Refactor extruder steppers and extruder_stepper

docs/Config_Reference.md

@@ -1835,8 +1835,9 @@ more information.
 ```
 [extruder_stepper my_extra_stepper]
 #extruder: extruder
-#   The extruder this stepper is synchronized to. The default is
-#   "extruder".
+#   The extruder this stepper is synchronized to. If this is set to an
+#   empty string then the stepper will not be synchronized to an
+#   extruder. The default is "extruder".
 #step_pin:
 #dir_pin:
 #enable_pin:

docs/G-Codes.md

@@ -182,6 +182,13 @@ The following standard commands are supported:
   result in excessive pressure between extruder and hot end. Do proper
   calibration steps with filament before use. If 'DISTANCE' value is
   not included command will return current step distance.
+- `SYNC_STEPPER_TO_EXTRUDER STEPPER=<name> [EXTRUDER=<name>]`: This
+  command will cause the given extruder STEPPER (as specified in an
+  [extruder](Config_Reference#extruder) or
+  [extruder stepper](Config_Reference#extruder_stepper) config
+  section) to become synchronized to the given EXTRUDER. If EXTRUDER
+  is an empty string then the stepper will not be synchronized to an
+  extruder.
 - `SET_STEPPER_ENABLE STEPPER=<config_name> ENABLE=[0|1]`: Enable or
   disable only the given stepper. This is a diagnostic and debugging
   tool and must be used with care. Disabling an axis motor does not
@@ -344,16 +351,6 @@ enabled:
   future G-Code movement commands may run in parallel with the stepper
   movement.
 
-### Extruder stepper Commands
-
-The following command is available when an
-[extruder_stepper config section](Config_Reference.md#extruder_stepper)
-is enabled:
-- `SYNC_STEPPER_TO_EXTRUDER STEPPER=<extruder_stepper config_name>
-  [EXTRUDER=<extruder config_name>]`: This command will cause the given
-  STEPPER to become synchronized to the given EXTRUDER, overriding
-  the extruder defined in the "extruder_stepper" config section.
-
 ### Probe
 
 The following commands are available when a

klippy/chelper/__init__.py

@@ -133,8 +133,8 @@
 
 defs_kin_extruder = """
     struct stepper_kinematics *extruder_stepper_alloc(void);
-    void extruder_set_smooth_time(struct stepper_kinematics *sk
-        , double smooth_time);
+    void extruder_set_pressure_advance(struct stepper_kinematics *sk
+        , double pressure_advance, double smooth_time);
 """
 
 defs_kin_shaper = """

klippy/chelper/kin_extruder.c

@@ -52,15 +52,17 @@ extruder_integrate_time(double base, double start_v, double half_accel
 
 // Calculate the definitive integral of extruder for a given move
 static double
-pa_move_integrate(struct move *m, double base, double start, double end,
-                  double time_offset)
+pa_move_integrate(struct move *m, double pressure_advance
+                  , double base, double start, double end, double time_offset)
 {
     if (start < 0.)
         start = 0.;
     if (end > m->move_t)
         end = m->move_t;
     // Calculate base position and velocity with pressure advance
-    double pressure_advance = m->axes_r.y;
+    int can_pressure_advance = m->axes_r.y != 0.;
+    if (!can_pressure_advance)
+        pressure_advance = 0.;
     base += pressure_advance * m->start_v;
     double start_v = m->start_v + pressure_advance * 2. * m->half_accel;
     // Calculate definitive integral
@@ -72,34 +74,36 @@ pa_move_integrate(struct move *m, double base, double start, double end,
 
 // Calculate the definitive integral of the extruder over a range of moves
 static double
-pa_range_integrate(struct move *m, double move_time, double hst)
+pa_range_integrate(struct move *m, double move_time
+                   , double pressure_advance, double hst)
 {
     // Calculate integral for the current move
     double res = 0., start = move_time - hst, end = move_time + hst;
     double start_base = m->start_pos.x;
-    res += pa_move_integrate(m, 0., start, move_time, start);
-    res -= pa_move_integrate(m, 0., move_time, end, end);
+    res += pa_move_integrate(m, pressure_advance, 0., start, move_time, start);
+    res -= pa_move_integrate(m, pressure_advance, 0., move_time, end, end);
     // Integrate over previous moves
     struct move *prev = m;
     while (unlikely(start < 0.)) {
         prev = list_prev_entry(prev, node);
         start += prev->move_t;
         double base = prev->start_pos.x - start_base;
-        res += pa_move_integrate(prev, base, start, prev->move_t, start);
+        res += pa_move_integrate(prev, pressure_advance, base, start
+                                 , prev->move_t, start);
     }
     // Integrate over future moves
     while (unlikely(end > m->move_t)) {
         end -= m->move_t;
         m = list_next_entry(m, node);
         double base = m->start_pos.x - start_base;
-        res -= pa_move_integrate(m, base, 0., end, end);
+        res -= pa_move_integrate(m, pressure_advance, base, 0., end, end);
     }
     return res;
 }
 
 struct extruder_stepper {
     struct stepper_kinematics sk;
-    double half_smooth_time, inv_half_smooth_time2;
+    double pressure_advance, half_smooth_time, inv_half_smooth_time2;
 };
 
 static double
@@ -112,12 +116,13 @@ extruder_calc_position(struct stepper_kinematics *sk, struct move *m
         // Pressure advance not enabled
         return m->start_pos.x + move_get_distance(m, move_time);
     // Apply pressure advance and average over smooth_time
-    double area = pa_range_integrate(m, move_time, hst);
+    double area = pa_range_integrate(m, move_time, es->pressure_advance, hst);
     return m->start_pos.x + area * es->inv_half_smooth_time2;
 }
 
 void __visible
-extruder_set_smooth_time(struct stepper_kinematics *sk, double smooth_time)
+extruder_set_pressure_advance(struct stepper_kinematics *sk
+                              , double pressure_advance, double smooth_time)
 {
     struct extruder_stepper *es = container_of(sk, struct extruder_stepper, sk);
     double hst = smooth_time * .5;
@@ -126,6 +131,7 @@ extruder_set_smooth_time(struct stepper_kinematics *sk, double smooth_time)
     if (! hst)
         return;
     es->inv_half_smooth_time2 = 1. / (hst * hst);
+    es->pressure_advance = pressure_advance;
 }
 
 struct stepper_kinematics * __visible

klippy/extras/extruder_stepper.py

@@ -4,36 +4,17 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
-import stepper
+from kinematics import extruder
 
-class ExtruderStepper:
+class PrinterExtruderStepper:
     def __init__(self, config):
         self.printer = config.get_printer()
-        stepper_name = config.get_name().split()[1]
+        self.extruder_stepper = extruder.ExtruderStepper(config)
         self.extruder_name = config.get('extruder', 'extruder')
-        self.stepper = stepper.PrinterStepper(config)
-        self.stepper.setup_itersolve('extruder_stepper_alloc')
         self.printer.register_event_handler("klippy:connect",
                                             self.handle_connect)
-        gcode = self.printer.lookup_object('gcode')
-        gcode.register_mux_command("SYNC_STEPPER_TO_EXTRUDER", "STEPPER",
-                                   stepper_name,
-                                   self.cmd_SYNC_STEPPER_TO_EXTRUDER,
-                                   desc=self.cmd_SYNC_STEPPER_TO_EXTRUDER_help)
     def handle_connect(self):
-        extruder = self.printer.lookup_object(self.extruder_name)
-        extruder.sync_stepper(self.stepper)
-        toolhead = self.printer.lookup_object('toolhead')
-        toolhead.register_step_generator(self.stepper.generate_steps)
-    cmd_SYNC_STEPPER_TO_EXTRUDER_help = "Set extruder stepper"
-    def cmd_SYNC_STEPPER_TO_EXTRUDER(self, gcmd):
-        ename = gcmd.get('EXTRUDER')
-        extruder = self.printer.lookup_object(ename, None)
-        if extruder is None:
-            raise gcmd.error("'%s' is not a valid extruder." % (ename,))
-        extruder.sync_stepper(self.stepper)
-        self.extruder_name = ename
-        gcmd.respond_info("Extruder stepper now syncing with '%s'" % (ename,))
+        self.extruder_stepper.sync_to_extruder(self.extruder_name)
 
 def load_config_prefix(config):
-    return ExtruderStepper(config)
+    return PrinterExtruderStepper(config)