MPCNC/Firmware2
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Fix CoreXY Homing Routine.

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Fixed how stepper ISR figure it out when the head (extruder) is going to
Min or Max direction.
Added Homing to Max Endstops.
This commit is contained in:
alexborro 2015-02-13 14:38:05 -02:00
parent 7866fa161f
commit afc737ca0c
3 changed files with 20 additions and 13 deletions
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5
Marlin/Configuration.h
View File

@ -326,11 +326,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS //#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS //#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0 #define X_ENABLE_ON 0
#define Y_ENABLE_ON 0 #define Y_ENABLE_ON 0

12
Marlin/planner.cpp
View File

@ -629,13 +629,21 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
block->direction_bits |= (1<<Y_AXIS); block->direction_bits |= (1<<Y_AXIS);
} }
#else #else
if (target[X_AXIS] < position[X_AXIS])
{
block->direction_bits |= (1<<X_HEAD); //AlexBorro: Save the real Extruder (head) direction in X Axis
}
if (target[Y_AXIS] < position[Y_AXIS])
{
block->direction_bits |= (1<<Y_HEAD); //AlexBorro: Save the real Extruder (head) direction in Y Axis
}
if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0) if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
{ {
block->direction_bits |= (1<<X_AXIS); block->direction_bits |= (1<<X_AXIS); //AlexBorro: Motor A direction (Incorrectly implemented as X_AXIS)
} }
if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0) if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
{ {
block->direction_bits |= (1<<Y_AXIS); block->direction_bits |= (1<<Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS)
} }
#endif #endif
if (target[Z_AXIS] < position[Z_AXIS]) if (target[Z_AXIS] < position[Z_AXIS])

16
Marlin/stepper.cpp
View File

@ -401,10 +401,11 @@ ISR(TIMER1_COMPA_vect)
// Set direction en check limit switches // Set direction en check limit switches
#ifndef COREXY #ifndef COREXY
if ((out_bits & (1<<X_AXIS)) != 0) { // stepping along -X axis if ((out_bits & (1<<X_AXIS)) != 0) // stepping along -X axis
#else #else
if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) != 0)) { //-X occurs for -A and -B if ((out_bits & (1<<X_HEAD)) != 0) //AlexBorro: Head direction in -X axis for CoreXY bots.
#endif #endif
{
CHECK_ENDSTOPS CHECK_ENDSTOPS
{ {
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
@ -425,7 +426,8 @@ ISR(TIMER1_COMPA_vect)
} }
} }
} }
else { // +direction else
{ // +direction
CHECK_ENDSTOPS CHECK_ENDSTOPS
{ {
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
@ -448,10 +450,11 @@ ISR(TIMER1_COMPA_vect)
} }
#ifndef COREXY #ifndef COREXY
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction if ((out_bits & (1<<Y_AXIS)) != 0) // -direction
#else #else
if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) == 0)) { // -Y occurs for -A and +B if ((out_bits & (1<<Y_HEAD)) != 0) //AlexBorro: Head direction in -Y axis for CoreXY bots.
#endif #endif
{
CHECK_ENDSTOPS CHECK_ENDSTOPS
{ {
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1 #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
@ -465,7 +468,8 @@ ISR(TIMER1_COMPA_vect)
#endif #endif
} }
} }
else { // +direction else
{ // +direction
CHECK_ENDSTOPS CHECK_ENDSTOPS
{ {
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1 #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1