kinematics: Generic Cartesian kinematics implementation (#6815)

* 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>

klippy/chelper/__init__.py

@@ -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_idex.c',
+    'kin_extruder.c', 'kin_shaper.c', 'kin_idex.c', 'kin_generic.c'
 ]
 DEST_LIB = "c_helper.so"
 OTHER_FILES = [
@@ -106,6 +106,12 @@ defs_trapq = """
 defs_kin_cartesian = """
     struct stepper_kinematics *cartesian_stepper_alloc(char axis);
 """
+defs_kin_generic_cartesian = """
+    struct stepper_kinematics *generic_cartesian_stepper_alloc(double a_x
+        , double a_y, double a_z);
+    void generic_cartesian_stepper_set_coeffs(struct stepper_kinematics *sk
+        , double a_x, double a_y, double a_z);
+"""
 
 defs_kin_corexy = """
     struct stepper_kinematics *corexy_stepper_alloc(char type);
@@ -224,6 +230,7 @@ defs_all = [
     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_idex,
+    defs_kin_generic_cartesian,
 ]
 
 # Update filenames to an absolute path

klippy/chelper/kin_generic.c

@@ -0,0 +1,52 @@
+// Generic cartesian kinematics stepper position calculation
+//
+// Copyright (C) 2024  Dmitry Butyugin <dmbutyugin@google.com>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include <stddef.h> // offsetof
+#include <stdlib.h> // malloc
+#include <string.h> // memset
+#include "compiler.h" // __visible
+#include "itersolve.h" // struct stepper_kinematics
+#include "trapq.h" // move_get_coord
+
+struct generic_cartesian_stepper {
+    struct stepper_kinematics sk;
+    struct coord a;
+};
+
+static double
+generic_cartesian_stepper_calc_position(struct stepper_kinematics *sk
+                                        , struct move *m, double move_time)
+{
+    struct generic_cartesian_stepper *cs = container_of(
+            sk, struct generic_cartesian_stepper, sk);
+    struct coord c = move_get_coord(m, move_time);
+    return cs->a.x * c.x + cs->a.y * c.y + cs->a.z * c.z;
+}
+
+void __visible
+generic_cartesian_stepper_set_coeffs(struct stepper_kinematics *sk
+                                     , double a_x, double a_y, double a_z)
+{
+    struct generic_cartesian_stepper *cs = container_of(
+            sk, struct generic_cartesian_stepper, sk);
+    cs->a.x = a_x;
+    cs->a.y = a_y;
+    cs->a.z = a_z;
+    cs->sk.active_flags = 0;
+    if (a_x) cs->sk.active_flags |= AF_X;
+    if (a_y) cs->sk.active_flags |= AF_Y;
+    if (a_z) cs->sk.active_flags |= AF_Z;
+}
+
+struct stepper_kinematics * __visible
+generic_cartesian_stepper_alloc(double a_x, double a_y, double a_z)
+{
+    struct generic_cartesian_stepper *cs = malloc(sizeof(*cs));
+    memset(cs, 0, sizeof(*cs));
+    cs->sk.calc_position_cb = generic_cartesian_stepper_calc_position;
+    generic_cartesian_stepper_set_coeffs(&cs->sk, a_x, a_y, a_z);
+    return &cs->sk;
+}

klippy/chelper/kin_idex.c

@@ -77,5 +77,6 @@ dual_carriage_alloc(void)
     struct dual_carriage_stepper *dc = malloc(sizeof(*dc));
     memset(dc, 0, sizeof(*dc));
     dc->m.move_t = 2. * DUMMY_T;
+    dc->x_scale = dc->y_scale = 1.0;
     return &dc->sk;
 }