chelper: Move cartesian and delta kinematics code to their own C files

Move the cartesian and delta specific code to new files
kin_cartesian.c and kin_delta.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/chelper/stepcompress.h

@@ -0,0 +1,40 @@
+#ifndef STEPCOMPRESS_H
+#define STEPCOMPRESS_H
+
+#include <stdint.h> // uint32_t
+
+#define ERROR_RET -989898989
+
+struct stepcompress *stepcompress_alloc(
+    uint32_t max_error, uint32_t queue_step_msgid
+    , uint32_t set_next_step_dir_msgid, uint32_t invert_sdir, uint32_t oid);
+void stepcompress_free(struct stepcompress *sc);
+int set_next_step_dir(struct stepcompress *sc, int sdir);
+int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
+int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock);
+int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
+double stepcompress_get_mcu_freq(struct stepcompress *sc);
+uint32_t stepcompress_get_oid(struct stepcompress *sc);
+
+struct queue_append {
+    struct stepcompress *sc;
+    uint32_t *qnext, *qend, last_step_clock_32;
+    double clock_offset;
+};
+struct queue_append queue_append_start(
+    struct stepcompress *sc, double print_time, double adjust);
+void queue_append_finish(struct queue_append qa);
+int queue_append(struct queue_append *qa, double step_clock);
+
+struct serialqueue;
+struct steppersync *steppersync_alloc(
+    struct serialqueue *sq, struct stepcompress **sc_list, int sc_num
+    , int move_num);
+void steppersync_free(struct steppersync *ss);
+void steppersync_set_time(struct steppersync *ss, double time_offset
+                          , double mcu_freq);
+int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
+
+double safe_sqrt(double v);
+
+#endif // stepcompress.h