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kinematics: Generic Cartesian kinematics implementation (#6815)

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* 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>
This commit is contained in:
Dmitry Butyugin
2025-05-07 00:06:36 +02:00
committed by GitHub
parent 1cc6398074
commit cc6736c3e3
27 changed files with 1855 additions and 199 deletions
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9
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_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