From 4d559633e3a3f9e4aba585c30422c8f5772f2b46 Mon Sep 17 00:00:00 2001
From: Tircown <74233386+Tircown@users.noreply.github.com>
Date: Mon, 28 Jun 2021 00:37:05 +0200
Subject: kinematics: Add dual_carriage to hybrid-corexyz (#4296)

- Add dual_carriage abilities for hybrid-corexy and hybrid-corexz
- Introduce the module idex_mode
- Fix add_stepper to the correct rail in hybrid-corexy

Signed-off-by: Fabrice GALLET <tircown@gmail.com>
---
 klippy/chelper/__init__.py     |  1 +
 klippy/chelper/kin_cartesian.c | 39 +++++++++++++++++++++++++++++++++++++++
 2 files changed, 40 insertions(+)

(limited to 'klippy/chelper')

diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py
index 7b20963d..e8760b54 100644
--- a/klippy/chelper/__init__.py
+++ b/klippy/chelper/__init__.py
@@ -80,6 +80,7 @@ defs_trapq = """
 
 defs_kin_cartesian = """
     struct stepper_kinematics *cartesian_stepper_alloc(char axis);
+    struct stepper_kinematics *cartesian_reverse_stepper_alloc(char axis);
 """
 
 defs_kin_corexy = """
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;
+}
-- 
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