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🐛 Fix Multi-Endstop stepping (#22625)

vanilla_fb_2.0.x
Ryan V1 3 years ago
committed by Scott Lahteine
parent
95f27cf339
commit
125c5bc345
1 changed files with 61 additions and 48 deletions
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  1. 57
      Marlin/src/module/stepper.cpp

57
Marlin/src/module/stepper.cpp
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@ -257,15 +257,20 @@ xyze_int8_t Stepper::count_direction{0};
};
#endif
#define MINDIR(A) (count_direction[_AXIS(A)] < 0)
#define MAXDIR(A) (count_direction[_AXIS(A)] > 0)
#define STEPTEST(A,M,I) TERN0(HAS_ ##A## ##I## _ ##M, !(TEST(endstops.state(), A## ##I## _ ##M) && M## DIR(A)) && !locked_ ##A## ##I## _motor)
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (ENABLED(A##_HOME_TO_MIN)) { \
if (TERN0(HAS_##A##_MIN, !(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor)) A##_STEP_WRITE(V); \
if (TERN0(HAS_##A##2_MIN, !(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
} \
else { \
if (TERN0(HAS_##A##_MAX, !(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor)) A##_STEP_WRITE(V); \
if (TERN0(HAS_##A##2_MAX, !(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor)) A##2_STEP_WRITE(V); \
else if (ENABLED(A##_HOME_TO_MAX)) { \
if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
} \
} \
else { \
@ -275,7 +280,7 @@ xyze_int8_t Stepper::count_direction{0};
#define DUAL_SEPARATE_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (!locked_##A##_motor) A##_STEP_WRITE(V); \
if (!locked_##A## _motor) A## _STEP_WRITE(V); \
if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
} \
else { \
@ -286,14 +291,14 @@ xyze_int8_t Stepper::count_direction{0};
#define TRIPLE_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (ENABLED(A##_HOME_TO_MIN)) { \
if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##3_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MIN,3)) A##3_STEP_WRITE(V); \
} \
else { \
if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##3_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
else if (ENABLED(A##_HOME_TO_MAX)) { \
if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MAX,3)) A##3_STEP_WRITE(V); \
} \
} \
else { \
@ -304,25 +309,33 @@ xyze_int8_t Stepper::count_direction{0};
#define TRIPLE_SEPARATE_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (!locked_##A##_motor) A##_STEP_WRITE(V); \
if (!locked_##A## _motor) A## _STEP_WRITE(V); \
if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!locked_##A##3_motor) A##3_STEP_WRITE(V); \
} \
else { \
A##_STEP_WRITE(V); \
A## _STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
}
#define QUAD_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (!(TEST(endstops.state(), (TERN(A##_HOME_TO_MIN, A##_MIN, A##_MAX))) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), (TERN(A##_HOME_TO_MIN, A##2_MIN, A##2_MAX))) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.state(), (TERN(A##_HOME_TO_MIN, A##3_MIN, A##3_MAX))) && count_direction[_AXIS(A)] < 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
if (!(TEST(endstops.state(), (TERN(A##_HOME_TO_MIN, A##4_MIN, A##4_MAX))) && count_direction[_AXIS(A)] < 0) && !locked_##A##4_motor) A##4_STEP_WRITE(V); \
if (ENABLED(A##_HOME_TO_MIN)) { \
if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MIN,3)) A##3_STEP_WRITE(V); \
if (STEPTEST(A,MIN,4)) A##4_STEP_WRITE(V); \
} \
else if (ENABLED(A##_HOME_TO_MAX)) { \
if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MAX,3)) A##3_STEP_WRITE(V); \
if (STEPTEST(A,MAX,4)) A##4_STEP_WRITE(V); \
} \
} \
else { \
A##_STEP_WRITE(V); \
A## _STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
A##4_STEP_WRITE(V); \
@ -330,13 +343,13 @@ xyze_int8_t Stepper::count_direction{0};
#define QUAD_SEPARATE_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (!locked_##A##_motor) A##_STEP_WRITE(V); \
if (!locked_##A## _motor) A## _STEP_WRITE(V); \
if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!locked_##A##3_motor) A##3_STEP_WRITE(V); \
if (!locked_##A##4_motor) A##4_STEP_WRITE(V); \
} \
else { \
A##_STEP_WRITE(V); \
A## _STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
A##4_STEP_WRITE(V); \

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