From c5e08e87612c53f7aba333e7bfa04f8ed53d9fb6 Mon Sep 17 00:00:00 2001 From: Bob-the-Kuhn Date: Tue, 21 Feb 2017 21:42:52 -0600 Subject: [PATCH 1/2] CoreYX/YZ/ZX needs different endstop logic than CoreXY/YZ/XZ In the endstop testing section, add the "reverse" logic in addition to "normal" core handling. In CoreXY/YZ/XZ steppers rotating the same direction gives X movement. Opposing directions produces Y movement. In CoreYX/ZY/ZX this is reversed. Same = Y, Opposite = X. ---- Fixes the issue where the Y endstop was being checked when moving in the X direction, etc. --- .travis.yml | 4 ++-- Marlin/endstops.cpp | 40 ++++++++++++++++++++++++++++------------ 2 files changed, 30 insertions(+), 14 deletions(-) diff --git a/.travis.yml b/.travis.yml index 2cad83912..cad55428a 100644 --- a/.travis.yml +++ b/.travis.yml @@ -226,10 +226,10 @@ script: - opt_enable COREXY - build_marlin # - # Enable COREXZ + # Enable COREYX (swapped) # - restore_configs - - opt_enable COREXZ + - opt_enable COREYX - build_marlin # # Enable Z_DUAL_STEPPER_DRIVERS, Z_DUAL_ENDSTOPS diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp index 545ca09c0..9f7da77b0 100644 --- a/Marlin/endstops.cpp +++ b/Marlin/endstops.cpp @@ -274,16 +274,23 @@ void Endstops::update() { #if CORE_IS_XY || CORE_IS_XZ // Head direction in -X axis for CoreXY and CoreXZ bots. - // If DeltaA == -DeltaB, the movement is only in Y or Z axis - if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) == stepper.motor_direction(CORE_AXIS_2))) { - if (stepper.motor_direction(X_HEAD)) + // If DeltaA == -DeltaB, the movement is only in only one axis + #if ENABLED(COREYX) || ENABLED(COREZX) + #define CORE_X_CMP != + #define CORE_X_NOT ! + #else + #define CORE_X_CMP == + #define CORE_X_NOT + #endif + if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_X_CMP stepper.motor_direction(CORE_AXIS_2)) { + if (CORE_X_NOT stepper.motor_direction(X_HEAD)) #else - if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot) + if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot) #endif { // -direction #if ENABLED(DUAL_X_CARRIAGE) // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder - if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == -1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == -1)) + if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR < 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR < 0)) #endif { #if HAS_X_MIN @@ -294,7 +301,7 @@ void Endstops::update() { else { // +direction #if ENABLED(DUAL_X_CARRIAGE) // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder - if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == 1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == 1)) + if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR > 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR > 0)) #endif { #if HAS_X_MAX @@ -306,11 +313,20 @@ void Endstops::update() { } #endif + // Handle swapped vs. typical Core axis order + #if ENABLED(COREYX) || ENABLED(COREZY) || ENABLED(COREZX) + #define CORE_YZ_CMP == + #define CORE_YZ_NOT ! + #elif CORE_IS_XY || CORE_IS_YZ || CORE_IS_XZ + #define CORE_YZ_CMP != + #define CORE_YZ_NOT + #endif + #if CORE_IS_XY || CORE_IS_YZ // Head direction in -Y axis for CoreXY / CoreYZ bots. - // If DeltaA == DeltaB, the movement is only in X or Y axis - if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) != stepper.motor_direction(CORE_AXIS_2))) { - if (stepper.motor_direction(Y_HEAD)) + // If DeltaA == DeltaB, the movement is in only one axis + if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)) { + if (CORE_YZ_NOT stepper.motor_direction(Y_HEAD)) #else if (stepper.motor_direction(Y_AXIS)) // -direction #endif @@ -330,9 +346,9 @@ void Endstops::update() { #if CORE_IS_XZ || CORE_IS_YZ // Head direction in -Z axis for CoreXZ or CoreYZ bots. - // If DeltaA == DeltaB, the movement is only in X or Y axis - if ((stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(CORE_AXIS_1) != stepper.motor_direction(CORE_AXIS_2))) { - if (stepper.motor_direction(Z_HEAD)) + // If DeltaA == DeltaB, the movement is in only one axis + if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)) { + if (CORE_YZ_NOT stepper.motor_direction(Z_HEAD)) #else if (stepper.motor_direction(Z_AXIS)) #endif From b6d9eb229fc9d3be4ec73c29e0035da0c10adb16 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 1 Mar 2017 10:01:50 -0600 Subject: [PATCH 2/2] Extend Core endstop commentary --- Marlin/endstops.cpp | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp index 9f7da77b0..1847f0cbd 100644 --- a/Marlin/endstops.cpp +++ b/Marlin/endstops.cpp @@ -273,8 +273,6 @@ void Endstops::update() { #endif #if CORE_IS_XY || CORE_IS_XZ - // Head direction in -X axis for CoreXY and CoreXZ bots. - // If DeltaA == -DeltaB, the movement is only in only one axis #if ENABLED(COREYX) || ENABLED(COREZX) #define CORE_X_CMP != #define CORE_X_NOT ! @@ -282,6 +280,10 @@ void Endstops::update() { #define CORE_X_CMP == #define CORE_X_NOT #endif + // Head direction in -X axis for CoreXY and CoreXZ bots. + // If steps differ, both axes are moving. + // If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below) + // If DeltaA == DeltaB, the movement is only in the 1st axis (X) if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_X_CMP stepper.motor_direction(CORE_AXIS_2)) { if (CORE_X_NOT stepper.motor_direction(X_HEAD)) #else @@ -324,7 +326,9 @@ void Endstops::update() { #if CORE_IS_XY || CORE_IS_YZ // Head direction in -Y axis for CoreXY / CoreYZ bots. - // If DeltaA == DeltaB, the movement is in only one axis + // If steps differ, both axes are moving + // If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y) + // If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z) if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)) { if (CORE_YZ_NOT stepper.motor_direction(Y_HEAD)) #else @@ -346,7 +350,9 @@ void Endstops::update() { #if CORE_IS_XZ || CORE_IS_YZ // Head direction in -Z axis for CoreXZ or CoreYZ bots. - // If DeltaA == DeltaB, the movement is in only one axis + // If steps differ, both axes are moving + // If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above) + // If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z) if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2] || stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)) { if (CORE_YZ_NOT stepper.motor_direction(Z_HEAD)) #else