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>

2 files changed, 315 insertions, 0 deletions

diff --git a/config/example-generic-caretesian.cfg b/config/example-generic-caretesian.cfg
new file mode 100644
index 00000000..2d6b3994
--- /dev/null
+++ b/config/example-generic-caretesian.cfg
@@ -0,0 +1,138 @@
+# This file is an example config file for cartesian style printers.
+# One may copy and edit this file to configure a new printer with
+# a generic cartesian kinematics.
+
+# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
+# FIRST. Incorrectly configured parameters may cause damage.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[carriage x]
+position_endstop: 0
+position_max: 300
+homing_speed: 50
+endstop_pin: ^PE5
+
+[carriage y]
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+endstop_pin: ^PJ1
+
+[extra_carriage y1]
+primary_carriage: y
+endstop_pin: ^PB6
+
+[carriage z]
+position_endstop: 0.5
+position_max: 100
+endstop_pin: ^PD3
+
+[dual_carriage u]
+primary_carriage: x
+position_endstop: 300
+position_max: 300
+homing_speed: 50
+endstop_pin: ^PE4
+
+[stepper my_stepper_x]
+carriages: x+y
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+
+[stepper my_stepper_u]
+carriages: u-y1
+step_pin: PH1
+dir_pin: PH0
+enable_pin: !PA1
+microsteps: 16
+rotation_distance: 40
+
+[stepper my_stepper_y0]
+carriages: y
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+
+[stepper my_stepper_y1]
+carriages: y1
+step_pin: PE3
+dir_pin: !PH6
+enable_pin: !PG5
+microsteps: 16
+rotation_distance: 40
+
+[stepper my_stepper_z0]
+carriages: z
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+
+[stepper my_stepper_z1]
+carriages: z
+step_pin: PG1
+dir_pin: PG0
+enable_pin: !PH3
+microsteps: 16
+rotation_distance: 8
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[extruder1]
+step_pin: PC1
+dir_pin: PC3
+enable_pin: !PC7
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK7
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 110
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: generic_cartesian
+max_velocity: 500
+max_accel: 3000
+max_z_velocity: 20
+max_z_accel: 100
diff --git a/config/sample-corexyuv.cfg b/config/sample-corexyuv.cfg
new file mode 100644
index 00000000..368b6464
--- /dev/null
+++ b/config/sample-corexyuv.cfg
@@ -0,0 +1,177 @@
+# This file contains a configuration snippet for a CoreXYUV
+# printer with an independent dual extruder moving over X and Y axes.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[carriage x]
+position_endstop: 0
+position_max: 300
+homing_speed: 50
+endstop_pin: ^PE5
+
+[carriage y]
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+endstop_pin: ^PJ1
+
+[dual_carriage u]
+primary_carriage: x
+safe_distance: 70
+position_endstop: 300
+position_max: 300
+homing_speed: 50
+endstop_pin: ^PE4
+
+[dual_carriage v]
+primary_carriage: y
+safe_distance: 50
+position_endstop: 200
+position_max: 200
+homing_speed: 50
+endstop_pin: ^PD4
+
+[stepper a]
+carriages: x+y
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+
+[stepper b]
+carriages: u-v
+step_pin: PH1
+dir_pin: PH0
+enable_pin: !PA1
+microsteps: 16
+rotation_distance: 40
+
+[stepper c]
+carriages: x-y
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+
+[stepper d]
+carriages: u+v
+step_pin: PE3
+dir_pin: !PH6
+enable_pin: !PG5
+microsteps: 16
+rotation_distance: 40
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[gcode_macro PARK_extruder]
+gcode:
+    SET_DUAL_CARRIAGE CARRIAGE=x
+    SET_DUAL_CARRIAGE CARRIAGE=y
+    G90
+    G1 X0 Y0
+
+[gcode_macro T0]
+gcode:
+    PARK_{printer.toolhead.extruder}
+    ACTIVATE_EXTRUDER EXTRUDER=extruder
+    SET_DUAL_CARRIAGE CARRIAGE=x
+    SET_DUAL_CARRIAGE CARRIAGE=y
+
+[extruder1]
+step_pin: PC1
+dir_pin: PC3
+enable_pin: !PC7
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK7
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[gcode_macro PARK_extruder1]
+gcode:
+    SET_DUAL_CARRIAGE CARRIAGE=u
+    SET_DUAL_CARRIAGE CARRIAGE=v
+    G90
+    G1 X300 Y200
+
+[gcode_macro T1]
+gcode:
+    PARK_{printer.toolhead.extruder}
+    ACTIVATE_EXTRUDER EXTRUDER=extruder1
+    SET_DUAL_CARRIAGE CARRIAGE=u
+    SET_DUAL_CARRIAGE CARRIAGE=v
+
+# A helper script to activate copy mode
+[gcode_macro ACTIVATE_COPY_MODE]
+gcode:
+    SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
+    G1 X0 Y0
+    ACTIVATE_EXTRUDER EXTRUDER=extruder
+    SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
+    G1 X150 Y100
+    SET_DUAL_CARRIAGE CARRIAGE=u MODE=COPY
+    SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
+    SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
+
+# A helper script to activate mirror mode
+[gcode_macro ACTIVATE_MIRROR_MODE]
+gcode:
+    SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
+    G1 X0 Y0
+    ACTIVATE_EXTRUDER EXTRUDER=extruder
+    SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
+    SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
+    G1 X300 Y100
+    SET_DUAL_CARRIAGE CARRIAGE=u MODE=MIRROR
+    SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
+    SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
+
+[printer]
+kinematics: generic_cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+## An optional input shaper support
+#[input_shaper]
+## The section is intentionally empty
+#
+#[delayed_gcode init_shaper]
+#initial_duration: 0.1
+#gcode:
+#    SET_DUAL_CARRIAGE CARRIAGE=u
+#    SET_DUAL_CARRIAGE CARRIAGE=v
+#    SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_x_shaper> SHAPER_FREQ_X=<dual_carriage_x_freq> SHAPER_TYPE_Y=<dual_carriage_y_shaper> SHAPER_FREQ_Y=<dual_carriage_y_freq>
+#    SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
+#    SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
+#    SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_x_shaper> SHAPER_FREQ_X=<primary_carriage_x_freq> SHAPER_TYPE_Y=<primary_carriage_y_shaper> SHAPER_FREQ_Y=<primary_carriage_y_freq>