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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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klippy/chelper/kin_generic.c Normal file
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// 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;
}