andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

✨ MarkForged YX kinematics (#23163)

vanilla_fb_2.0.x
John Robertson 3 years ago
committed by Scott Lahteine
parent
018c7b1cf4
commit
0e60c8b7e0
13 changed files with 92 additions and 76 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 1
      Marlin/Configuration.h
  2. 2
      Marlin/src/core/types.h
  3. 3
      Marlin/src/core/utility.cpp
  4. 2
      Marlin/src/feature/backlash.cpp
  5. 3
      Marlin/src/gcode/host/M360.cpp
  6. 2
      Marlin/src/inc/Conditionals_LCD.h
  7. 2
      Marlin/src/inc/Conditionals_post.h
  8. 16
      Marlin/src/inc/SanityCheck.h
  9. 2
      Marlin/src/lcd/menu/menu_backlash.cpp
  10. 10
      Marlin/src/module/endstops.cpp
  11. 12
      Marlin/src/module/motion.cpp
  12. 99
      Marlin/src/module/planner.cpp
  13. 14
      Marlin/src/module/stepper.cpp

1
Marlin/Configuration.h
View File

@ -756,6 +756,7 @@
//#define COREZX
//#define COREZY
//#define MARKFORGED_XY // MarkForged. See https://reprap.org/forum/read.php?152,504042
//#define MARKFORGED_YX
// Enable for a belt style printer with endless "Z" motion
//#define BELTPRINTER

2
Marlin/src/core/types.h
View File

@ -82,7 +82,7 @@ enum AxisEnum : uint8_t {
#undef _EN_ITEM
// Core also keeps toolhead directions
#if EITHER(IS_CORE, MARKFORGED_XY)
#if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
, X_HEAD, Y_HEAD, Z_HEAD
#endif

3
Marlin/src/core/utility.cpp
View File

@ -60,7 +60,8 @@ void safe_delay(millis_t ms) {
TERN_(DELTA, "Delta")
TERN_(IS_SCARA, "SCARA")
TERN_(IS_CORE, "Core")
TERN_(MARKFORGED_XY, "MarkForged")
TERN_(MARKFORGED_XY, "MarkForgedXY")
TERN_(MARKFORGED_YX, "MarkForgedYX")
TERN_(IS_CARTESIAN, "Cartesian")
);

2
Marlin/src/feature/backlash.cpp
View File

@ -64,7 +64,7 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
static axis_bits_t last_direction_bits;
axis_bits_t changed_dir = last_direction_bits ^ dm;
// Ignore direction change unless steps are taken in that direction
#if DISABLED(CORE_BACKLASH) || ENABLED(MARKFORGED_XY)
#if DISABLED(CORE_BACKLASH) || EITHER(MARKFORGED_XY, MARKFORGED_YX)
if (!da) CBI(changed_dir, X_AXIS);
if (!db) CBI(changed_dir, Y_AXIS);
if (!dc) CBI(changed_dir, Z_AXIS);

3
Marlin/src/gcode/host/M360.cpp
View File

@ -162,7 +162,8 @@ void GcodeSuite::M360() {
TERN_(DELTA, "Delta")
TERN_(IS_SCARA, "SCARA")
TERN_(IS_CORE, "Core")
TERN_(MARKFORGED_XY, "MarkForged")
TERN_(MARKFORGED_XY, "MarkForgedXY")
TERN_(MARKFORGED_YX, "MarkForgedYX")
TERN_(IS_CARTESIAN, "Cartesian")
);

2
Marlin/src/inc/Conditionals_LCD.h
View File

@ -1079,7 +1079,7 @@
#define CORE_AXIS_2 C_AXIS
#endif
#define CORESIGN(n) (ANY(COREYX, COREZX, COREZY) ? (-(n)) : (n))
#elif ENABLED(MARKFORGED_XY)
#elif EITHER(MARKFORGED_XY, MARKFORGED_YX)
// Markforged kinematics
#define CORE_AXIS_1 A_AXIS
#define CORE_AXIS_2 B_AXIS

2
Marlin/src/inc/Conditionals_post.h
View File

@ -193,7 +193,7 @@
// Calibration codes only for non-core axes
#if EITHER(BACKLASH_GCODE, CALIBRATION_GCODE)
#if EITHER(IS_CORE, MARKFORGED_XY)
#if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
#define CAN_CALIBRATE(A,B) (_AXIS(A) == B)
#else
#define CAN_CALIBRATE(A,B) true

16
Marlin/src/inc/SanityCheck.h
View File

@ -914,7 +914,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#if ENABLED(BABYSTEPPING)
#if ENABLED(SCARA)
#error "BABYSTEPPING is not implemented for SCARA yet."
#elif BOTH(MARKFORGED_XY, BABYSTEP_XY)
#elif ENABLED(BABYSTEP_XY) && EITHER(MARKFORGED_XY, MARKFORGED_YX)
#error "BABYSTEPPING only implemented for Z axis on MarkForged."
#elif BOTH(DELTA, BABYSTEP_XY)
#error "BABYSTEPPING only implemented for Z axis on deltabots."
@ -1461,8 +1461,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
/**
* Allow only one kinematic type to be defined
*/
#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, FOAMCUTTER_XYUV)
#error "Please enable only one of DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, or FOAMCUTTER_XYUV."
#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, FOAMCUTTER_XYUV)
#error "Please enable only one of DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, MARKFORGED_YX, or FOAMCUTTER_XYUV."
#endif
/**
@ -1960,8 +1960,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#if ENABLED(DUAL_X_CARRIAGE)
#if EXTRUDERS < 2
#error "DUAL_X_CARRIAGE requires 2 (or more) extruders."
#elif ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
#error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, COREZX, or MARKFORGED_XY."
#elif ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX)
#error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, COREZX, MARKFORGED_YX, or MARKFORGED_XY."
#elif !GOOD_AXIS_PINS(X2)
#error "DUAL_X_CARRIAGE requires X2 stepper pins to be defined."
#elif !HAS_X_MAX
@ -3203,8 +3203,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#error "CoreXZ requires both X and Z to use sensorless homing if either one does."
#elif CORE_IS_YZ && Y_SENSORLESS != Z_SENSORLESS && !HOMING_Z_WITH_PROBE
#error "CoreYZ requires both Y and Z to use sensorless homing if either one does."
#elif ENABLED(MARKFORGED_XY) && X_SENSORLESS != Y_SENSORLESS
#error "MARKFORGED_XY requires both X and Y to use sensorless homing if either one does."
#elif EITHER(MARKFORGED_XY, MARKFORGED_YX) && X_SENSORLESS != Y_SENSORLESS
#error "MARKFORGED requires both X and Y to use sensorless homing if either one does."
#endif
// Other TMC feature requirements
@ -3464,7 +3464,7 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
#error "BACKLASH_COMPENSATION requires BACKLASH_DISTANCE_MM."
#elif !defined(BACKLASH_CORRECTION)
#error "BACKLASH_COMPENSATION requires BACKLASH_CORRECTION."
#elif ENABLED(MARKFORGED_XY)
#elif EITHER(MARKFORGED_XY, MARKFORGED_YX)
constexpr float backlash_arr[] = BACKLASH_DISTANCE_MM;
static_assert(!backlash_arr[CORE_AXIS_1] && !backlash_arr[CORE_AXIS_2],
"BACKLASH_COMPENSATION can only apply to " STRINGIFY(NORMAL_AXIS) " on a MarkForged system.");

2
Marlin/src/lcd/menu/menu_backlash.cpp
View File

@ -38,7 +38,7 @@ void menu_backlash() {
EDIT_ITEM_FAST(percent, MSG_BACKLASH_CORRECTION, &backlash.correction, all_off, all_on);
#if DISABLED(CORE_BACKLASH) || ENABLED(MARKFORGED_XY)
#if DISABLED(CORE_BACKLASH) || EITHER(MARKFORGED_XY, MARKFORGED_YX)
#define _CAN_CALI AXIS_CAN_CALIBRATE
#else
#define _CAN_CALI(A) true

10
Marlin/src/module/endstops.cpp
View File

@ -617,7 +617,7 @@ void Endstops::update() {
#define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
#define COPY_LIVE_STATE(SRC_BIT, DST_BIT) SET_BIT_TO(live_state, DST_BIT, TEST(live_state, SRC_BIT))
#if ENABLED(G38_PROBE_TARGET) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
#if ENABLED(G38_PROBE_TARGET) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_XY)
#define HAS_G38_PROBE 1
// For G38 moves check the probe's pin for ALL movement
if (G38_move) UPDATE_ENDSTOP_BIT(Z, TERN(USES_Z_MIN_PROBE_PIN, MIN_PROBE, MIN));
@ -628,12 +628,12 @@ void Endstops::update() {
#define X_MAX_TEST() TERN1(DUAL_X_CARRIAGE, TERN0(X_HOME_TO_MAX, stepper.last_moved_extruder == 0) || TERN0(X2_HOME_TO_MAX, stepper.last_moved_extruder != 0))
// Use HEAD for core axes, AXIS for others
#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_XY)
#define X_AXIS_HEAD X_HEAD
#else
#define X_AXIS_HEAD X_AXIS
#endif
#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY)
#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, MARKFORGED_YX)
#define Y_AXIS_HEAD Y_HEAD
#else
#define Y_AXIS_HEAD Y_AXIS
@ -1111,7 +1111,7 @@ void Endstops::update() {
bool hit = false;
#if X_SPI_SENSORLESS
if (tmc_spi_homing.x && (stepperX.test_stall_status()
#if ANY(CORE_IS_XY, MARKFORGED_XY) && Y_SPI_SENSORLESS
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && Y_SPI_SENSORLESS
|| stepperY.test_stall_status()
#elif CORE_IS_XZ && Z_SPI_SENSORLESS
|| stepperZ.test_stall_status()
@ -1123,7 +1123,7 @@ void Endstops::update() {
#endif
#if Y_SPI_SENSORLESS
if (tmc_spi_homing.y && (stepperY.test_stall_status()
#if ANY(CORE_IS_XY, MARKFORGED_XY) && X_SPI_SENSORLESS
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && X_SPI_SENSORLESS
|| stepperX.test_stall_status()
#elif CORE_IS_YZ && Z_SPI_SENSORLESS
|| stepperZ.test_stall_status()

12
Marlin/src/module/motion.cpp
View File

@ -1367,7 +1367,7 @@ void prepare_line_to_destination() {
#if AXIS_HAS_STALLGUARD(X2)
stealth_states.x2 = tmc_enable_stallguard(stepperX2);
#endif
#if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && Y_SENSORLESS
stealth_states.y = tmc_enable_stallguard(stepperY);
#elif CORE_IS_XZ && Z_SENSORLESS
stealth_states.z = tmc_enable_stallguard(stepperZ);
@ -1380,7 +1380,7 @@ void prepare_line_to_destination() {
#if AXIS_HAS_STALLGUARD(Y2)
stealth_states.y2 = tmc_enable_stallguard(stepperY2);
#endif
#if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && X_SENSORLESS
stealth_states.x = tmc_enable_stallguard(stepperX);
#elif CORE_IS_YZ && Z_SENSORLESS
stealth_states.z = tmc_enable_stallguard(stepperZ);
@ -1444,7 +1444,7 @@ void prepare_line_to_destination() {
#if AXIS_HAS_STALLGUARD(X2)
tmc_disable_stallguard(stepperX2, enable_stealth.x2);
#endif
#if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && Y_SENSORLESS
tmc_disable_stallguard(stepperY, enable_stealth.y);
#elif CORE_IS_XZ && Z_SENSORLESS
tmc_disable_stallguard(stepperZ, enable_stealth.z);
@ -1457,7 +1457,7 @@ void prepare_line_to_destination() {
#if AXIS_HAS_STALLGUARD(Y2)
tmc_disable_stallguard(stepperY2, enable_stealth.y2);
#endif
#if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) && X_SENSORLESS
tmc_disable_stallguard(stepperX, enable_stealth.x);
#elif CORE_IS_YZ && Z_SENSORLESS
tmc_disable_stallguard(stepperZ, enable_stealth.z);
@ -2011,7 +2011,7 @@ void prepare_line_to_destination() {
do_homing_move(axis, adjDistance, get_homing_bump_feedrate(axis));
}
#else // CARTESIAN / CORE / MARKFORGED_XY
#else // CARTESIAN / CORE / MARKFORGED_XY / MARKFORGED_YX
set_axis_is_at_home(axis);
sync_plan_position();
@ -2041,7 +2041,7 @@ void prepare_line_to_destination() {
#if ENABLED(SENSORLESS_HOMING)
planner.synchronize();
if (false
#if EITHER(IS_CORE, MARKFORGED_XY)
#if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
|| axis != NORMAL_AXIS
#endif
) safe_delay(200); // Short delay to allow belts to spring back

99
Marlin/src/module/planner.cpp
View File

@ -1743,7 +1743,7 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
else
axis_steps = stepper.position(axis);
#elif ENABLED(MARKFORGED_XY)
#elif EITHER(MARKFORGED_XY, MARKFORGED_YX)
// Requesting one of the joined axes?
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
@ -1917,42 +1917,28 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Compute direction bit-mask for this block
axis_bits_t dm = 0;
#if CORE_IS_XY
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
if (db < 0) SBI(dm, Y_HEAD); // ...and Y
if (dc < 0) SBI(dm, Z_AXIS);
if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
if (CORESIGN(da - db) < 0) SBI(dm, B_AXIS); // Motor B direction
#elif CORE_IS_XZ
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
if (db < 0) SBI(dm, Y_AXIS);
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
if (da + dc < 0) SBI(dm, A_AXIS); // Motor A direction
if (CORESIGN(da - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
#elif CORE_IS_YZ
if (da < 0) SBI(dm, X_AXIS);
if (db < 0) SBI(dm, Y_HEAD); // Save the toolhead's true direction in Y
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
if (db + dc < 0) SBI(dm, B_AXIS); // Motor B direction
if (CORESIGN(db - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
#elif ENABLED(MARKFORGED_XY)
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
if (db < 0) SBI(dm, Y_HEAD); // ...and Y
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
if (db < 0) SBI(dm, Y_HEAD); // ...and Y
if (dc < 0) SBI(dm, Z_AXIS);
if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
if (db < 0) SBI(dm, B_AXIS); // Motor B direction
#else
LINEAR_AXIS_CODE(
if (da < 0) SBI(dm, X_AXIS),
if (db < 0) SBI(dm, Y_AXIS),
if (dc < 0) SBI(dm, Z_AXIS),
if (di < 0) SBI(dm, I_AXIS),
if (dj < 0) SBI(dm, J_AXIS),
if (dk < 0) SBI(dm, K_AXIS)
);
#endif
#if IS_CORE
#if CORE_IS_XY
if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
if (CORESIGN(da - db) < 0) SBI(dm, B_AXIS); // Motor B direction
#elif CORE_IS_XZ
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
if (db < 0) SBI(dm, Y_AXIS);
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
if (da + dc < 0) SBI(dm, A_AXIS); // Motor A direction
if (CORESIGN(da - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
#elif CORE_IS_YZ
if (da < 0) SBI(dm, X_AXIS);
if (db < 0) SBI(dm, Y_HEAD); // Save the toolhead's true direction in Y
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
if (db + dc < 0) SBI(dm, B_AXIS); // Motor B direction
if (CORESIGN(db - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
#endif
#if LINEAR_AXES >= 4
if (di < 0) SBI(dm, I_AXIS);
#endif
@ -1962,11 +1948,25 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#if LINEAR_AXES >= 6
if (dk < 0) SBI(dm, K_AXIS);
#endif
#elif ENABLED(MARKFORGED_XY)
if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
if (db < 0) SBI(dm, B_AXIS); // Motor B direction
#elif ENABLED(MARKFORGED_YX)
if (da < 0) SBI(dm, A_AXIS); // Motor A direction
if (db + da < 0) SBI(dm, B_AXIS); // Motor B direction
#else
LINEAR_AXIS_CODE(
if (da < 0) SBI(dm, X_AXIS),
if (db < 0) SBI(dm, Y_AXIS),
if (dc < 0) SBI(dm, Z_AXIS),
if (di < 0) SBI(dm, I_AXIS),
if (dj < 0) SBI(dm, J_AXIS),
if (dk < 0) SBI(dm, K_AXIS)
);
#endif
TERN_(HAS_EXTRUDERS, if (de < 0) SBI(dm, E_AXIS));
#if HAS_EXTRUDERS
if (de < 0) SBI(dm, E_AXIS);
const float esteps_float = de * e_factor[extruder];
const uint32_t esteps = ABS(esteps_float) + 0.5f;
#else
@ -1996,6 +1996,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db + dc), ABS(db - dc), ABS(di), ABS(dj), ABS(dk)));
#elif ENABLED(MARKFORGED_XY)
block->steps.set(LINEAR_AXIS_LIST(ABS(da + db), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
#elif ENABLED(MARKFORGED_YX)
block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db + da), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
#elif IS_SCARA
block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
#else
@ -2012,15 +2014,18 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
* Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
*/
struct DistanceMM : abce_float_t {
#if EITHER(IS_CORE, MARKFORGED_XY)
#if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
struct { float x, y, z; } head;
#endif
} steps_dist_mm;
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
steps_dist_mm.head.x = da * mm_per_step[A_AXIS];
steps_dist_mm.head.y = db * mm_per_step[B_AXIS];
steps_dist_mm.z = dc * mm_per_step[Z_AXIS];
#endif
#if IS_CORE
#if CORE_IS_XY
steps_dist_mm.head.x = da * mm_per_step[A_AXIS];
steps_dist_mm.head.y = db * mm_per_step[B_AXIS];
steps_dist_mm.z = dc * mm_per_step[Z_AXIS];
steps_dist_mm.a = (da + db) * mm_per_step[A_AXIS];
steps_dist_mm.b = CORESIGN(da - db) * mm_per_step[B_AXIS];
#elif CORE_IS_XZ
@ -2046,11 +2051,11 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
steps_dist_mm.k = dk * mm_per_step[K_AXIS];
#endif
#elif ENABLED(MARKFORGED_XY)
steps_dist_mm.head.x = da * mm_per_step[A_AXIS];
steps_dist_mm.head.y = db * mm_per_step[B_AXIS];
steps_dist_mm.z = dc * mm_per_step[Z_AXIS];
steps_dist_mm.a = (da - db) * mm_per_step[A_AXIS];
steps_dist_mm.b = db * mm_per_step[B_AXIS];
#elif ENABLED(MARKFORGED_YX)
steps_dist_mm.a = da * mm_per_step[A_AXIS];
steps_dist_mm.b = (db - da) * mm_per_step[B_AXIS];
#else
LINEAR_AXIS_CODE(
steps_dist_mm.a = da * mm_per_step[A_AXIS],
@ -2082,7 +2087,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
block->millimeters = millimeters;
else {
block->millimeters = SQRT(
#if EITHER(CORE_IS_XY, MARKFORGED_XY)
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
LINEAR_AXIS_GANG(
sq(steps_dist_mm.head.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.z),
+ sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k)
@ -2161,7 +2166,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#endif
// Enable active axes
#if EITHER(CORE_IS_XY, MARKFORGED_XY)
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
if (block->steps.a || block->steps.b) {
stepper.enable_axis(X_AXIS);
stepper.enable_axis(Y_AXIS);
@ -2191,7 +2196,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
if (block->steps.k) stepper.enable_axis(K_AXIS)
);
#endif
#if EITHER(IS_CORE, MARKFORGED_XY)
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
#if LINEAR_AXES >= 4
if (block->steps.i) stepper.enable_axis(I_AXIS);
#endif
@ -2549,7 +2554,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
* => normalize the complete junction vector.
* Elsewise, when needed JD will factor-in the E component
*/
if (EITHER(IS_CORE, MARKFORGED_XY) || esteps > 0)
if (ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX) || esteps > 0)
normalize_junction_vector(unit_vec); // Normalize with XYZE components
else
unit_vec *= inverse_millimeters; // Use pre-calculated (1 / SQRT(x^2 + y^2 + z^2))

14
Marlin/src/module/stepper.cpp
View File

@ -2212,6 +2212,8 @@ uint32_t Stepper::block_phase_isr() {
#define Y_CMP(A,B) ((A)!=(B))
#endif
#define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && Y_CMP(D_(1),D_(2))) )
#elif ENABLED(MARKFORGED_YX)
#define Y_MOVE_TEST (current_block->steps.a != current_block->steps.b)
#else
#define Y_MOVE_TEST !!current_block->steps.b
#endif
@ -2800,7 +2802,7 @@ void Stepper::init() {
* derive the current XYZE position later on.
*/
void Stepper::_set_position(const abce_long_t &spos) {
#if EITHER(IS_CORE, MARKFORGED_XY)
#if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
#if CORE_IS_XY
// corexy positioning
// these equations follow the form of the dA and dB equations on https://www.corexy.com/theory.html
@ -2813,6 +2815,8 @@ void Stepper::_set_position(const abce_long_t &spos) {
count_position.set(spos.a, spos.b + spos.c, CORESIGN(spos.b - spos.c));
#elif ENABLED(MARKFORGED_XY)
count_position.set(spos.a - spos.b, spos.b, spos.c);
#elif ENABLED(MARKFORGED_YX)
count_position.set(spos.a, spos.b - spos.a, spos.c);
#endif
TERN_(HAS_EXTRUDERS, count_position.e = spos.e);
#else
@ -2884,6 +2888,10 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
axis == CORE_AXIS_1
? count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2]
: count_position[CORE_AXIS_2]
#elif ENABLED(MARKFORGED_YX)
axis == CORE_AXIS_1
? count_position[CORE_AXIS_1]
: count_position[CORE_AXIS_2] - count_position[CORE_AXIS_1]
#else // !IS_CORE
count_position[axis]
#endif
@ -2912,10 +2920,10 @@ int32_t Stepper::triggered_position(const AxisEnum axis) {
return v;
}
#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, IS_SCARA, DELTA)
#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX, IS_SCARA, DELTA)
#define SAYS_A 1
#endif
#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, IS_SCARA, DELTA)
#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, MARKFORGED_YX, IS_SCARA, DELTA)
#define SAYS_B 1
#endif
#if ANY(CORE_IS_XZ, CORE_IS_YZ, DELTA)

Write Preview
Loading…
Cancel
Save