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>
83 lines
2.5 KiB
C
83 lines
2.5 KiB
C
// Idex dual carriage kinematics
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//
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// Copyright (C) 2023 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" // struct move
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#define DUMMY_T 500.0
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struct dual_carriage_stepper {
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struct stepper_kinematics sk;
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struct stepper_kinematics *orig_sk;
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struct move m;
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double x_scale, x_offs, y_scale, y_offs;
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};
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double
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dual_carriage_calc_position(struct stepper_kinematics *sk, struct move *m
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, double move_time)
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{
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struct dual_carriage_stepper *dc = container_of(
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sk, struct dual_carriage_stepper, sk);
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struct coord pos = move_get_coord(m, move_time);
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dc->m.start_pos.x = pos.x * dc->x_scale + dc->x_offs;
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dc->m.start_pos.y = pos.y * dc->y_scale + dc->y_offs;
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dc->m.start_pos.z = pos.z;
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return dc->orig_sk->calc_position_cb(dc->orig_sk, &dc->m, DUMMY_T);
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}
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void __visible
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dual_carriage_set_sk(struct stepper_kinematics *sk
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, struct stepper_kinematics *orig_sk)
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{
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struct dual_carriage_stepper *dc = container_of(
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sk, struct dual_carriage_stepper, sk);
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dc->sk.calc_position_cb = dual_carriage_calc_position;
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dc->sk.active_flags = orig_sk->active_flags;
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dc->orig_sk = orig_sk;
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}
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int __visible
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dual_carriage_set_transform(struct stepper_kinematics *sk, char axis
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, double scale, double offs)
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{
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struct dual_carriage_stepper *dc = container_of(
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sk, struct dual_carriage_stepper, sk);
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if (axis == 'x') {
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dc->x_scale = scale;
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dc->x_offs = offs;
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if (!scale)
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dc->sk.active_flags &= ~AF_X;
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else if (scale && dc->orig_sk->active_flags & AF_X)
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dc->sk.active_flags |= AF_X;
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return 0;
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}
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if (axis == 'y') {
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dc->y_scale = scale;
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dc->y_offs = offs;
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if (!scale)
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dc->sk.active_flags &= ~AF_Y;
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else if (scale && dc->orig_sk->active_flags & AF_Y)
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dc->sk.active_flags |= AF_Y;
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return 0;
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}
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return -1;
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}
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struct stepper_kinematics * __visible
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dual_carriage_alloc(void)
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{
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struct dual_carriage_stepper *dc = malloc(sizeof(*dc));
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memset(dc, 0, sizeof(*dc));
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dc->m.move_t = 2. * DUMMY_T;
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dc->x_scale = dc->y_scale = 1.0;
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return &dc->sk;
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}
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