1 files changed, 52 insertions, 0 deletions
diff --git a/klippy/chelper/kin_generic.c b/klippy/chelper/kin_generic.c
new file mode 100644
index 00000000..e4077cdd
--- /dev/null
+++ b/klippy/chelper/kin_generic.c
@@ -0,0 +1,52 @@
+// Generic cartesian kinematics stepper position calculation
+//
+// Copyright (C) 2024  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" // move_get_coord
+
+struct generic_cartesian_stepper {
+    struct stepper_kinematics sk;
+    struct coord a;
+};
+
+static double
+generic_cartesian_stepper_calc_position(struct stepper_kinematics *sk
+                                        , struct move *m, double move_time)
+{
+    struct generic_cartesian_stepper *cs = container_of(
+            sk, struct generic_cartesian_stepper, sk);
+    struct coord c = move_get_coord(m, move_time);
+    return cs->a.x * c.x + cs->a.y * c.y + cs->a.z * c.z;
+}
+
+void __visible
+generic_cartesian_stepper_set_coeffs(struct stepper_kinematics *sk
+                                     , double a_x, double a_y, double a_z)
+{
+    struct generic_cartesian_stepper *cs = container_of(
+            sk, struct generic_cartesian_stepper, sk);
+    cs->a.x = a_x;
+    cs->a.y = a_y;
+    cs->a.z = a_z;
+    cs->sk.active_flags = 0;
+    if (a_x) cs->sk.active_flags |= AF_X;
+    if (a_y) cs->sk.active_flags |= AF_Y;
+    if (a_z) cs->sk.active_flags |= AF_Z;
+}
+
+struct stepper_kinematics * __visible
+generic_cartesian_stepper_alloc(double a_x, double a_y, double a_z)
+{
+    struct generic_cartesian_stepper *cs = malloc(sizeof(*cs));
+    memset(cs, 0, sizeof(*cs));
+    cs->sk.calc_position_cb = generic_cartesian_stepper_calc_position;
+    generic_cartesian_stepper_set_coeffs(&cs->sk, a_x, a_y, a_z);
+    return &cs->sk;
+}