
'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
'pollreactor.c', 'msgblock.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',
@ -168,6 +168,19 @@ defs_serialqueue = """
, struct pull_queue_message *q, int max);
"""
defs_trdispatch = """
void trdispatch_start(struct trdispatch *td, uint32_t dispatch_reason);
void trdispatch_stop(struct trdispatch *td);
struct trdispatch *trdispatch_alloc(void);
struct trdispatch_mcu *trdispatch_mcu_alloc(struct trdispatch *td
, struct serialqueue *sq, struct command_queue *cq, uint32_t trsync_oid
, uint32_t set_timeout_msgtag, uint32_t trigger_msgtag
, uint32_t state_msgtag);
void trdispatch_mcu_setup(struct trdispatch_mcu *tdm
, uint64_t last_status_clock, uint64_t expire_clock
, uint64_t expire_ticks, uint64_t min_extend_ticks);
"""
defs_pyhelper = """
void set_python_logging_callback(void (*func)(const char *));
double get_monotonic(void);
@ -179,9 +192,10 @@ defs_std = """
defs_all = [
defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress,
defs_itersolve, defs_trapq, 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_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,
]
# Update filenames to an absolute path