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idex_modes: COPY and MIRROR mode implementation (#6297)

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COPY and MIRROR mode implementation

Correctly apply input shaper params to new dual_carriage

Added SAVE_/RESTORE_IDEX_STATE commands

Documentation updates for the new IDEX modes

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2023-08-01 18:23:52 +02:00
committed by GitHub
parent ea330717cd
commit 36be1cfc51
14 changed files with 458 additions and 250 deletions
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13
klippy/chelper/__init__.py
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@@ -21,7 +21,7 @@ SOURCE_FILES = [
'pollreactor.c', 'msgblock.c', 'trdispatch.c',
'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c',
'kin_deltesian.c', 'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c',
'kin_extruder.c', 'kin_shaper.c',
'kin_extruder.c', 'kin_shaper.c', 'kin_idex.c',
]
DEST_LIB = "c_helper.so"
OTHER_FILES = [
@@ -101,7 +101,6 @@ defs_trapq = """
defs_kin_cartesian = """
struct stepper_kinematics *cartesian_stepper_alloc(char axis);
struct stepper_kinematics *cartesian_reverse_stepper_alloc(char axis);
"""
defs_kin_corexy = """
@@ -153,6 +152,14 @@ defs_kin_shaper = """
struct stepper_kinematics * input_shaper_alloc(void);
"""
defs_kin_idex = """
void dual_carriage_set_sk(struct stepper_kinematics *sk
, struct stepper_kinematics *orig_sk);
int dual_carriage_set_transform(struct stepper_kinematics *sk
, char axis, double scale, double offs);
struct stepper_kinematics * dual_carriage_alloc(void);
"""
defs_serialqueue = """
#define MESSAGE_MAX 64
struct pull_queue_message {
@@ -211,7 +218,7 @@ defs_all = [
defs_itersolve, defs_trapq, defs_trdispatch,
defs_kin_cartesian, defs_kin_corexy, defs_kin_corexz, defs_kin_delta,
defs_kin_deltesian, defs_kin_polar, defs_kin_rotary_delta, defs_kin_winch,
defs_kin_extruder, defs_kin_shaper,
defs_kin_extruder, defs_kin_shaper, defs_kin_idex,
]
# Update filenames to an absolute path