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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

39
klippy/chelper/kin_cartesian.c
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@@ -49,42 +49,3 @@ cartesian_stepper_alloc(char axis)
}
return sk;
}
static double
cart_reverse_stepper_x_calc_position(struct stepper_kinematics *sk
, struct move *m, double move_time)
{
return -move_get_coord(m, move_time).x;
}
static double
cart_reverse_stepper_y_calc_position(struct stepper_kinematics *sk
, struct move *m, double move_time)
{
return -move_get_coord(m, move_time).y;
}
static double
cart_reverse_stepper_z_calc_position(struct stepper_kinematics *sk
, struct move *m, double move_time)
{
return -move_get_coord(m, move_time).z;
}
struct stepper_kinematics * __visible
cartesian_reverse_stepper_alloc(char axis)
{
struct stepper_kinematics *sk = malloc(sizeof(*sk));
memset(sk, 0, sizeof(*sk));
if (axis == 'x') {
sk->calc_position_cb = cart_reverse_stepper_x_calc_position;
sk->active_flags = AF_X;
} else if (axis == 'y') {
sk->calc_position_cb = cart_reverse_stepper_y_calc_position;
sk->active_flags = AF_Y;
} else if (axis == 'z') {
sk->calc_position_cb = cart_reverse_stepper_z_calc_position;
sk->active_flags = AF_Z;
}
return sk;
}

81
klippy/chelper/kin_idex.c Normal file
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@@ -0,0 +1,81 @@
// Idex dual carriage kinematics
//
// Copyright (C) 2023 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" // struct move
#define DUMMY_T 500.0
struct dual_carriage_stepper {
struct stepper_kinematics sk;
struct stepper_kinematics *orig_sk;
struct move m;
double x_scale, x_offs, y_scale, y_offs;
};
double
dual_carriage_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct dual_carriage_stepper *dc = container_of(
sk, struct dual_carriage_stepper, sk);
struct coord pos = move_get_coord(m, move_time);
dc->m.start_pos.x = pos.x * dc->x_scale + dc->x_offs;
dc->m.start_pos.y = pos.y * dc->y_scale + dc->y_offs;
dc->m.start_pos.z = pos.z;
return dc->orig_sk->calc_position_cb(dc->orig_sk, &dc->m, DUMMY_T);
}
void __visible
dual_carriage_set_sk(struct stepper_kinematics *sk
, struct stepper_kinematics *orig_sk)
{
struct dual_carriage_stepper *dc = container_of(
sk, struct dual_carriage_stepper, sk);
dc->sk.calc_position_cb = dual_carriage_calc_position;
dc->sk.active_flags = orig_sk->active_flags;
dc->orig_sk = orig_sk;
}
int __visible
dual_carriage_set_transform(struct stepper_kinematics *sk, char axis
, double scale, double offs)
{
struct dual_carriage_stepper *dc = container_of(
sk, struct dual_carriage_stepper, sk);
if (axis == 'x') {
dc->x_scale = scale;
dc->x_offs = offs;
if (!scale)
dc->sk.active_flags &= ~AF_X;
else if (scale && dc->orig_sk->active_flags & AF_X)
dc->sk.active_flags |= AF_X;
return 0;
}
if (axis == 'y') {
dc->y_scale = scale;
dc->y_offs = offs;
if (!scale)
dc->sk.active_flags &= ~AF_Y;
else if (scale && dc->orig_sk->active_flags & AF_Y)
dc->sk.active_flags |= AF_Y;
return 0;
}
return -1;
}
struct stepper_kinematics * __visible
dual_carriage_alloc(void)
{
struct dual_carriage_stepper *dc = malloc(sizeof(*dc));
memset(dc, 0, sizeof(*dc));
dc->m.move_t = 2. * DUMMY_T;
return &dc->sk;
}

8
klippy/chelper/kin_shaper.c
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@@ -204,11 +204,11 @@ input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
struct input_shaper *is = container_of(sk, struct input_shaper, sk);
struct shaper_pulses *sp = axis == 'x' ? &is->sx : &is->sy;
int status = 0;
if (is->orig_sk->active_flags & (axis == 'x' ? AF_X : AF_Y))
// Ignore input shaper update if the axis is not active
if (is->orig_sk->active_flags & (axis == 'x' ? AF_X : AF_Y)) {
status = init_shaper(n, a, t, sp);
else
sp->num_pulses = 0;
shaper_note_generation_time(is);
shaper_note_generation_time(is);
}
return status;
}