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kinematics: Generic Cartesian kinematics implementation (#6815)

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* tests: Added a regression test for generic_cartesian kinematics

* kinematics: An intial implementation of generic_cartesian kinematics

* generic_cartesian: Refactored kinematics configuration API

* generic_cartesian: Use stepper instead of kinematic_stepper in configs

* generic_cartesian: Added SET_STEPPER_KINEMATICS command

* generic_cartesian: Fixed parsing of section names

* docs: Generic Caretsian kinematics documentation and config samples

* generic_cartesian: Implemented multi-mcu homing validation

* generic_cartesian: Fixed typos in docs, minor fixes

* generic_cartesian: Renamed `kinematics` option to `carriages`

* generic_cartesian: Moved kinematic_stepper.py file

* idex_modes: Internal refactoring of handling dual carriages

* stepper: Refactored the code to not store a reference to config object

* config: Updated example-generic-cartesian config

* generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status

* idex_modes: Fixed handling stepper kinematics with input shaper enabled

* config: Updated configs and tests for SET_DUAL_CARRIAGE new params

* generic_cartesian: Avoid inheritance in the added classes

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
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138
config/example-generic-caretesian.cfg Normal file
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@ -0,0 +1,138 @@
# This file is an example config file for cartesian style printers.
# One may copy and edit this file to configure a new printer with
# a generic cartesian kinematics.
# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
# FIRST. Incorrectly configured parameters may cause damage.
# See docs/Config_Reference.md for a description of parameters.
[carriage x]
position_endstop: 0
position_max: 300
homing_speed: 50
endstop_pin: ^PE5
[carriage y]
position_endstop: 0
position_max: 200
homing_speed: 50
endstop_pin: ^PJ1
[extra_carriage y1]
primary_carriage: y
endstop_pin: ^PB6
[carriage z]
position_endstop: 0.5
position_max: 100
endstop_pin: ^PD3
[dual_carriage u]
primary_carriage: x
position_endstop: 300
position_max: 300
homing_speed: 50
endstop_pin: ^PE4
[stepper my_stepper_x]
carriages: x+y
step_pin: PF0
dir_pin: PF1
enable_pin: !PD7
microsteps: 16
rotation_distance: 40
[stepper my_stepper_u]
carriages: u-y1
step_pin: PH1
dir_pin: PH0
enable_pin: !PA1
microsteps: 16
rotation_distance: 40
[stepper my_stepper_y0]
carriages: y
step_pin: PF6
dir_pin: !PF7
enable_pin: !PF2
microsteps: 16
rotation_distance: 40
[stepper my_stepper_y1]
carriages: y1
step_pin: PE3
dir_pin: !PH6
enable_pin: !PG5
microsteps: 16
rotation_distance: 40
[stepper my_stepper_z0]
carriages: z
step_pin: PL3
dir_pin: PL1
enable_pin: !PK0
microsteps: 16
rotation_distance: 8
[stepper my_stepper_z1]
carriages: z
step_pin: PG1
dir_pin: PG0
enable_pin: !PH3
microsteps: 16
rotation_distance: 8
[extruder]
step_pin: PA4
dir_pin: PA6
enable_pin: !PA2
microsteps: 16
rotation_distance: 33.5
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PB4
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK5
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[extruder1]
step_pin: PC1
dir_pin: PC3
enable_pin: !PC7
microsteps: 16
rotation_distance: 33.5
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PB5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK7
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[heater_bed]
heater_pin: PH5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK6
control: watermark
min_temp: 0
max_temp: 110
[mcu]
serial: /dev/ttyACM0
[printer]
kinematics: generic_cartesian
max_velocity: 500
max_accel: 3000
max_z_velocity: 20
max_z_accel: 100

177
config/sample-corexyuv.cfg Normal file
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@ -0,0 +1,177 @@
# This file contains a configuration snippet for a CoreXYUV
# printer with an independent dual extruder moving over X and Y axes.
# See docs/Config_Reference.md for a description of parameters.
[carriage x]
position_endstop: 0
position_max: 300
homing_speed: 50
endstop_pin: ^PE5
[carriage y]
position_endstop: 0
position_max: 200
homing_speed: 50
endstop_pin: ^PJ1
[dual_carriage u]
primary_carriage: x
safe_distance: 70
position_endstop: 300
position_max: 300
homing_speed: 50
endstop_pin: ^PE4
[dual_carriage v]
primary_carriage: y
safe_distance: 50
position_endstop: 200
position_max: 200
homing_speed: 50
endstop_pin: ^PD4
[stepper a]
carriages: x+y
step_pin: PF0
dir_pin: PF1
enable_pin: !PD7
microsteps: 16
rotation_distance: 40
[stepper b]
carriages: u-v
step_pin: PH1
dir_pin: PH0
enable_pin: !PA1
microsteps: 16
rotation_distance: 40
[stepper c]
carriages: x-y
step_pin: PF6
dir_pin: !PF7
enable_pin: !PF2
microsteps: 16
rotation_distance: 40
[stepper d]
carriages: u+v
step_pin: PE3
dir_pin: !PH6
enable_pin: !PG5
microsteps: 16
rotation_distance: 40
[extruder]
step_pin: PA4
dir_pin: PA6
enable_pin: !PA2
microsteps: 16
rotation_distance: 33.5
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PB4
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK5
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[gcode_macro PARK_extruder]
gcode:
SET_DUAL_CARRIAGE CARRIAGE=x
SET_DUAL_CARRIAGE CARRIAGE=y
G90
G1 X0 Y0
[gcode_macro T0]
gcode:
PARK_{printer.toolhead.extruder}
ACTIVATE_EXTRUDER EXTRUDER=extruder
SET_DUAL_CARRIAGE CARRIAGE=x
SET_DUAL_CARRIAGE CARRIAGE=y
[extruder1]
step_pin: PC1
dir_pin: PC3
enable_pin: !PC7
microsteps: 16
rotation_distance: 33.5
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PB5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK7
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[gcode_macro PARK_extruder1]
gcode:
SET_DUAL_CARRIAGE CARRIAGE=u
SET_DUAL_CARRIAGE CARRIAGE=v
G90
G1 X300 Y200
[gcode_macro T1]
gcode:
PARK_{printer.toolhead.extruder}
ACTIVATE_EXTRUDER EXTRUDER=extruder1
SET_DUAL_CARRIAGE CARRIAGE=u
SET_DUAL_CARRIAGE CARRIAGE=v
# A helper script to activate copy mode
[gcode_macro ACTIVATE_COPY_MODE]
gcode:
SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
G1 X0 Y0
ACTIVATE_EXTRUDER EXTRUDER=extruder
SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
G1 X150 Y100
SET_DUAL_CARRIAGE CARRIAGE=u MODE=COPY
SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
# A helper script to activate mirror mode
[gcode_macro ACTIVATE_MIRROR_MODE]
gcode:
SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
G1 X0 Y0
ACTIVATE_EXTRUDER EXTRUDER=extruder
SET_DUAL_CARRIAGE CARRIAGE=u MODE=PRIMARY
SET_DUAL_CARRIAGE CARRIAGE=v MODE=PRIMARY
G1 X300 Y100
SET_DUAL_CARRIAGE CARRIAGE=u MODE=MIRROR
SET_DUAL_CARRIAGE CARRIAGE=v MODE=COPY
SYNC_EXTRUDER_MOTION EXTRUDER=extruder1 MOTION_QUEUE=extruder
[printer]
kinematics: generic_cartesian
max_velocity: 300
max_accel: 3000
max_z_velocity: 5
max_z_accel: 100
## An optional input shaper support
#[input_shaper]
## The section is intentionally empty
#
#[delayed_gcode init_shaper]
#initial_duration: 0.1
#gcode:
# SET_DUAL_CARRIAGE CARRIAGE=u
# SET_DUAL_CARRIAGE CARRIAGE=v
# SET_INPUT_SHAPER SHAPER_TYPE_X=<dual_carriage_x_shaper> SHAPER_FREQ_X=<dual_carriage_x_freq> SHAPER_TYPE_Y=<dual_carriage_y_shaper> SHAPER_FREQ_Y=<dual_carriage_y_freq>
# SET_DUAL_CARRIAGE CARRIAGE=x MODE=PRIMARY
# SET_DUAL_CARRIAGE CARRIAGE=y MODE=PRIMARY
# SET_INPUT_SHAPER SHAPER_TYPE_X=<primary_carriage_x_shaper> SHAPER_FREQ_X=<primary_carriage_x_freq> SHAPER_TYPE_Y=<primary_carriage_y_shaper> SHAPER_FREQ_Y=<primary_carriage_y_freq>

235
docs/Config_Reference.md
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@ -84,8 +84,9 @@ The printer section controls high level printer settings.
[printer]
kinematics:
# The type of printer in use. This option may be one of: cartesian,
# corexy, corexz, hybrid_corexy, hybrid_corexz, rotary_delta, delta,
# deltesian, polar, winch, or none. This parameter must be specified.
# corexy, corexz, hybrid_corexy, hybrid_corexz, generic_cartesian,
# rotary_delta, delta, deltesian, polar, winch, or none.
# This parameter must be specified.
max_velocity:
# Maximum velocity (in mm/s) of the toolhead (relative to the
# print). This value may be changed at runtime using the
@ -712,6 +713,172 @@ anchor_z:
# These parameters must be provided.
```
### Generic Cartesian Kinematics
See [example-generic-cartesian.cfg](../config/example-generic-caretesian.cfg)
for an example generic Cartesian kinematics config file.
This printer kinematic class allows a user to define in a pretty flexible
manner an arbitrary Cartesian-style kinematics. In principle, the regular
cartesian, corexy, hybrid_corexy can be defined this way too. However,
more importantly, various otherwise unsupported kinematics such as
inverted hybrid_corexy or corexyuv can be defined using this kinematic.
Notably, the definition of a generic Cartesian kinematic deviates
significantly from the other kinematic types. It follows the following
convention: a user defines a set of carriages with certain range of motion
that can move independently from each other (they should move over the
Cartesian axes X, Y, and Z, hence the name of the kinematic) and
corresponding endstops that allow the firmware to determine the position
of carriages during homing, as well as a set of steppers that move those
carriages. The `[printer]` section must specify the kinematic and
other printer-level settings same as the regular Cartesian kinematic:
```
[printer]
kinematics: generic_cartesian
max_velocity:
max_accel:
#minimum_cruise_ratio:
#square_corner_velocity:
#max_accel_to_decel:
#max_z_velocity:
#max_z_accel:
```
Then a user must define the following three carriages: `[carriage x]`,
`[carriage y]`, and `[carriage z]`, e.g.
```
[carriage x]
endstop_pin:
# Endstop switch detection pin. If this endstop pin is on a
# different mcu than the stepper motor(s) moving this carriage,
# then it enables "multi-mcu homing". This parameter must be provided.
#position_min: 0
# Minimum valid distance (in mm) the user may command the carriage to
# move to. The default is 0mm.
position_endstop:
# Location of the endstop (in mm). This parameter must be provided.
position_max:
# Maximum valid distance (in mm) the user may command the stepper to
# move to. This parameter must be provided.
#homing_speed: 5.0
# Maximum velocity (in mm/s) of the carriage when homing. The default
# is 5mm/s.
#homing_retract_dist: 5.0
# Distance to backoff (in mm) before homing a second time during
# homing. Set this to zero to disable the second home. The default
# is 5mm.
#homing_retract_speed:
# Speed to use on the retract move after homing in case this should
# be different from the homing speed, which is the default for this
# parameter
#second_homing_speed:
# Velocity (in mm/s) of the carriage when performing the second home.
# The default is homing_speed/2.
#homing_positive_dir:
# If true, homing will cause the carriage to move in a positive
# direction (away from zero); if false, home towards zero. It is
# better to use the default than to specify this parameter. The
# default is true if position_endstop is near position_max and false
# if near position_min.
```
Afterwards, a user specifies the stepper motors that move these carriages,
for instance
```
[stepper my_stepper]
carriages:
# A string describing the carriages the stepper moves. All defined
# carriages can be specified here, as well as their linear combinations,
# e.g. x, x+y, y-0.5*z, x-z, etc. This parameter must be provided.
step_pin:
dir_pin:
enable_pin:
rotation_distance:
microsteps:
#full_steps_per_rotation: 200
#gear_ratio:
#step_pulse_duration:
```
See [stepper](#stepper) section for more information on the regular
stepper parameters. The `carriages` parameter defines how the stepper
affects the motion of the carriages. For example, `x+y` indicates that
the motion of the stepper in the positive direction by the distance `d`
moves the carriages `x` and `y` by the same distance `d` in the positive
direction, while `x-0.5*y` means the motion of the stepper in the positive
direction by the distance `d` moves the carriage `x` by the distance `d`
in the positive direction, but the carriage `y` will travel distance `d/2`
in the negative direction.
More than a single stepper motor can be defined to drive the same axis
or belt. For example, on a CoreXY AWD setups two motors driving the same
belt can be defined as
```
[carriage x]
endstop_pin: ...
...
[carriage y]
endstop_pin: ...
...
[stepper a0]
carriages: x-y
step_pin: ...
dir_pin: ...
enable_pin: ...
rotation_distance: ...
...
[stepper a1]
carriages: x-y
step_pin: ...
dir_pin: ...
enable_pin: ...
rotation_distance: ...
...
```
with `a0` and `a1` steppers having their own control pins, but
sharing the same `carriages` and corresponding endstops.
There are situations when a user wants to have more than one endstop
per axis. Examples of such configurations include Y axis driven by
two independent stepper motors with belts attached to both ends of the
X beam, with effectively two carriages on Y axis each having an
independent endstop, and multi-stepper Z axis with each stepper having
its own endstop (not to be confused with the configurations with
multiple Z motors but only a single endstop). These configurations
can be declared by specifying additional carriage(s) with their endstops:
```
[extra_carriage my_carriage]
primary_carriage:
# The name of the primary carriage this carriage corresponds to.
# It also effectively defines the axis the carriage moves over.
# This parameter must be provided.
endstop_pin:
# Endstop switch detection pin. This parameter must be provided.
```
and the corresponding stepper motors, for example:
```
[extra_carriage y1]
primary_carriage: y
endstop_pin: ...
[stepper sy1]
carriages: y1
...
```
Notably, an `[extra_carriage]` does not define parameters such as
`position_min`, `position_max`, and `position_endstop`, but instead
inherits them from the specified `primary_carriage`, thus sharing
the same range of motion with the primary carriage.
For the references on how to configure IDEX setups, see the
[dual carriage](#dual-carriage) section.
### None Kinematics
It is possible to define a special "none" kinematics to disable
@ -2207,8 +2374,8 @@ for an example configuration.
### [dual_carriage]
Support for cartesian and hybrid_corexy/z printers with dual carriages
on a single axis. The carriage mode can be set via the
Support for cartesian, generic_cartesian and hybrid_corexy/z printers with
dual carriages on a single axis. The carriage mode can be set via the
SET_DUAL_CARRIAGE extended g-code command. For example,
"SET_DUAL_CARRIAGE CARRIAGE=1" command will activate the carriage defined
in this section (CARRIAGE=0 will return activation to the primary carriage).
@ -2235,7 +2402,7 @@ typically be achieved with
or a similar command.
See [sample-idex.cfg](../config/sample-idex.cfg) for an example
configuration.
configuration with a regular Cartesian kinematic.
```
[dual_carriage]
@ -2249,7 +2416,7 @@ axis:
# error. If safe_distance is not provided, it will be inferred from
# position_min and position_max for the dual and primary carriages. If set
# to 0 (or safe_distance is unset and position_min and position_max are
# identical for the primary and dual carraiges), the carriages proximity
# identical for the primary and dual carriages), the carriages proximity
# checks will be disabled.
#step_pin:
#dir_pin:
@ -2263,6 +2430,62 @@ axis:
# See the "stepper" section for the definition of the above parameters.
```
For an example of dual carriage configuration with `generic_cartesian`
kinematic, see the following configuration
[sample](../config/example-generic-caretesian.cfg).
Please note that in this case the `[dual_carriage]` configuration deviates
from the configuration described above:
```
[dual_carriage my_dc_carriage]
primary_carriage:
# Defines the matching primary carriage of this dual carriage and
# the corresponding IDEX axis. Valid choices are x, y, z.
# This parameter must be provided.
#safe_distance:
# The minimum distance (in mm) to enforce between the dual and the primary
# carriages. If a G-Code command is executed that will bring the carriages
# closer than the specified limit, such a command will be rejected with an
# error. If safe_distance is not provided, it will be inferred from
# position_min and position_max for the dual and primary carriages. If set
# to 0 (or safe_distance is unset and position_min and position_max are
# identical for the primary and dual carriages), the carriages proximity
# checks will be disabled.
endstop_pin:
#position_min:
position_endstop:
position_max:
#homing_speed:
#homing_retract_dist:
#homing_retract_speed:
#second_homing_speed:
#homing_positive_dir:
...
```
Refer to [generic cartesian](#generic-cartesian) section for more information
on the regular `carriage` parameters.
Then a user must define one or more stepper motors moving the dual carriage
(and other carriages as appropriate), for instance
```
[carriage x]
...
[carriage y]
...
[dual_carriage u]
primary_carriage: x
...
[stepper dc_stepper]
carriages: u-y
...
```
It is worth noting that `generic_cartesian` kinematic can support two
dual carriages for X and Y axes. For reference, see for instance a
[sample](../config/sample-corexyuv.cfg) of CoreXYUV configuration.
### [extruder_stepper]
Support for additional steppers synchronized to the movement of an

59
docs/G-Codes.md
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@ -341,15 +341,18 @@ The following command is available when the
enabled.
#### SET_DUAL_CARRIAGE
`SET_DUAL_CARRIAGE CARRIAGE=[0|1] [MODE=[PRIMARY|COPY|MIRROR]]`:
`SET_DUAL_CARRIAGE CARRIAGE=<carriage> [MODE=[PRIMARY|COPY|MIRROR]]`:
This command will change the mode of the specified carriage.
If no `MODE` is provided it defaults to `PRIMARY`. Setting the mode
to `PRIMARY` deactivates the other carriage and makes the specified
carriage execute subsequent G-Code commands as-is. `COPY` and `MIRROR`
modes are supported only for `CARRIAGE=1`. When set to either of these
modes, carriage 1 will then track the subsequent moves of the carriage 0
and either copy relative movements of it (in `COPY` mode) or execute them
in the opposite (mirror) direction (in `MIRROR` mode).
If no `MODE` is provided it defaults to `PRIMARY`. `<carriage>` must
reference a defined primary or dual carriage for `generic_cartesian`
kinematics or be 0 (for primary carriage) or 1 (for dual carriage)
for all other kinematics supporting IDEX. Setting the mode to `PRIMARY`
deactivates the other carriage and makes the specified carriage execute
subsequent G-Code commands as-is. `COPY` and `MIRROR` modes are supported
only for dual carriages. When set to either of these modes, dual carriage
will then track the subsequent moves of its primary carriage and either
copy relative movements of it (in `COPY` mode) or execute them in the
opposite (mirror) direction (in `MIRROR` mode).
#### SAVE_DUAL_CARRIAGE_STATE
`SAVE_DUAL_CARRIAGE_STATE [NAME=<state_name>]`: Save the current positions
@ -715,6 +718,46 @@ is specified then the toolhead move will be performed with the given
speed (in mm/s); otherwise the toolhead move will use the restored
g-code speed.
### [generic_cartesian]
The commands in this section become automatically available when
`kinematics: generic_cartesian` is specified as the printer kinematics.
#### SET_STEPPER_CARRIAGES
`SET_STEPPER_CARRIAGES STEPPER=<stepper_name> CARRIAGES=<carriages>
[DISABLE_CHECKS=[0|1]]`: Set or update the stepper carriages.
`<stepper_name>` must reference an existing stepper defined in `printer.cfg`,
and `<carriages>` describes the carriages the stepper moves. See
[Generic Cartesian Kinematics](Config_Reference.md#generic-cartesian-kinematics)
for a more detailed overview of the `carriages` parameter in the
stepper configuration section. Note that it is only possible
to change the coefficients or signs of the carriages with this
command, but a user cannot add or remove the carriages that the stepper
controls.
`SET_STEPPER_CARRIAGES` is an advanced tool, and the user is advised
to exercise an extreme caution using it, since specifying incorrect
configuration may physically damage the printer.
Note that `SET_STEPPER_CARRIAGES` performs certain internal validations
of the new printer kinematics after the change. Keep in mind that if it
detects an issue, it may leave printer kinematics in an invalid state.
This means that if `SET_STEPPER_CARRIAGES` reports an error, it is unsafe
to issue other GCode commands, and the user must inspect the error message
and either fix the problem, or manually restore the previous stepper(s)
configuration.
Since `SET_STEPPER_CARRIAGES` can update a configuration of a single
stepper at a time, some sequences of changes can lead to invalid
intermediate kinematic configurations, even if the final configuration
is valid. In such cases a user can pass `DISABLE_CHECKS=1` parameters to
all but the last command to disable intermediate checks. For example,
if `stepper a` and `stepper b` initially have `x-y` and `x+y` carriages
correspondingly, then the following sequence of commands will let a user
effectively swap the carriage controls:
`SET_STEPPER_CARRIAGES STEPPER=a CARRIAGES=x+y DISABLE_CHECKS=1`
and `SET_STEPPER_CARRIAGES STEPPER=b CARRIAGES=x-y`, while
still validating the final kinematics state.
### [hall_filament_width_sensor]
The following commands are available when the

6
docs/Status_Reference.md
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@ -570,6 +570,12 @@ on a cartesian, hybrid_corexy or hybrid_corexz robot
- `carriage_1`: The mode of the carriage 1. Possible values are:
"INACTIVE", "PRIMARY", "COPY", and "MIRROR".
On a `generic_cartesian` kinematic, the following information is
available in `dual_carriage`:
- `carriages["<carriage>"]`: The mode of the carriage `<carriage>`. Possible
values are "INACTIVE" and "PRIMARY" for the primary carriage and "INACTIVE",
"PRIMARY", "COPY", and "MIRROR" for the dual carriage.
## virtual_sdcard
The following information is available in the

9
klippy/chelper/__init__.py
View file

@ -21,7 +21,7 @@ SOURCE_FILES = [
'pollreactor.c', 'msgblock.c', 'trdispatch.c',
'kin_cartesian.c', 'kin_corexy.c', 'kin_corexz.c', 'kin_delta.c',
'kin_deltesian.c', 'kin_polar.c', 'kin_rotary_delta.c', 'kin_winch.c',
'kin_extruder.c', 'kin_shaper.c', 'kin_idex.c',
'kin_extruder.c', 'kin_shaper.c', 'kin_idex.c', 'kin_generic.c'
]
DEST_LIB = "c_helper.so"
OTHER_FILES = [
@ -106,6 +106,12 @@ defs_trapq = """
defs_kin_cartesian = """
struct stepper_kinematics *cartesian_stepper_alloc(char axis);
"""
defs_kin_generic_cartesian = """
struct stepper_kinematics *generic_cartesian_stepper_alloc(double a_x
, double a_y, double a_z);
void generic_cartesian_stepper_set_coeffs(struct stepper_kinematics *sk
, double a_x, double a_y, double a_z);
"""
defs_kin_corexy = """
struct stepper_kinematics *corexy_stepper_alloc(char type);
@ -224,6 +230,7 @@ defs_all = [
defs_kin_cartesian, defs_kin_corexy, defs_kin_corexz, defs_kin_delta,
defs_kin_deltesian, defs_kin_polar, defs_kin_rotary_delta, defs_kin_winch,
defs_kin_extruder, defs_kin_shaper, defs_kin_idex,
defs_kin_generic_cartesian,
]
# Update filenames to an absolute path

52
klippy/chelper/kin_generic.c Normal file
View file

@ -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;
}

1
klippy/chelper/kin_idex.c
View file

@ -77,5 +77,6 @@ dual_carriage_alloc(void)
struct dual_carriage_stepper *dc = malloc(sizeof(*dc));
memset(dc, 0, sizeof(*dc));
dc->m.move_t = 2. * DUMMY_T;
dc->x_scale = dc->y_scale = 1.0;
return &dc->sk;
}

4
klippy/extras/endstop_phase.py
View file

@ -52,7 +52,7 @@ class PhaseCalc:
class EndstopPhase:
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[1]
self.name = " ".join(config.get_name().split()[1:])
# Obtain step_distance and microsteps from stepper config section
sconfig = config.getsection(self.name)
rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig)
@ -118,7 +118,7 @@ class EndstopPhase:
return delta * self.step_dist
def handle_home_rails_end(self, homing_state, rails):
for rail in rails:
stepper = rail.get_steppers()[0]
stepper = rail.get_endstops()[0][0].get_steppers()[0]
if stepper.get_name() == self.name:
trig_mcu_pos = homing_state.get_trigger_position(self.name)
align = self.align_endstop(rail)

10
klippy/extras/homing.py
View file

@ -45,7 +45,7 @@ class StepperPosition:
class HomingMove:
def __init__(self, printer, endstops, toolhead=None):
self.printer = printer
self.endstops = endstops
self.endstops = [es for es in endstops if es[0].get_steppers()]
if toolhead is None:
toolhead = printer.lookup_object('toolhead')
self.toolhead = toolhead
@ -71,7 +71,9 @@ class HomingMove:
sname = stepper.get_name()
kin_spos[sname] += offsets.get(sname, 0) * stepper.get_step_dist()
thpos = self.toolhead.get_position()
return list(kin.calc_position(kin_spos))[:3] + thpos[3:]
cpos = kin.calc_position(kin_spos)
return [cp if cp is not None else tp
for cp, tp in zip(cpos, thpos[:3])] + thpos[3:]
def homing_move(self, movepos, speed, probe_pos=False,
triggered=True, check_triggered=True):
# Notify start of homing/probing move
@ -233,6 +235,10 @@ class Homing:
for s in kin.get_steppers()}
newpos = kin.calc_position(kin_spos)
for axis in force_axes:
if newpos[axis] is None:
raise self.printer.command_error(
"Cannot determine position of toolhead on "
"axis %s after homing" % "xyz"[axis])
homepos[axis] = newpos[axis]
self.toolhead.set_position(homepos)

2
klippy/extras/manual_stepper.py
View file

@ -11,7 +11,7 @@ class ManualStepper:
self.printer = config.get_printer()
if config.get('endstop_pin', None) is not None:
self.can_home = True
self.rail = stepper.PrinterRail(
self.rail = stepper.LookupRail(
config, need_position_minmax=False, default_position_endstop=0.)
self.steppers = self.rail.get_steppers()
else:

3
klippy/extras/probe.py
View file

@ -177,6 +177,9 @@ def lookup_minimum_z(config):
if config.has_section('stepper_z'):
zconfig = config.getsection('stepper_z')
return zconfig.getfloat('position_min', 0., note_valid=False)
elif config.has_section('carriage z'):
zconfig = config.getsection('carriage z')
return zconfig.getfloat('position_min', 0., note_valid=False)
pconfig = config.getsection('printer')
return pconfig.getfloat('minimum_z_position', 0., note_valid=False)

23
klippy/kinematics/cartesian.py
View file

@ -29,14 +29,10 @@ class CartKinematics:
self.rails.append(stepper.LookupMultiRail(dc_config))
self.rails[3].setup_itersolve('cartesian_stepper_alloc',
dc_axis.encode())
dc_rail_0 = idex_modes.DualCarriagesRail(
self.rails[self.dual_carriage_axis],
axis=self.dual_carriage_axis, active=True)
dc_rail_1 = idex_modes.DualCarriagesRail(
self.rails[3], axis=self.dual_carriage_axis, active=False)
self.dc_module = idex_modes.DualCarriages(
dc_config, dc_rail_0, dc_rail_1,
axis=self.dual_carriage_axis)
self.printer, [self.rails[self.dual_carriage_axis]],
[self.rails[3]], axes=[self.dual_carriage_axis],
safe_dist=config.getfloat('safe_distance', None, minval=0.))
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
@ -52,9 +48,10 @@ class CartKinematics:
def calc_position(self, stepper_positions):
rails = self.rails
if self.dc_module:
primary_rail = self.dc_module.get_primary_rail().get_rail()
rails = (rails[:self.dc_module.axis] +
[primary_rail] + rails[self.dc_module.axis+1:])
primary_rail = self.dc_module.get_primary_rail(
self.dual_carriage_axis)
rails = (rails[:self.dual_carriage_axis] +
[primary_rail] + rails[self.dual_carriage_axis+1:])
return [stepper_positions[rail.get_name()] for rail in rails]
def update_limits(self, i, range):
l, h = self.limits[i]
@ -67,8 +64,8 @@ class CartKinematics:
rail.set_position(newpos)
for axis_name in homing_axes:
axis = "xyz".index(axis_name)
if self.dc_module and axis == self.dc_module.axis:
rail = self.dc_module.get_primary_rail().get_rail()
if self.dc_module and axis == self.dual_carriage_axis:
rail = self.dc_module.get_primary_rail(self.dual_carriage_axis)
else:
rail = self.rails[axis]
self.limits[axis] = rail.get_range()
@ -93,7 +90,7 @@ class CartKinematics:
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
if self.dc_module is not None and axis == self.dual_carriage_axis:
self.dc_module.home(homing_state)
self.dc_module.home(homing_state, self.dual_carriage_axis)
else:
self.home_axis(homing_state, axis, self.rails[axis])
def _check_endstops(self, move):

4
klippy/kinematics/deltesian.py
View file

@ -17,10 +17,10 @@ class DeltesianKinematics:
self.rails = [None] * 3
stepper_configs = [config.getsection('stepper_' + s)
for s in ['left', 'right', 'y']]
self.rails[0] = stepper.PrinterRail(
self.rails[0] = stepper.LookupRail(
stepper_configs[0], need_position_minmax = False)
def_pos_es = self.rails[0].get_homing_info().position_endstop
self.rails[1] = stepper.PrinterRail(
self.rails[1] = stepper.LookupRail(
stepper_configs[1], need_position_minmax = False,
default_position_endstop = def_pos_es)
self.rails[2] = stepper.LookupMultiRail(stepper_configs[2])

358
klippy/kinematics/generic_cartesian.py Normal file
View file

@ -0,0 +1,358 @@
# Code for generic handling the kinematics of cartesian-like printers
#
# Copyright (C) 2024-2025 Dmitry Butyugin <dmbutyugin@google.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import copy, itertools, logging, math
import gcode, mathutil, stepper
from . import idex_modes
from . import kinematic_stepper as ks
def mat_mul(a, b):
if len(a[0]) != len(b):
return None
res = []
for i in range(len(a)):
res.append([])
for j in range(len(b[0])):
res[i].append(sum(a[i][k] * b[k][j] for k in range(len(b))))
return res
def mat_transp(a):
res = []
for i in range(len(a[0])):
res.append([a[j][i] for j in range(len(a))])
return res
def mat_pseudo_inverse(m):
mt = mat_transp(m)
mtm = mat_mul(mt, m)
pinv = mat_mul(mathutil.matrix_inv(mtm), mt)
return pinv
class MainCarriage:
def __init__(self, config, axis):
self.rail = stepper.GenericPrinterRail(config)
self.axis = ord(axis) - ord('x')
self.axis_name = axis
self.dual_carriage = None
def get_name(self):
return self.rail.get_name()
def get_axis(self):
return self.axis
def get_rail(self):
return self.rail
def add_stepper(self, kin_stepper):
self.rail.add_stepper(kin_stepper.get_stepper())
def is_active(self):
if self.dual_carriage is None:
return True
return self.dual_carriage.get_dc_module().is_active(self.rail)
def set_dual_carriage(self, carriage):
old_dc = self.dual_carriage
self.dual_carriage = carriage
return old_dc
def get_dual_carriage(self):
return self.dual_carriage
class ExtraCarriage:
def __init__(self, config, carriages):
self.name = config.get_name().split()[-1]
self.primary_carriage = config.getchoice('primary_carriage', carriages)
self.endstop_pin = config.get('endstop_pin')
def get_name(self):
return self.name
def get_axis(self):
return self.primary_carriage.get_axis()
def get_rail(self):
return self.primary_carriage.get_rail()
def add_stepper(self, kin_stepper):
self.get_rail().add_stepper(kin_stepper.get_stepper(),
self.endstop_pin, self.name)
class DualCarriage:
def __init__(self, config, carriages):
self.printer = config.get_printer()
self.rail = stepper.GenericPrinterRail(config)
self.primary_carriage = config.getchoice('primary_carriage', carriages)
if self.primary_carriage.set_dual_carriage(self) is not None:
raise config.error(
"Redefinition of dual_carriage for carriage '%s'" %
self.primary_carriage.get_name())
self.axis = self.primary_carriage.get_axis()
if self.axis > 1:
raise config.error("Invalid axis '%s' for dual_carriage" %
self.primary_carriage.get_axis_name())
self.safe_dist = config.getfloat('safe_distance', None, minval=0.)
def get_name(self):
return self.rail.get_name()
def get_axis(self):
return self.primary_carriage.get_axis()
def get_rail(self):
return self.rail
def get_safe_dist(self):
return self.safe_dist
def get_dc_module(self):
return self.printer.lookup_object('dual_carriage')
def is_active(self):
return self.get_dc_module().is_active(self.rail)
def get_dual_carriage(self):
return self.primary_carriage
def add_stepper(self, kin_stepper):
self.rail.add_stepper(kin_stepper.get_stepper())
class GenericCartesianKinematics:
def __init__(self, toolhead, config):
self.printer = config.get_printer()
self._load_kinematics(config)
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
self.dc_module = None
if self.dc_carriages:
pcs = [dc.get_dual_carriage() for dc in self.dc_carriages]
primary_rails = [pc.get_rail() for pc in pcs]
dual_rails = [dc.get_rail() for dc in self.dc_carriages]
axes = [dc.get_axis() for dc in self.dc_carriages]
safe_dist = {dc.get_axis() : dc.get_safe_dist()
for dc in self.dc_carriages}
self.dc_module = dc_module = idex_modes.DualCarriages(
self.printer, primary_rails, dual_rails, axes, safe_dist)
zero_pos = (0., 0.)
for acs in itertools.product(*zip(pcs, self.dc_carriages)):
for c in acs:
dc_module.get_dc_rail_wrapper(c.get_rail()).activate(
idex_modes.PRIMARY, zero_pos)
dc_rail = c.get_dual_carriage().get_rail()
dc_module.get_dc_rail_wrapper(dc_rail).inactivate(zero_pos)
self._check_kinematics(config.error)
for c in pcs:
dc_module.get_dc_rail_wrapper(c.get_rail()).activate(
idex_modes.PRIMARY, zero_pos)
dc_rail = c.get_dual_carriage().get_rail()
dc_module.get_dc_rail_wrapper(dc_rail).inactivate(zero_pos)
else:
self._check_kinematics(config.error)
# Setup boundary checks
max_velocity, max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat('max_z_velocity', max_velocity,
above=0., maxval=max_velocity)
self.max_z_accel = config.getfloat('max_z_accel', max_accel,
above=0., maxval=max_accel)
self.limits = [(1.0, -1.0)] * 3
# Register gcode commands
gcode = self.printer.lookup_object('gcode')
gcode.register_command("SET_STEPPER_CARRIAGES",
self.cmd_SET_STEPPER_CARRIAGES,
desc=self.cmd_SET_STEPPER_CARRIAGES_help)
def _load_kinematics(self, config):
carriages = {a : MainCarriage(config.getsection('carriage ' + a), a)
for a in 'xyz'}
dc_carriages = []
for c in config.get_prefix_sections('dual_carriage '):
dc_carriages.append(DualCarriage(c, carriages))
for dc in dc_carriages:
name = dc.get_name()
if name in carriages:
raise config.error("Redefinition of carriage %s" % name)
carriages[name] = dc
self.carriages = dict(carriages)
self.dc_carriages = dc_carriages
ec_carriages = []
for c in config.get_prefix_sections('extra_carriage '):
ec_carriages.append(ExtraCarriage(c, carriages))
for ec in ec_carriages:
name = ec.get_name()
if name in carriages:
raise config.error("Redefinition of carriage %s" % name)
carriages[name] = ec
self.kin_steppers = self._load_steppers(config, carriages)
self.all_carriages = carriages
self._check_carriages_references(config.error)
self._check_multi_mcu_homing(config.error)
def _check_carriages_references(self, report_error):
carriages = dict(self.all_carriages)
for s in self.kin_steppers:
for c in s.get_carriages():
carriages.pop(c.get_name(), None)
if carriages:
raise report_error(
"Carriage(s) %s must be referenced by some "
"stepper(s)" % (", ".join(carriages),))
def _check_multi_mcu_homing(self, report_error):
for carriage in self.carriages.values():
for es in carriage.get_rail().get_endstops():
stepper_mcus = set([s.get_mcu() for s in es[0].get_steppers()
if s in carriage.get_rail().get_steppers()])
if len(stepper_mcus) > 1:
raise report_error("Multi-mcu homing not supported on"
" multi-mcu shared carriage %s" % es[1])
def _load_steppers(self, config, carriages):
return [ks.KinematicStepper(c, carriages)
for c in config.get_prefix_sections('stepper ')]
def get_steppers(self):
return [s.get_stepper() for s in self.kin_steppers]
def get_primary_carriages(self):
carriages = [self.carriages[a] for a in "xyz"]
if self.dc_module:
for a in self.dc_module.get_axes():
primary_rail = self.dc_module.get_primary_rail(a)
for c in self.carriages.values():
if c.get_rail() == primary_rail:
carriages[a] = c
return carriages
def _get_kinematics_coeffs(self):
matr = {s.get_name() : list(s.get_kin_coeffs())
for s in self.kin_steppers}
offs = {s.get_name() : [0.] * 3 for s in self.kin_steppers}
if self.dc_module is None:
return ([matr[s.get_name()] for s in self.kin_steppers],
[0. for s in self.kin_steppers])
axes = [dc.get_axis() for dc in self.dc_carriages]
orig_matr = copy.deepcopy(matr)
for dc in self.dc_carriages:
axis = dc.get_axis()
for c in [dc.get_dual_carriage(), dc]:
m, o = self.dc_module.get_transform(c.get_rail())
for s in c.get_rail().get_steppers():
matr[s.get_name()][axis] *= m
offs[s.get_name()][axis] += o
return ([matr[s.get_name()] for s in self.kin_steppers],
[mathutil.matrix_dot(orig_matr[s.get_name()],
offs[s.get_name()])
for s in self.kin_steppers])
def _check_kinematics(self, report_error):
matr, _ = self._get_kinematics_coeffs()
det = mathutil.matrix_det(mat_mul(mat_transp(matr), matr))
if abs(det) < 0.00001:
raise report_error(
"Verify configured stepper(s) and their 'carriages' "
"specifications, the current configuration does not "
"allow independent movements of all printer axes.")
def calc_position(self, stepper_positions):
matr, offs = self._get_kinematics_coeffs()
spos = [stepper_positions[s.get_name()] for s in self.kin_steppers]
pinv = mat_pseudo_inverse(matr)
pos = mat_mul([[sp-o for sp, o in zip(spos, offs)]], mat_transp(pinv))
for i in range(3):
if not any(pinv[i]):
pos[0][i] = None
return pos[0]
def update_limits(self, i, range):
l, h = self.limits[i]
# Only update limits if this axis was already homed,
# otherwise leave in un-homed state.
if l <= h:
self.limits[i] = range
def set_position(self, newpos, homing_axes):
for s in self.kin_steppers:
s.set_position(newpos)
for axis_name in homing_axes:
axis = "xyz".index(axis_name)
for c in self.carriages.values():
if c.get_axis() == axis and c.is_active():
self.limits[axis] = c.get_rail().get_range()
break
def clear_homing_state(self, clear_axes):
for axis, axis_name in enumerate("xyz"):
if axis_name in clear_axes:
self.limits[axis] = (1.0, -1.0)
def home_axis(self, homing_state, axis, rail):
# Determine movement
position_min, position_max = rail.get_range()
hi = rail.get_homing_info()
homepos = [None, None, None, None]
homepos[axis] = hi.position_endstop
forcepos = list(homepos)
if hi.positive_dir:
forcepos[axis] -= 1.5 * (hi.position_endstop - position_min)
else:
forcepos[axis] += 1.5 * (position_max - hi.position_endstop)
# Perform homing
homing_state.home_rails([rail], forcepos, homepos)
def home(self, homing_state):
self._check_kinematics(self.printer.command_error)
# Each axis is homed independently and in order
for axis in homing_state.get_axes():
carriage = self.carriages["xyz"[axis]]
if carriage.get_dual_carriage() != None:
self.dc_module.home(homing_state, axis)
else:
self.home_axis(homing_state, axis, carriage.get_rail())
def _check_endstops(self, move):
end_pos = move.end_pos
for i in (0, 1, 2):
if (move.axes_d[i]
and (end_pos[i] < self.limits[i][0]
or end_pos[i] > self.limits[i][1])):
if self.limits[i][0] > self.limits[i][1]:
raise move.move_error("Must home axis first")
raise move.move_error()
def check_move(self, move):
limits = self.limits
xpos, ypos = move.end_pos[:2]
if (xpos < limits[0][0] or xpos > limits[0][1]
or ypos < limits[1][0] or ypos > limits[1][1]):
self._check_endstops(move)
if not move.axes_d[2]:
# Normal XY move - use defaults
return
# Move with Z - update velocity and accel for slower Z axis
self._check_endstops(move)
z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def get_status(self, eventtime):
axes = [a for a, (l, h) in zip("xyz", self.limits) if l <= h]
ranges = [c.get_rail().get_range()
for c in self.get_primary_carriages()]
axes_min = gcode.Coord(*[r[0] for r in ranges], e=0.)
axes_max = gcode.Coord(*[r[1] for r in ranges], e=0.)
return {
'homed_axes': "".join(axes),
'axis_minimum': axes_min,
'axis_maximum': axes_max,
}
cmd_SET_STEPPER_CARRIAGES_help = "Set stepper carriages"
def cmd_SET_STEPPER_CARRIAGES(self, gcmd):
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
stepper_name = gcmd.get("STEPPER")
steppers = [stepper for stepper in self.kin_steppers
if stepper.get_name() == stepper_name
or stepper.get_name(short=True) == stepper_name]
if len(steppers) != 1:
raise gcmd.error("Invalid STEPPER '%s' specified" % stepper_name)
stepper = steppers[0]
carriages_str = gcmd.get("CARRIAGES").lower()
validate = not gcmd.get_int("DISABLE_CHECKS", 0)
old_carriages = stepper.get_carriages()
old_kin_coeffs = stepper.get_kin_coeffs()
stepper.update_carriages(carriages_str, self.all_carriages, gcmd.error)
new_carriages = stepper.get_carriages()
if new_carriages != old_carriages:
stepper.update_kin_coeffs(old_kin_coeffs)
raise gcmd.error("SET_STEPPER_CARRIAGES cannot add or remove "
"carriages that the stepper controls")
pos = toolhead.get_position()
stepper.set_position(pos)
if not validate:
return
if self.dc_module:
dc_state = self.dc_module.save_dual_carriage_state()
pcs = [dc.get_dual_carriage() for dc in self.dc_carriages]
axes = [dc.get_axis() for dc in self.dc_carriages]
for acs in itertools.product(*zip(pcs, self.dc_carriages)):
for c in acs:
self.dc_module.get_dc_rail_wrapper(c.get_rail()).activate(
idex_modes.PRIMARY, pos)
self.dc_module.get_dc_rail_wrapper(
c.get_dual_carriage().get_rail()).inactivate(pos)
self._check_kinematics(gcmd.error)
self.dc_module.restore_dual_carriage_state(dc_state, move=0)
else:
self._check_kinematics(gcmd.error)
def load_kinematics(toolhead, config):
return GenericCartesianKinematics(toolhead, config)

17
klippy/kinematics/hybrid_corexy.py
View file

@ -12,7 +12,7 @@ class HybridCoreXYKinematics:
def __init__(self, toolhead, config):
self.printer = config.get_printer()
# itersolve parameters
self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
self.rails = [ stepper.LookupRail(config.getsection('stepper_x')),
stepper.LookupMultiRail(config.getsection('stepper_y')),
stepper.LookupMultiRail(config.getsection('stepper_z'))]
self.rails[1].get_endstops()[0][0].add_stepper(
@ -29,16 +29,13 @@ class HybridCoreXYKinematics:
# dummy for cartesian config users
dc_config.getchoice('axis', ['x'], default='x')
# setup second dual carriage rail
self.rails.append(stepper.PrinterRail(dc_config))
self.rails.append(stepper.LookupRail(dc_config))
self.rails[1].get_endstops()[0][0].add_stepper(
self.rails[3].get_steppers()[0])
self.rails[3].setup_itersolve('corexy_stepper_alloc', b'+')
dc_rail_0 = idex_modes.DualCarriagesRail(
self.rails[0], axis=0, active=True)
dc_rail_1 = idex_modes.DualCarriagesRail(
self.rails[3], axis=0, active=False)
self.dc_module = idex_modes.DualCarriages(
dc_config, dc_rail_0, dc_rail_1, axis=0)
self.printer, [self.rails[0]], [self.rails[3]], axes=[0],
safe_dist=config.getfloat('safe_distance', None, minval=0.))
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
@ -69,8 +66,8 @@ class HybridCoreXYKinematics:
rail.set_position(newpos)
for axis_name in homing_axes:
axis = "xyz".index(axis_name)
if self.dc_module and axis == self.dc_module.axis:
rail = self.dc_module.get_primary_rail().get_rail()
if self.dc_module and axis == 0:
rail = self.dc_module.get_primary_rail(axis)
else:
rail = self.rails[axis]
self.limits[axis] = rail.get_range()
@ -93,7 +90,7 @@ class HybridCoreXYKinematics:
def home(self, homing_state):
for axis in homing_state.get_axes():
if self.dc_module is not None and axis == 0:
self.dc_module.home(homing_state)
self.dc_module.home(homing_state, axis)
else:
self.home_axis(homing_state, axis, self.rails[axis])
def _check_endstops(self, move):

17
klippy/kinematics/hybrid_corexz.py
View file

@ -12,7 +12,7 @@ class HybridCoreXZKinematics:
def __init__(self, toolhead, config):
self.printer = config.get_printer()
# itersolve parameters
self.rails = [ stepper.PrinterRail(config.getsection('stepper_x')),
self.rails = [ stepper.LookupRail(config.getsection('stepper_x')),
stepper.LookupMultiRail(config.getsection('stepper_y')),
stepper.LookupMultiRail(config.getsection('stepper_z'))]
self.rails[2].get_endstops()[0][0].add_stepper(
@ -29,16 +29,13 @@ class HybridCoreXZKinematics:
# dummy for cartesian config users
dc_config.getchoice('axis', ['x'], default='x')
# setup second dual carriage rail
self.rails.append(stepper.PrinterRail(dc_config))
self.rails.append(stepper.LookupRail(dc_config))
self.rails[2].get_endstops()[0][0].add_stepper(
self.rails[3].get_steppers()[0])
self.rails[3].setup_itersolve('corexz_stepper_alloc', b'+')
dc_rail_0 = idex_modes.DualCarriagesRail(
self.rails[0], axis=0, active=True)
dc_rail_1 = idex_modes.DualCarriagesRail(
self.rails[3], axis=0, active=False)
self.dc_module = idex_modes.DualCarriages(
dc_config, dc_rail_0, dc_rail_1, axis=0)
self.printer, [self.rails[0]], [self.rails[3]], axes=[0],
safe_dist=config.getfloat('safe_distance', None, minval=0.))
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
@ -69,8 +66,8 @@ class HybridCoreXZKinematics:
rail.set_position(newpos)
for axis_name in homing_axes:
axis = "xyz".index(axis_name)
if self.dc_module and axis == self.dc_module.axis:
rail = self.dc_module.get_primary_rail().get_rail()
if self.dc_module and axis == 0:
rail = self.dc_module.get_primary_rail(axis)
else:
rail = self.rails[axis]
self.limits[axis] = rail.get_range()
@ -93,7 +90,7 @@ class HybridCoreXZKinematics:
def home(self, homing_state):
for axis in homing_state.get_axes():
if self.dc_module is not None and axis == 0:
self.dc_module.home(homing_state)
self.dc_module.home(homing_state, axis)
else:
self.home_axis(homing_state, axis, self.rails[axis])
def _check_endstops(self, move):

288
klippy/kinematics/idex_modes.py
View file

@ -1,10 +1,10 @@
# Support for duplication and mirroring modes for IDEX printers
#
# Copyright (C) 2021 Fabrice Gallet <tircown@gmail.com>
# Copyright (C) 2023 Dmitry Butyugin <dmbutyugin@google.com>
# Copyright (C) 2023-2025 Dmitry Butyugin <dmbutyugin@google.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math
import collections, logging, math
import chelper
INACTIVE = 'INACTIVE'
@ -14,18 +14,34 @@ MIRROR = 'MIRROR'
class DualCarriages:
VALID_MODES = [PRIMARY, COPY, MIRROR]
def __init__(self, dc_config, rail_0, rail_1, axis):
self.printer = dc_config.get_printer()
self.axis = axis
self.dc = (rail_0, rail_1)
def __init__(self, printer, primary_rails, dual_rails, axes,
safe_dist={}):
self.printer = printer
self.axes = axes
self._init_steppers(primary_rails + dual_rails)
self.primary_rails = [
DualCarriagesRail(c, dual_rails[i], axes[i], active=True)
for i, c in enumerate(primary_rails)]
self.dual_rails = [
DualCarriagesRail(c, primary_rails[i], axes[i], active=False)
for i, c in enumerate(dual_rails)]
self.dc_rails = collections.OrderedDict(
[(c.rail.get_name(), c)
for c in self.primary_rails + self.dual_rails])
self.saved_states = {}
safe_dist = dc_config.getfloat('safe_distance', None, minval=0.)
if safe_dist is None:
dc0_rail = rail_0.get_rail()
dc1_rail = rail_1.get_rail()
safe_dist = min(abs(dc0_rail.position_min - dc1_rail.position_min),
abs(dc0_rail.position_max - dc1_rail.position_max))
self.safe_dist = safe_dist
self.safe_dist = {}
for i, dc in enumerate(dual_rails):
axis = axes[i]
if isinstance(safe_dist, dict):
if axis in safe_dist:
self.safe_dist[axis] = safe_dist[axis]
continue
elif safe_dist is not None:
self.safe_dist[axis] = safe_dist
continue
pc = primary_rails[i]
self.safe_dist[axis] = min(abs(pc.position_min - dc.position_min),
abs(pc.position_max - dc.position_max))
self.printer.add_object('dual_carriage', self)
self.printer.register_event_handler("klippy:ready", self._handle_ready)
gcode = self.printer.lookup_object('gcode')
@ -40,58 +56,93 @@ class DualCarriages:
'RESTORE_DUAL_CARRIAGE_STATE',
self.cmd_RESTORE_DUAL_CARRIAGE_STATE,
desc=self.cmd_RESTORE_DUAL_CARRIAGE_STATE_help)
def get_rails(self):
return self.dc
def get_primary_rail(self):
for rail in self.dc:
if rail.mode == PRIMARY:
return rail
def _init_steppers(self, rails):
ffi_main, ffi_lib = chelper.get_ffi()
self.dc_stepper_kinematics = []
self.orig_stepper_kinematics = []
steppers = set()
for rail in rails:
c_steppers = rail.get_steppers()
if not c_steppers:
raise self.printer.config_error(
"At least one stepper must be "
"associated with carriage: %s" % rail.get_name())
steppers.update(c_steppers)
for s in steppers:
sk = ffi_main.gc(ffi_lib.dual_carriage_alloc(), ffi_lib.free)
orig_sk = s.get_stepper_kinematics()
ffi_lib.dual_carriage_set_sk(sk, orig_sk)
self.dc_stepper_kinematics.append(sk)
self.orig_stepper_kinematics.append(orig_sk)
s.set_stepper_kinematics(sk)
def get_axes(self):
return self.axes
def get_primary_rail(self, axis):
for dc_rail in self.dc_rails.values():
if dc_rail.mode == PRIMARY and dc_rail.axis == axis:
return dc_rail.rail
return None
def toggle_active_dc_rail(self, index):
def get_dc_rail_wrapper(self, rail):
for dc_rail in self.dc_rails.values():
if dc_rail.rail == rail:
return dc_rail
return None
def get_transform(self, rail):
dc_rail = self.get_dc_rail_wrapper(rail)
if dc_rail is not None:
return (dc_rail.scale, dc_rail.offset)
return (0., 0.)
def is_active(self, rail):
dc_rail = self.get_dc_rail_wrapper(rail)
return dc_rail.is_active() if dc_rail is not None else False
def toggle_active_dc_rail(self, target_dc):
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
pos = toolhead.get_position()
kin = toolhead.get_kinematics()
for i, dc in enumerate(self.dc):
dc_rail = dc.get_rail()
if i != index:
if dc.is_active():
axis = target_dc.axis
for dc in self.dc_rails.values():
if dc != target_dc and dc.axis == axis and dc.is_active():
dc.inactivate(pos)
target_dc = self.dc[index]
if target_dc.mode != PRIMARY:
newpos = pos[:self.axis] + [target_dc.get_axis_position(pos)] \
+ pos[self.axis+1:]
newpos = pos[:axis] + [target_dc.get_axis_position(pos)] \
+ pos[axis+1:]
target_dc.activate(PRIMARY, newpos, old_position=pos)
toolhead.set_position(newpos)
kin.update_limits(self.axis, target_dc.get_rail().get_range())
def home(self, homing_state):
kin.update_limits(axis, target_dc.rail.get_range())
def home(self, homing_state, axis):
kin = self.printer.lookup_object('toolhead').get_kinematics()
enumerated_dcs = list(enumerate(self.dc))
if (self.get_dc_order(0, 1) > 0) != \
self.dc[0].get_rail().get_homing_info().positive_dir:
dcs = [dc for dc in self.dc_rails.values() if dc.axis == axis]
if (self.get_dc_order(dcs[0], dcs[1]) > 0) != \
dcs[0].rail.get_homing_info().positive_dir:
# The second carriage must home first, because the carriages home in
# the same direction and the first carriage homes on the second one
enumerated_dcs.reverse()
for i, dc_rail in enumerated_dcs:
self.toggle_active_dc_rail(i)
kin.home_axis(homing_state, self.axis, dc_rail.get_rail())
dcs.reverse()
for dc in dcs:
self.toggle_active_dc_rail(dc)
kin.home_axis(homing_state, axis, dc.rail)
# Restore the original rails ordering
self.toggle_active_dc_rail(0)
self.toggle_active_dc_rail(dcs[0])
def get_status(self, eventtime=None):
return {('carriage_%d' % (i,)) : dc.mode
for (i, dc) in enumerate(self.dc)}
def get_kin_range(self, toolhead, mode):
status = {'carriages' : {dc.get_name() : dc.mode
for dc in self.dc_rails.values()}}
if len(self.dc_rails) == 2:
status.update({('carriage_%d' % (i,)) : dc.mode
for i, dc in enumerate(self.dc_rails.values())})
return status
def get_kin_range(self, toolhead, mode, axis):
pos = toolhead.get_position()
axes_pos = [dc.get_axis_position(pos) for dc in self.dc]
dc0_rail = self.dc[0].get_rail()
dc1_rail = self.dc[1].get_rail()
if mode != PRIMARY or self.dc[0].is_active():
dcs = [dc for dc in self.dc_rails.values() if dc.axis == axis]
axes_pos = [dc.get_axis_position(pos) for dc in dcs]
dc0_rail = dcs[0].rail
dc1_rail = dcs[1].rail
if mode != PRIMARY or dcs[0].is_active():
range_min = dc0_rail.position_min
range_max = dc0_rail.position_max
else:
range_min = dc1_rail.position_min
range_max = dc1_rail.position_max
safe_dist = self.safe_dist
safe_dist = self.safe_dist[axis]
if not safe_dist:
return (range_min, range_max)
@ -101,7 +152,7 @@ class DualCarriages:
range_max = min(range_max,
axes_pos[0] - axes_pos[1] + dc1_rail.position_max)
elif mode == MIRROR:
if self.get_dc_order(0, 1) > 0:
if self.get_dc_order(dcs[0], dcs[1]) > 0:
range_min = max(range_min,
0.5 * (sum(axes_pos) + safe_dist))
range_max = min(range_max,
@ -113,9 +164,9 @@ class DualCarriages:
sum(axes_pos) - dc1_rail.position_max)
else:
# mode == PRIMARY
active_idx = 1 if self.dc[1].is_active() else 0
active_idx = 1 if dcs[1].is_active() else 0
inactive_idx = 1 - active_idx
if self.get_dc_order(active_idx, inactive_idx) > 0:
if self.get_dc_order(dcs[active_idx], dcs[inactive_idx]) > 0:
range_min = max(range_min, axes_pos[inactive_idx] + safe_dist)
else:
range_max = min(range_max, axes_pos[inactive_idx] - safe_dist)
@ -131,14 +182,14 @@ class DualCarriages:
# which actually permits carriage motion.
return (range_min, range_min)
return (range_min, range_max)
def get_dc_order(self, first, second):
if first == second:
def get_dc_order(self, first_dc, second_dc):
if first_dc == second_dc:
return 0
# Check the relative order of the first and second carriages and
# return -1 if the first carriage position is always smaller
# than the second one and 1 otherwise
first_rail = self.dc[first].get_rail()
second_rail = self.dc[second].get_rail()
first_rail = first_dc.rail
second_rail = second_dc.rail
first_homing_info = first_rail.get_homing_info()
second_homing_info = second_rail.get_homing_info()
if first_homing_info.positive_dir != second_homing_info.positive_dir:
@ -148,50 +199,71 @@ class DualCarriages:
if first_rail.position_endstop > second_rail.position_endstop:
return 1
return -1
def activate_dc_mode(self, index, mode):
def activate_dc_mode(self, dc, mode):
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
kin = toolhead.get_kinematics()
axis = dc.axis
if mode == INACTIVE:
self.dc[index].inactivate(toolhead.get_position())
dc.inactivate(toolhead.get_position())
elif mode == PRIMARY:
self.toggle_active_dc_rail(index)
self.toggle_active_dc_rail(dc)
else:
self.toggle_active_dc_rail(0)
self.dc[index].activate(mode, toolhead.get_position())
kin.update_limits(self.axis, self.get_kin_range(toolhead, mode))
self.toggle_active_dc_rail(self.get_dc_rail_wrapper(dc.dual_rail))
dc.activate(mode, toolhead.get_position())
kin.update_limits(axis, self.get_kin_range(toolhead, mode, axis))
def _handle_ready(self):
# Apply the transform later during Klipper initialization to make sure
# that input shaping can pick up the correct stepper kinematic flags.
for dc in self.dc:
dc.apply_transform()
for dc_rail in self.dc_rails.values():
dc_rail.apply_transform()
cmd_SET_DUAL_CARRIAGE_help = "Configure the dual carriages mode"
def cmd_SET_DUAL_CARRIAGE(self, gcmd):
index = gcmd.get_int('CARRIAGE', minval=0, maxval=1)
carriage_str = gcmd.get('CARRIAGE', None)
if carriage_str is None:
raise gcmd.error('CARRIAGE must be specified')
if carriage_str in self.dc_rails:
dc_rail = self.dc_rails[carriage_str]
else:
dc_rail = None
if len(self.dc_rails) == 2:
try:
index = int(carriage_str.strip())
if index < 0 or index > 1:
raise gcmd.error('Invalid CARRIAGE=%d index' % index)
dc_rail = (self.dual_rails if index
else self.primary_rails)[0]
except ValueError:
pass
if dc_rail is None:
raise gcmd.error('Invalid CARRIAGE=%s specified' % carriage_str)
mode = gcmd.get('MODE', PRIMARY).upper()
if mode not in self.VALID_MODES:
raise gcmd.error("Invalid mode=%s specified" % (mode,))
if mode in [COPY, MIRROR]:
if index == 0:
if dc_rail in self.primary_rails:
raise gcmd.error(
"Mode=%s is not supported for carriage=0" % (mode,))
"Mode=%s is not supported for carriage=%s" % (
mode, dc_rail.get_name()))
curtime = self.printer.get_reactor().monotonic()
kin = self.printer.lookup_object('toolhead').get_kinematics()
axis = 'xyz'[self.axis]
axis = 'xyz'[dc_rail.axis]
if axis not in kin.get_status(curtime)['homed_axes']:
raise gcmd.error(
"Axis %s must be homed prior to enabling mode=%s" %
(axis, mode))
self.activate_dc_mode(index, mode)
(axis.upper(), mode))
self.activate_dc_mode(dc_rail, mode)
cmd_SAVE_DUAL_CARRIAGE_STATE_help = \
"Save dual carriages modes and positions"
def cmd_SAVE_DUAL_CARRIAGE_STATE(self, gcmd):
state_name = gcmd.get('NAME', 'default')
self.saved_states[state_name] = self.save_dual_carriage_state()
def save_dual_carriage_state(self):
pos = self.printer.lookup_object('toolhead').get_position()
self.saved_states[state_name] = {
'carriage_modes': [dc.mode for dc in self.dc],
'axes_positions': [dc.get_axis_position(pos) for dc in self.dc],
}
return {'carriage_modes': {dc.get_name() : dc.mode
for dc in self.dc_rails.values()},
'carriage_positions': {dc.get_name() : dc.get_axis_position(pos)
for dc in self.dc_rails.values()}}
cmd_RESTORE_DUAL_CARRIAGE_STATE_help = \
"Restore dual carriages modes and positions"
def cmd_RESTORE_DUAL_CARRIAGE_STATE(self, gcmd):
@ -200,67 +272,69 @@ class DualCarriages:
if saved_state is None:
raise gcmd.error("Unknown DUAL_CARRIAGE state: %s" % (state_name,))
move_speed = gcmd.get_float('MOVE_SPEED', 0., above=0.)
move = gcmd.get_int('MOVE', 1)
self.restore_dual_carriage_state(saved_state, move, move_speed)
def restore_dual_carriage_state(self, saved_state, move, move_speed=0.):
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
if gcmd.get_int('MOVE', 1):
if move:
homing_speed = 99999999.
move_pos = list(toolhead.get_position())
cur_pos = []
for i, dc in enumerate(self.dc):
self.toggle_active_dc_rail(i)
homing_speed = min(homing_speed, dc.get_rail().homing_speed)
carriage_positions = saved_state['carriage_positions']
dcs = list(self.dc_rails.values())
for dc in dcs:
self.toggle_active_dc_rail(dc)
homing_speed = min(homing_speed, dc.rail.homing_speed)
cur_pos.append(toolhead.get_position())
move_pos = list(cur_pos[0])
dl = [saved_state['axes_positions'][i] - cur_pos[i][self.axis]
for i in range(2)]
primary_ind = 0 if abs(dl[0]) >= abs(dl[1]) else 1
self.toggle_active_dc_rail(primary_ind)
move_pos[self.axis] = saved_state['axes_positions'][primary_ind]
dc_mode = INACTIVE if min(abs(dl[0]), abs(dl[1])) < 0.000000001 \
else COPY if dl[0] * dl[1] > 0 else MIRROR
dl = [carriage_positions[dc.get_name()] - cur_pos[i][dc.axis]
for i, dc in enumerate(dcs)]
for axis in self.axes:
dc_ind = [i for i, dc in enumerate(dcs) if dc.axis == axis]
if abs(dl[dc_ind[0]]) >= abs(dl[dc_ind[1]]):
primary_ind, secondary_ind = dc_ind[0], dc_ind[1]
else:
primary_ind, secondary_ind = dc_ind[1], dc_ind[0]
primary_dc = dcs[primary_ind]
self.toggle_active_dc_rail(primary_dc)
move_pos[axis] = carriage_positions[primary_dc.get_name()]
dc_mode = INACTIVE if min(abs(dl[primary_ind]),
abs(dl[secondary_ind])) < .000000001 \
else COPY if dl[primary_ind] * dl[secondary_ind] > 0 \
else MIRROR
if dc_mode != INACTIVE:
self.dc[1-primary_ind].activate(dc_mode, cur_pos[primary_ind])
self.dc[1-primary_ind].override_axis_scaling(
abs(dl[1-primary_ind] / dl[primary_ind]),
dcs[secondary_ind].activate(dc_mode, cur_pos[primary_ind])
dcs[secondary_ind].override_axis_scaling(
abs(dl[secondary_ind] / dl[primary_ind]),
cur_pos[primary_ind])
toolhead.manual_move(move_pos, move_speed or homing_speed)
toolhead.flush_step_generation()
# Make sure the scaling coefficients are restored with the mode
self.dc[0].inactivate(move_pos)
self.dc[1].inactivate(move_pos)
for i, dc in enumerate(self.dc):
saved_mode = saved_state['carriage_modes'][i]
self.activate_dc_mode(i, saved_mode)
for dc in dcs:
dc.inactivate(move_pos)
for dc in self.dc_rails.values():
saved_mode = saved_state['carriage_modes'][dc.get_name()]
self.activate_dc_mode(dc, saved_mode)
class DualCarriagesRail:
ENC_AXES = [b'x', b'y']
def __init__(self, rail, axis, active):
def __init__(self, rail, dual_rail, axis, active):
self.rail = rail
self.dual_rail = dual_rail
self.sks = [s.get_stepper_kinematics() for s in rail.get_steppers()]
self.axis = axis
self.mode = (INACTIVE, PRIMARY)[active]
self.offset = 0.
self.scale = 1. if active else 0.
ffi_main, ffi_lib = chelper.get_ffi()
self.dc_stepper_kinematics = []
self.orig_stepper_kinematics = []
for s in rail.get_steppers():
sk = ffi_main.gc(ffi_lib.dual_carriage_alloc(), ffi_lib.free)
orig_sk = s.get_stepper_kinematics()
ffi_lib.dual_carriage_set_sk(sk, orig_sk)
# Set the default transform for the other axis
ffi_lib.dual_carriage_set_transform(
sk, self.ENC_AXES[1 - axis], 1., 0.)
self.dc_stepper_kinematics.append(sk)
self.orig_stepper_kinematics.append(orig_sk)
s.set_stepper_kinematics(sk)
def get_rail(self):
return self.rail
def get_name(self):
return self.rail.get_name()
def is_active(self):
return self.mode != INACTIVE
def get_axis_position(self, position):
return position[self.axis] * self.scale + self.offset
def apply_transform(self):
ffi_main, ffi_lib = chelper.get_ffi()
for sk in self.dc_stepper_kinematics:
for sk in self.sks:
ffi_lib.dual_carriage_set_transform(
sk, self.ENC_AXES[self.axis], self.scale, self.offset)
def activate(self, mode, position, old_position=None):

92
klippy/kinematics/kinematic_stepper.py Normal file
View file

@ -0,0 +1,92 @@
# Kinematic stepper class for generic cartesian kinematics
#
# Copyright (C) 2024 Dmitry Butyugin <dmbutyugin@google.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, re
import stepper, chelper
def parse_carriages_string(carriages_str, printer_carriages, parse_error):
nxt = 0
pat = re.compile('[+-]')
coeffs = [0.] * 3
ref_carriages = []
while nxt < len(carriages_str):
match = pat.search(carriages_str, nxt+1)
end = len(carriages_str) if match is None else match.start()
term = carriages_str[nxt:end].strip()
term_lst = term.split('*')
if len(term_lst) not in [1, 2]:
raise parse_error(
"Invalid term '%s' in '%s'" % (term, carriages_str))
if len(term_lst) == 2:
try:
coeff = float(term_lst[0])
except ValueError:
raise error("Invalid float '%s'" % term_lst[0])
else:
coeff = -1. if term_lst[0].startswith('-') else 1.
if term_lst[0].startswith('-') or term_lst[0].startswith('+'):
term_lst[0] = term_lst[0][1:]
c = term_lst[-1]
if c not in printer_carriages:
raise parse_error("Invalid '%s' carriage referenced in '%s'" %
(c, carriages_str))
carriage = printer_carriages[c]
j = carriage.get_axis()
if coeffs[j]:
raise error("Carriage '%s' was referenced multiple times in '%s'" %
(c, carriages_str))
coeffs[j] = coeff
ref_carriages.append(carriage)
nxt = end
return coeffs, ref_carriages
class KinematicStepper:
def __init__(self, config, printer_carriages):
self.printer = config.get_printer()
self.stepper = stepper.PrinterStepper(config)
self.kin_coeffs, self.carriages = parse_carriages_string(
config.get('carriages'), printer_carriages, config.error)
if not any(self.kin_coeffs):
raise config.error(
"'%s' must provide a valid 'carriages' configuration" %
self.stepper.get_name())
self.stepper.setup_itersolve(
'generic_cartesian_stepper_alloc',
self.kin_coeffs[0], self.kin_coeffs[1], self.kin_coeffs[2])
self.stepper_sk = self.stepper.get_stepper_kinematics()
# Add stepper to the carriages it references
for sc in self.carriages:
sc.add_stepper(self)
def get_name(self, short=False):
name = self.stepper.get_name(short)
if short and name.startswith('stepper '):
return name[8:]
return name
def get_stepper(self):
return self.stepper
def get_kin_coeffs(self):
return tuple(self.kin_coeffs)
def get_active_axes(self):
return [i for i, c in enumerate(self.kin_coeffs) if c]
def get_carriages(self):
return self.carriages
def update_kin_coeffs(self, kin_coeffs):
self.kin_coeffs = kin_coeffs
ffi_main, ffi_lib = chelper.get_ffi()
ffi_lib.generic_cartesian_stepper_set_coeffs(
self.stepper_sk, kin_coeffs[0], kin_coeffs[1], kin_coeffs[2])
def update_carriages(self, carriages_str, printer_carriages, report_error):
kin_coeffs, carriages = parse_carriages_string(
carriages_str, printer_carriages,
report_error or self.printer.command_error)
if report_error is not None and not any(kin_coeffs):
raise report_error(
"A valid string that references at least one carriage"
" must be provided for '%s'" % self.get_name())
self.carriages = carriages
self.update_kin_coeffs(kin_coeffs)
def set_position(self, coord):
self.stepper.set_position(coord)

2
klippy/kinematics/polar.py
View file

@ -11,7 +11,7 @@ class PolarKinematics:
# Setup axis steppers
stepper_bed = stepper.PrinterStepper(config.getsection('stepper_bed'),
units_in_radians=True)
rail_arm = stepper.PrinterRail(config.getsection('stepper_arm'))
rail_arm = stepper.LookupRail(config.getsection('stepper_arm'))
rail_z = stepper.LookupMultiRail(config.getsection('stepper_z'))
stepper_bed.setup_itersolve('polar_stepper_alloc', b'a')
rail_arm.setup_itersolve('polar_stepper_alloc', b'r')

6
klippy/kinematics/rotary_delta.py
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@ -10,14 +10,14 @@ class RotaryDeltaKinematics:
def __init__(self, toolhead, config):
# Setup tower rails
stepper_configs = [config.getsection('stepper_' + a) for a in 'abc']
rail_a = stepper.PrinterRail(
rail_a = stepper.LookupRail(
stepper_configs[0], need_position_minmax=False,
units_in_radians=True)
a_endstop = rail_a.get_homing_info().position_endstop
rail_b = stepper.PrinterRail(
rail_b = stepper.LookupRail(
stepper_configs[1], need_position_minmax=False,
default_position_endstop=a_endstop, units_in_radians=True)
rail_c = stepper.PrinterRail(
rail_c = stepper.LookupRail(
stepper_configs[2], need_position_minmax=False,
default_position_endstop=a_endstop, units_in_radians=True)
self.rails = [rail_a, rail_b, rail_c]

15
klippy/mathutil.py
View file

@ -135,3 +135,18 @@ def matrix_sub(m1, m2):
def matrix_mul(m1, s):
return [m1[0]*s, m1[1]*s, m1[2]*s]
######################################################################
# Matrix helper functions for 3x3 matrices
######################################################################
def matrix_det(a):
x0, x1, x2 = a
return matrix_dot(x0, matrix_cross(x1, x2))
def matrix_inv(a):
x0, x1, x2 = a
inv_det = 1. / matrix_det(a)
return [matrix_mul(matrix_cross(x1, x2), inv_det),
matrix_mul(matrix_cross(x2, x0), inv_det),
matrix_mul(matrix_cross(x0, x1), inv_det)]

69
klippy/stepper.py
View file

@ -56,7 +56,8 @@ class MCU_stepper:
def get_mcu(self):
return self._mcu
def get_name(self, short=False):
if short and self._name.startswith('stepper_'):
if short and self._name.startswith('stepper'):
# Skip an extra symbol after 'stepper'
return self._name[8:]
return self._name
def units_in_radians(self):
@ -315,23 +316,21 @@ def parse_step_distance(config, units_in_radians=None, note_valid=False):
# Stepper controlled rails
######################################################################
# A motor control "rail" with one (or more) steppers and one (or more)
# A motor control carriage with one (or more) steppers and one (or more)
# endstops.
class PrinterRail:
class GenericPrinterRail:
def __init__(self, config, need_position_minmax=True,
default_position_endstop=None, units_in_radians=False):
# Primary stepper and endstop
self.stepper_units_in_radians = units_in_radians
self.printer = config.get_printer()
self.name = config.get_name().split()[-1]
self.steppers = []
self.endstops = []
self.endstop_map = {}
self.add_extra_stepper(config)
mcu_stepper = self.steppers[0]
self.get_name = mcu_stepper.get_name
self.get_commanded_position = mcu_stepper.get_commanded_position
self.calc_position_from_coord = mcu_stepper.calc_position_from_coord
self.endstop_pin = config.get('endstop_pin')
# Primary endstop position
mcu_endstop = self.endstops[0][0]
self.query_endstops = self.printer.load_object(config, 'query_endstops')
mcu_endstop = self.lookup_endstop(self.endstop_pin, self.name)
if hasattr(mcu_endstop, "get_position_endstop"):
self.position_endstop = mcu_endstop.get_position_endstop()
elif default_position_endstop is None:
@ -380,6 +379,11 @@ class PrinterRail:
raise config.error(
"Invalid homing_positive_dir / position_endstop in '%s'"
% (config.get_name(),))
def get_name(self, short=False):
if short and self.name.startswith('stepper'):
# Skip an extra symbol after 'stepper'
return self.name[8:]
return self.name
def get_range(self):
return self.position_min, self.position_max
def get_homing_info(self):
@ -394,16 +398,8 @@ class PrinterRail:
return list(self.steppers)
def get_endstops(self):
return list(self.endstops)
def add_extra_stepper(self, config):
stepper = PrinterStepper(config, self.stepper_units_in_radians)
self.steppers.append(stepper)
if self.endstops and config.get('endstop_pin', None) is None:
# No endstop defined - use primary endstop
self.endstops[0][0].add_stepper(stepper)
return
endstop_pin = config.get('endstop_pin')
printer = config.get_printer()
ppins = printer.lookup_object('pins')
def lookup_endstop(self, endstop_pin, name):
ppins = self.printer.lookup_object('pins')
pin_params = ppins.parse_pin(endstop_pin, True, True)
# Normalize pin name
pin_name = "%s:%s" % (pin_params['chip_name'], pin_params['pin'])
@ -415,19 +411,32 @@ class PrinterRail:
self.endstop_map[pin_name] = {'endstop': mcu_endstop,
'invert': pin_params['invert'],
'pullup': pin_params['pullup']}
name = stepper.get_name(short=True)
self.endstops.append((mcu_endstop, name))
query_endstops = printer.load_object(config, 'query_endstops')
query_endstops.register_endstop(mcu_endstop, name)
self.query_endstops.register_endstop(mcu_endstop, name)
else:
mcu_endstop = endstop['endstop']
changed_invert = pin_params['invert'] != endstop['invert']
changed_pullup = pin_params['pullup'] != endstop['pullup']
if changed_invert or changed_pullup:
raise error("Printer rail %s shared endstop pin %s "
raise self.printer.config_error(
"Printer rail %s shared endstop pin %s "
"must specify the same pullup/invert settings" % (
self.get_name(), pin_name))
return mcu_endstop
def add_stepper(self, stepper, endstop_pin=None, endstop_name=None):
if not self.steppers:
self.get_commanded_position = stepper.get_commanded_position
self.calc_position_from_coord = stepper.calc_position_from_coord
self.steppers.append(stepper)
if endstop_pin is not None:
mcu_endstop = self.lookup_endstop(
endstop_pin, endstop_name or stepper.get_name(short=True))
else:
mcu_endstop = self.lookup_endstop(self.endstop_pin, self.name)
mcu_endstop.add_stepper(stepper)
def add_stepper_from_config(self, config):
stepper = PrinterStepper(config, self.stepper_units_in_radians)
self.add_stepper(stepper, config.get('endstop_pin', None))
def setup_itersolve(self, alloc_func, *params):
for stepper in self.steppers:
stepper.setup_itersolve(alloc_func, *params)
@ -441,13 +450,21 @@ class PrinterRail:
for stepper in self.steppers:
stepper.set_position(coord)
def LookupRail(config, need_position_minmax=True,
default_position_endstop=None, units_in_radians=False):
rail = GenericPrinterRail(config, need_position_minmax,
default_position_endstop, units_in_radians)
rail.add_stepper_from_config(config)
return rail
# Wrapper for dual stepper motor support
def LookupMultiRail(config, need_position_minmax=True,
default_position_endstop=None, units_in_radians=False):
rail = PrinterRail(config, need_position_minmax,
rail = LookupRail(config, need_position_minmax,
default_position_endstop, units_in_radians)
for i in range(1, 99):
if not config.has_section(config.get_name() + str(i)):
break
rail.add_extra_stepper(config.getsection(config.get_name() + str(i)))
rail.add_stepper_from_config(
config.getsection(config.get_name() + str(i)))
return rail

172
test/klippy/corexyuv.cfg Normal file
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@ -0,0 +1,172 @@
# Test config for generic cartesian kinematics with dual carriage
[carriage x]
position_endstop: 0
position_max: 300
homing_speed: 50
endstop_pin: ^PE5
[carriage y]
position_endstop: 0
position_max: 200
homing_speed: 50
endstop_pin: ^PJ1
[carriage z]
position_endstop: 0.5
position_max: 100
endstop_pin: ^PD3
[extra_carriage z1]
primary_carriage: z
endstop_pin: ^PD2
[dual_carriage u]
primary_carriage: x
safe_distance: 70
position_endstop: 300
position_max: 300
homing_speed: 50
endstop_pin: ^PE4
[dual_carriage v]
primary_carriage: y
safe_distance: 50
position_endstop: 200
position_max: 200
homing_speed: 50
endstop_pin: ^PD4
[stepper a]
carriages: x+y
step_pin: PF0
dir_pin: PF1
enable_pin: !PD7
microsteps: 16
rotation_distance: 40
[stepper b]
carriages: u-v
step_pin: PH1
dir_pin: PH0
enable_pin: !PA1
microsteps: 16
rotation_distance: 40
[stepper c]
carriages: x-y
step_pin: PF6
dir_pin: !PF7
enable_pin: !PF2
microsteps: 16
rotation_distance: 40
[stepper d]
carriages: u+v
step_pin: PE3
dir_pin: !PH6
enable_pin: !PG5
microsteps: 16
rotation_distance: 40
[stepper z]
carriages: z
step_pin: PL3
dir_pin: PL1
enable_pin: !PK0
microsteps: 16
rotation_distance: 8
[stepper z1]
carriages: z1
step_pin: PG1
dir_pin: PG0
enable_pin: !PH3
microsteps: 16
rotation_distance: 8
[extruder]
step_pin: PA4
dir_pin: PA6
enable_pin: !PA2
microsteps: 16
rotation_distance: 33.5
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PB4
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK5
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[gcode_macro PARK_extruder]
gcode:
SET_DUAL_CARRIAGE CARRIAGE=x
SET_DUAL_CARRIAGE CARRIAGE=y
G90
G1 X0 Y0
[gcode_macro T0]
gcode:
PARK_{printer.toolhead.extruder}
SET_SERVO SERVO=my_servo angle=100
ACTIVATE_EXTRUDER EXTRUDER=extruder
SET_DUAL_CARRIAGE CARRIAGE=x
SET_DUAL_CARRIAGE CARRIAGE=y
[extruder1]
step_pin: PC1
dir_pin: PC3
enable_pin: !PC7
microsteps: 16
rotation_distance: 33.5
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PB5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK7
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[gcode_macro PARK_extruder1]
gcode:
SET_DUAL_CARRIAGE CARRIAGE=u
SET_DUAL_CARRIAGE CARRIAGE=v
G90
G1 X300 Y200
[gcode_macro T1]
gcode:
PARK_{printer.toolhead.extruder}
SET_SERVO SERVO=my_servo angle=50
ACTIVATE_EXTRUDER EXTRUDER=extruder1
SET_DUAL_CARRIAGE CARRIAGE=u
SET_DUAL_CARRIAGE CARRIAGE=v
[servo my_servo]
pin: PH4
[heater_bed]
heater_pin: PH5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK6
control: watermark
min_temp: 0
max_temp: 130
[mcu]
serial: /dev/ttyACM0
[printer]
kinematics: generic_cartesian
max_velocity: 300
max_accel: 3000
max_z_velocity: 5
max_z_accel: 100

52
test/klippy/corexyuv.test Normal file
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@ -0,0 +1,52 @@
# Test cases on printers with dual carriage and multiple extruders
CONFIG corexyuv.cfg
DICTIONARY atmega2560.dict
# First home the printer
G90
G28
# Perform a dummy move
G1 X10 Y20 F6000
# Activate alternate carriage
SET_DUAL_CARRIAGE CARRIAGE=u
SET_DUAL_CARRIAGE CARRIAGE=v
G1 X170 Y190 F6000
# Go back to main carriage on X axis
SET_DUAL_CARRIAGE CARRIAGE=x
G1 X20 F6000
# Save dual carriage state
SAVE_DUAL_CARRIAGE_STATE
G1 Y150 F6000
# Go back to main carriage on Y axis
SET_DUAL_CARRIAGE CARRIAGE=y
G1 X10 Y50 F6000
# Restore dual carriage state
RESTORE_DUAL_CARRIAGE_STATE
# Test changing extruders
G1 X5
T1
G91
G1 X-10 E.2
T0
G91
G1 X20 E.2
G90
QUERY_ENDSTOPS
# Servo tests
SET_SERVO servo=my_servo angle=160
SET_SERVO servo=my_servo angle=130
# Verify STEPPER_BUZZ
STEPPER_BUZZ STEPPER='stepper d'
STEPPER_BUZZ STEPPER=extruder
STEPPER_BUZZ STEPPER=extruder1

165
test/klippy/generic_cartesian.cfg Normal file
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@ -0,0 +1,165 @@
# Test config for generic cartesian kinematics with dual carriage
[carriage x]
position_endstop: 0
position_max: 300
homing_speed: 50
endstop_pin: ^PE5
[carriage y]
position_endstop: 0
position_max: 200
homing_speed: 50
endstop_pin: ^PJ1
[extra_carriage y1]
primary_carriage: y
endstop_pin: ^PB6
[carriage z]
position_endstop: 0.5
position_max: 100
endstop_pin: ^PD3
[extra_carriage z1]
primary_carriage: z
endstop_pin: ^PD2
[dual_carriage u]
primary_carriage: x
position_endstop: 300
position_max: 300
homing_speed: 50
endstop_pin: ^PE4
[stepper stepper_x]
carriages: x+y
step_pin: PF0
dir_pin: PF1
enable_pin: !PD7
microsteps: 16
rotation_distance: 40
[stepper dual_carriage]
carriages: u-y1
step_pin: PH1
dir_pin: PH0
enable_pin: !PA1
microsteps: 16
rotation_distance: 40
[stepper stepper_y]
carriages: 1*y+0.5*z
step_pin: PF6
dir_pin: !PF7
enable_pin: !PF2
microsteps: 16
rotation_distance: 40
[stepper stepper_y1]
carriages: 1*y1-0.5*z1
step_pin: PE3
dir_pin: !PH6
enable_pin: !PG5
microsteps: 16
rotation_distance: 40
[stepper stepper_z]
carriages: z
step_pin: PL3
dir_pin: PL1
enable_pin: !PK0
microsteps: 16
rotation_distance: 8
[stepper stepper_z1]
carriages: z1
step_pin: PG1
dir_pin: PG0
enable_pin: !PH3
microsteps: 16
rotation_distance: 8
[extruder]
step_pin: PA4
dir_pin: PA6
enable_pin: !PA2
microsteps: 16
rotation_distance: 33.5
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PB4
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK5
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[gcode_macro PARK_extruder]
gcode:
SET_DUAL_CARRIAGE CARRIAGE=x
G90
G1 X0
[gcode_macro T0]
gcode:
PARK_{printer.toolhead.extruder}
SET_SERVO SERVO=my_servo angle=100
ACTIVATE_EXTRUDER EXTRUDER=extruder
SET_DUAL_CARRIAGE CARRIAGE=x
[extruder1]
step_pin: PC1
dir_pin: PC3
enable_pin: !PC7
microsteps: 16
rotation_distance: 33.5
nozzle_diameter: 0.400
filament_diameter: 1.750
heater_pin: PB5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK7
control: pid
pid_Kp: 22.2
pid_Ki: 1.08
pid_Kd: 114
min_temp: 0
max_temp: 250
[gcode_macro PARK_extruder1]
gcode:
SET_DUAL_CARRIAGE CARRIAGE=u
G90
G1 X300
[gcode_macro T1]
gcode:
PARK_{printer.toolhead.extruder}
SET_SERVO SERVO=my_servo angle=50
ACTIVATE_EXTRUDER EXTRUDER=extruder1
SET_DUAL_CARRIAGE CARRIAGE=u
[servo my_servo]
pin: PH4
[heater_bed]
heater_pin: PH5
sensor_type: EPCOS 100K B57560G104F
sensor_pin: PK6
control: watermark
min_temp: 0
max_temp: 130
[mcu]
serial: /dev/ttyACM0
[printer]
kinematics: generic_cartesian
max_velocity: 300
max_accel: 3000
max_z_velocity: 5
max_z_accel: 100
[input_shaper]

64
test/klippy/generic_cartesian.test Normal file
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@ -0,0 +1,64 @@
# Test cases on printers with dual carriage and multiple extruders
CONFIG generic_cartesian.cfg
DICTIONARY atmega2560.dict
# Configure the input shaper
SET_DUAL_CARRIAGE CARRIAGE=u
SET_INPUT_SHAPER SHAPER_TYPE_X=ei SHAPER_FREQ_X=50 SHAPER_TYPE_Y=2hump_ei SHAPER_FREQ_Y=80
SET_DUAL_CARRIAGE CARRIAGE=x
SET_INPUT_SHAPER SHAPER_TYPE_X=ei SHAPER_FREQ_X=50 SHAPER_TYPE_Y=2hump_ei SHAPER_FREQ_Y=80
# Then home the printer
G90
G28
# Perform a dummy move
G1 X10 F6000
# Activate alternate carriage
SET_DUAL_CARRIAGE CARRIAGE=u
G1 X190 F6000
# Go back to main carriage
SET_DUAL_CARRIAGE CARRIAGE=x
G1 X100 F6000
# Save dual carriage state
SAVE_DUAL_CARRIAGE_STATE
G1 X50 F6000
# Go back to alternate carriage
SET_DUAL_CARRIAGE CARRIAGE=u
G1 X130 F6000
# Restore dual carriage state
RESTORE_DUAL_CARRIAGE_STATE MOVE=1
# Test changing extruders
G1 X5
T1
G91
G1 X-10 E.2
T0
G91
G1 X20 E.2
G90
# Test changing the stepper kinematics
SET_STEPPER_CARRIAGES STEPPER=dual_carriage CARRIAGES=u+y1
SET_STEPPER_CARRIAGES STEPPER=stepper_x CARRIAGES=x-y
G1 X30 E.2
G1 Z3
QUERY_ENDSTOPS
# Servo tests
SET_SERVO servo=my_servo angle=160
SET_SERVO servo=my_servo angle=130
# Verify STEPPER_BUZZ
STEPPER_BUZZ STEPPER='stepper dual_carriage'
STEPPER_BUZZ STEPPER=extruder
STEPPER_BUZZ STEPPER=extruder1