1 files changed, 39 insertions, 0 deletions
diff --git a/klippy/chelper/kin_cartesian.c b/klippy/chelper/kin_cartesian.c
index 86569d4a..3b1c8cba 100644
--- a/klippy/chelper/kin_cartesian.c
+++ b/klippy/chelper/kin_cartesian.c
@@ -49,3 +49,42 @@ 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;
+}