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| author | Voron <44981431+VoronDesign@users.noreply.github.com> | 2020-07-30 09:42:23 -0700 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2020-07-30 12:42:23 -0400 |
| commit | 9213646c63c6027a7c43ad254ba9cf09ebd166df (patch) | |
| tree | d1f0fd11b0b68c87a1577f72c7320f9a9057e5d4 /klippy/chelper | |
| parent | f3b980c1b273ede20f5db5d017ce0bcc715640eb (diff) | |
| download | kutter-9213646c63c6027a7c43ad254ba9cf09ebd166df.tar.gz kutter-9213646c63c6027a7c43ad254ba9cf09ebd166df.tar.xz kutter-9213646c63c6027a7c43ad254ba9cf09ebd166df.zip | |
corexz: Add CoreXZ kinematics (#3129)
Add a CoreXZ kinematics
Signed-off-by: Maks Zolin <mzolin@vorondesign.com>
Diffstat (limited to 'klippy/chelper')
| -rw-r--r-- | klippy/chelper/__init__.py | 18 | ||||
| -rw-r--r-- | klippy/chelper/kin_corexz.c | 40 |
2 files changed, 51 insertions, 7 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index d87c0b31..b29b8e68 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -16,8 +16,9 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC" " -o %s %s") SOURCE_FILES = [ 'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c', - 'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c', - 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', 'kin_shaper.c', + 'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c', + 'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', + 'kin_shaper.c', ] DEST_LIB = "c_helper.so" OTHER_FILES = [ @@ -78,6 +79,10 @@ defs_kin_corexy = """ struct stepper_kinematics *corexy_stepper_alloc(char type); """ +defs_kin_corexz = """ + struct stepper_kinematics *corexz_stepper_alloc(char type); +""" + defs_kin_delta = """ struct stepper_kinematics *delta_stepper_alloc(double arm2 , double tower_x, double tower_y); @@ -165,11 +170,10 @@ defs_std = """ """ defs_all = [ - defs_pyhelper, defs_serialqueue, defs_std, - defs_stepcompress, defs_itersolve, defs_trapq, - defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar, - defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder, - defs_kin_shaper, + defs_pyhelper, defs_serialqueue, defs_std, defs_stepcompress, + defs_itersolve, defs_trapq, defs_kin_cartesian, defs_kin_corexy, + defs_kin_corexz, defs_kin_delta, defs_kin_polar, defs_kin_rotary_delta, + defs_kin_winch, defs_kin_extruder, defs_kin_shaper, ] # Return the list of file modification times diff --git a/klippy/chelper/kin_corexz.c b/klippy/chelper/kin_corexz.c new file mode 100644 index 00000000..320dc239 --- /dev/null +++ b/klippy/chelper/kin_corexz.c @@ -0,0 +1,40 @@ +// CoreXZ kinematics stepper pulse time generation +// +// Copyright (C) 2020 Maks Zolin <mzolin@vorondesign.com> +// +// This file may be distributed under the terms of the GNU GPLv3 license. + +#include <stdlib.h> // malloc +#include <string.h> // memset +#include "compiler.h" // __visible +#include "itersolve.h" // struct stepper_kinematics +#include "trapq.h" // move_get_coord + +static double +corexz_stepper_plus_calc_position(struct stepper_kinematics *sk, struct move *m + , double move_time) +{ + struct coord c = move_get_coord(m, move_time); + return c.x + c.z; +} + +static double +corexz_stepper_minus_calc_position(struct stepper_kinematics *sk, struct move *m + , double move_time) +{ + struct coord c = move_get_coord(m, move_time); + return c.x - c.z; +} + +struct stepper_kinematics * __visible +corexz_stepper_alloc(char type) +{ + struct stepper_kinematics *sk = malloc(sizeof(*sk)); + memset(sk, 0, sizeof(*sk)); + if (type == '+') + sk->calc_position_cb = corexz_stepper_plus_calc_position; + else if (type == '-') + sk->calc_position_cb = corexz_stepper_minus_calc_position; + sk->active_flags = AF_X | AF_Z; + return sk; +} |