mirror of
https://github.com/andreili/klipper.git
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cc6736c3e3
* tests: Added a regression test for generic_cartesian kinematics * kinematics: An intial implementation of generic_cartesian kinematics * generic_cartesian: Refactored kinematics configuration API * generic_cartesian: Use stepper instead of kinematic_stepper in configs * generic_cartesian: Added SET_STEPPER_KINEMATICS command * generic_cartesian: Fixed parsing of section names * docs: Generic Caretsian kinematics documentation and config samples * generic_cartesian: Implemented multi-mcu homing validation * generic_cartesian: Fixed typos in docs, minor fixes * generic_cartesian: Renamed `kinematics` option to `carriages` * generic_cartesian: Moved kinematic_stepper.py file * idex_modes: Internal refactoring of handling dual carriages * stepper: Refactored the code to not store a reference to config object * config: Updated example-generic-cartesian config * generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status * idex_modes: Fixed handling stepper kinematics with input shaper enabled * config: Updated configs and tests for SET_DUAL_CARRIAGE new params * generic_cartesian: Avoid inheritance in the added classes Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
53 lines
1.7 KiB
C
53 lines
1.7 KiB
C
// Generic cartesian kinematics stepper position calculation
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//
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// Copyright (C) 2024 Dmitry Butyugin <dmbutyugin@google.com>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <stddef.h> // offsetof
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#include <stdlib.h> // malloc
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#include <string.h> // memset
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#include "compiler.h" // __visible
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#include "itersolve.h" // struct stepper_kinematics
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#include "trapq.h" // move_get_coord
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struct generic_cartesian_stepper {
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struct stepper_kinematics sk;
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struct coord a;
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};
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static double
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generic_cartesian_stepper_calc_position(struct stepper_kinematics *sk
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, struct move *m, double move_time)
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{
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struct generic_cartesian_stepper *cs = container_of(
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sk, struct generic_cartesian_stepper, sk);
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struct coord c = move_get_coord(m, move_time);
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return cs->a.x * c.x + cs->a.y * c.y + cs->a.z * c.z;
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}
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void __visible
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generic_cartesian_stepper_set_coeffs(struct stepper_kinematics *sk
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, double a_x, double a_y, double a_z)
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{
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struct generic_cartesian_stepper *cs = container_of(
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sk, struct generic_cartesian_stepper, sk);
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cs->a.x = a_x;
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cs->a.y = a_y;
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cs->a.z = a_z;
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cs->sk.active_flags = 0;
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if (a_x) cs->sk.active_flags |= AF_X;
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if (a_y) cs->sk.active_flags |= AF_Y;
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if (a_z) cs->sk.active_flags |= AF_Z;
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}
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struct stepper_kinematics * __visible
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generic_cartesian_stepper_alloc(double a_x, double a_y, double a_z)
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{
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struct generic_cartesian_stepper *cs = malloc(sizeof(*cs));
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memset(cs, 0, sizeof(*cs));
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cs->sk.calc_position_cb = generic_cartesian_stepper_calc_position;
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generic_cartesian_stepper_set_coeffs(&cs->sk, a_x, a_y, a_z);
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return &cs->sk;
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}
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