add PolarXZ kinematics

config/example-polarxz.cfg

@@ -0,0 +1,74 @@
+# This file is an example config file for polar style printers. One
+# may copy and edit this file to configure a new polar printer.
+
+# POLAR KINEMATICS ARE A WORK IN PROGRESS. Moves around the 0, 0
+# position are known to not work properly.
+
+# See docs/Config_Reference.md for a description of parameters.
+
+[stepper_bed]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+gear_ratio: 80:16
+
+[stepper_x]
+step_pin: PF6
+dir_pin: PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 300
+position_max: 300
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.500
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PB4
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: PK5
+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: 130
+
+[fan]
+pin: PH6
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: polarxz
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 25
+max_z_accel: 30

klippy/chelper/__init__.py

@@ -33,6 +33,8 @@
     "kin_delta.c",
     "kin_deltesian.c",
     "kin_polar.c",
+    "kin_polarxz.c",
+    "kin_polarbed.c",
     "kin_rotary_delta.c",
     "kin_winch.c",
     "kin_extruder.c",
@@ -149,6 +151,14 @@
     struct stepper_kinematics *polar_stepper_alloc(char type);
 """
 
+defs_kin_polarxz = """
+    struct stepper_kinematics *polarxz_stepper_alloc(char type);
+"""
+
+defs_kin_polarbed = """
+    struct stepper_kinematics *polarbed_stepper_alloc(char type);
+"""
+
 defs_kin_rotary_delta = """
     struct stepper_kinematics *rotary_delta_stepper_alloc(
         double shoulder_radius, double shoulder_height
@@ -251,13 +261,16 @@
     defs_kin_delta,
     defs_kin_deltesian,
     defs_kin_polar,
+    defs_kin_polarxz,
+    defs_kin_polarbed,
     defs_kin_rotary_delta,
     defs_kin_winch,
     defs_kin_extruder,
     defs_kin_shaper,
     defs_kin_idex,
 ]
 
+
 # Update filenames to an absolute path
 def get_abs_files(srcdir, filelist):
     return [os.path.join(srcdir, fname) for fname in filelist]
@@ -305,6 +318,7 @@ def do_build_code(cmd):
 FFI_lib = None
 pyhelper_logging_callback = None
 
+
 # Hepler invoked from C errorf() code to log errors
 def logging_callback(msg):
     logging.error(FFI_main.string(msg))

klippy/chelper/itersolve.c

@@ -104,6 +104,7 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m
                 continue;
             }
         }
+
         // Found next step - submit it
         int ret = stepcompress_append(sk->sc, sdir, m->print_time, guess.time);
         if (ret)

klippy/chelper/kin_polarbed.c

@@ -0,0 +1,34 @@
+#include <math.h>      // sqrt
+#include <stdlib.h>    // malloc
+#include <string.h>    // memset
+#include "compiler.h"  // __visible
+#include "itersolve.h" // struct stepper_kinematics
+#include "trapq.h"     // move_get_coord
+#include "pyhelper.h"  // errorf
+
+static double
+polarbed_stepper_angle_calc_position(struct stepper_kinematics *sk, struct move *m, double move_time)
+
+{
+    struct coord c = move_get_coord(m, move_time);
+    // XXX - handle x==y==0
+    if (c.x == 0 && c.y == 0)
+        errorf("polarbed_stepper_angle_calc_position: x==y==0");
+
+    double angle = atan2(c.y, c.x);
+
+    errorf("polarbed_stepper_angle_calc_position: x=%f y=%f angle=%f", c.x, c.y, angle * 180.0 / 3.14159);
+
+    return angle;
+}
+
+struct stepper_kinematics *__visible
+polarbed_stepper_alloc(char type)
+{
+    struct stepper_kinematics *sk = malloc(sizeof(*sk));
+    memset(sk, 0, sizeof(*sk));
+    sk->calc_position_cb = polarbed_stepper_angle_calc_position;
+    sk->active_flags = AF_X | AF_Y;
+
+    return sk;
+}

klippy/chelper/kin_polarxz.c

@@ -0,0 +1,76 @@
+#include <math.h>      // sqrt
+#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
+polarxz_stepper_angle_calc_position(struct stepper_kinematics *sk, struct move *m, double move_time)
+{
+    struct coord c = move_get_coord(m, move_time);
+    // XXX - handle x==y==0
+    if (c.x == 0 && c.y == 0)
+        return 0;
+    double angle = atan2(c.y, c.x);
+    if (angle - sk->commanded_pos > M_PI)
+        angle -= 2.f * M_PI;
+    else if (angle - sk->commanded_pos < -M_PI)
+        angle += 2.f * M_PI;
+    angle = round(angle * 1000000) / 1000000;
+
+    return angle;
+}
+
+static void
+polarxz_stepper_angle_post_fixup(struct stepper_kinematics *sk)
+{
+    // Normalize the stepper_bed angle
+    if (sk->commanded_pos < -M_PI)
+        sk->commanded_pos += 2 * M_PI;
+    else if (sk->commanded_pos > M_PI)
+        sk->commanded_pos -= 2 * M_PI;
+}
+
+static double
+polarxz_stepper_plus_calc_position(struct stepper_kinematics *sk, struct move *m, double move_time)
+{
+    struct coord c = move_get_coord(m, move_time);
+    float pos = (sqrt(c.x * c.x + c.y * c.y)) + c.z;
+    pos = round(pos * 1000000) / 1000000;
+    return pos;
+}
+
+static double
+polarxz_stepper_minus_calc_position(struct stepper_kinematics *sk, struct move *m, double move_time)
+{
+    struct coord c = move_get_coord(m, move_time);
+    float pos = (sqrt(c.x * c.x + c.y * c.y)) - c.z;
+    pos = round(pos * 1000000) / 1000000;
+    return pos;
+}
+
+struct stepper_kinematics *__visible
+polarxz_stepper_alloc(char type)
+{
+    struct stepper_kinematics *sk = malloc(sizeof(*sk));
+    memset(sk, 0, sizeof(*sk));
+    if (type == '+')
+    {
+        sk->calc_position_cb = polarxz_stepper_plus_calc_position;
+        sk->active_flags = AF_X | AF_Y | AF_Z;
+    }
+    else if (type == '-')
+    {
+        sk->calc_position_cb = polarxz_stepper_minus_calc_position;
+        sk->active_flags = AF_X | AF_Y | AF_Z;
+    }
+    else if (type == 'a')
+    {
+        sk->calc_position_cb = polarxz_stepper_angle_calc_position;
+        sk->post_cb = polarxz_stepper_angle_post_fixup;
+        sk->active_flags = AF_X | AF_Y;
+    }
+
+    return sk;
+}

klippy/configfile.py

@@ -434,6 +434,7 @@ def read_main_config(self):
     def check_unused_options(self, config, error_on_unused):
         fileconfig = config.fileconfig
         objects = dict(self.printer.lookup_objects())
+        logging.info("objects: %s", objects)
         # Determine all the fields that have been accessed
         access_tracking = dict(config.access_tracking)
         for section in self.autosave.fileconfig.sections():