idex_modes: COPY and MIRROR mode implementation (#6297)

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>

1 files changed, 81 insertions, 0 deletions

diff --git a/klippy/chelper/kin_idex.c b/klippy/chelper/kin_idex.c
new file mode 100644
index 00000000..7657a73d
--- /dev/null
+++ b/klippy/chelper/kin_idex.c
@@ -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;
+}