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

CORExx endstop detection fixes 

1. The CORExx printers were checking more endstop axis than needed.

2. Removed all the CORE_xx_NOT logic.  The motor_direction(xx) routine
always returns the correct data so it is not needed.  It was actually
cause the wrong direction to be checked in some cases.

3. Made the logic/defines for X, Y & Z axis all the same.  The old logic
checked inappropriate configurations for Y and didn't check all the
correct configurations on Z.

4. Added a check for zero steps before the X, Y & Z axis.  Previously
would check the they axis even if there were no movement.
pull/1/head
Bob-the-Kuhn 8 years ago
committed by Scott Lahteine
parent
28fec61f92
commit
445d39e95a
1 changed files with 68 additions and 37 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. 105
      Marlin/endstops.cpp

105
Marlin/endstops.cpp
View File

@ -266,39 +266,48 @@ void Endstops::update() {
} while(0)
#if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
// If G38 command then check Z_MIN_PROBE for every axis and every direction
// If G38 command is active check Z_MIN_PROBE for ALL movement
if (G38_move) {
UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
if (stepper.current_block->steps[_AXIS(X)] > 0) {_ENDSTOP_HIT(X); stepper.endstop_triggered(_AXIS(X));}
else if (stepper.current_block->steps[_AXIS(Y)] > 0) {_ENDSTOP_HIT(Y); stepper.endstop_triggered(_AXIS(Y));}
else if (stepper.current_block->steps[_AXIS(Z)] > 0) {_ENDSTOP_HIT(Z); stepper.endstop_triggered(_AXIS(Z));}
if (stepper.current_block->steps[_AXIS(X)] > 0) { _ENDSTOP_HIT(X); stepper.endstop_triggered(_AXIS(X)); }
else if (stepper.current_block->steps[_AXIS(Y)] > 0) { _ENDSTOP_HIT(Y); stepper.endstop_triggered(_AXIS(Y)); }
else if (stepper.current_block->steps[_AXIS(Z)] > 0) { _ENDSTOP_HIT(Z); stepper.endstop_triggered(_AXIS(Z)); }
G38_endstop_hit = true;
}
}
#endif
#if CORE_IS_XY || CORE_IS_XZ
#if ENABLED(COREYX) || ENABLED(COREZX)
#if ENABLED(COREXY) || ENABLED(COREXZ)
#define CORE_X_CMP ==
#elif ENABLED(COREYX) || ENABLED(COREZX)
#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 CORE_IS_XY || CORE_IS_XZ
if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
|| ( stepper.current_block->steps[CORE_AXIS_1] > 0
&& stepper.motor_direction(CORE_AXIS_1) CORE_X_CMP stepper.motor_direction(CORE_AXIS_2)
)
) {
if (stepper.motor_direction(X_HEAD))
#else
#define CORE_X_CMP ==
#define CORE_X_NOT
if (stepper.current_block->steps[X_AXIS] > 0)
if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
#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
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 < 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR < 0))
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
@ -309,7 +318,9 @@ 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 > 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR > 0))
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
@ -322,22 +333,28 @@ void Endstops::update() {
#endif
// Handle swapped vs. typical Core axis order
#if ENABLED(COREYX) || ENABLED(COREZY) || ENABLED(COREZX)
#if ENABLED(COREYX) || ENABLED(COREYZ)
#define CORE_YZ_CMP ==
#define CORE_YZ_NOT !
#elif CORE_IS_XY || CORE_IS_YZ || CORE_IS_XZ
#elif ENABLED(COREXY) || ENABLED(COREZY)
#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 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))
/**
* Head direction in -Y axis for CoreXY / CoreYZ bots.
*
* 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.current_block->steps[CORE_AXIS_1] > 0
&& stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)
)
) {
if (stepper.motor_direction(Y_HEAD))
#else
if (stepper.current_block->steps[Y_AXIS] > 0)
if (stepper.motor_direction(Y_AXIS)) // -direction
#endif
{ // -direction
@ -354,19 +371,33 @@ void Endstops::update() {
}
#endif
#if ENABLED(COREZX) || ENABLED(COREZY)
#define CORE_YZ_CMP ==
#elif ENABLED(COREXZ) || ENABLED(COREYZ)
#define CORE_YZ_CMP !=
#endif
#if CORE_IS_XZ || CORE_IS_YZ
// Head direction in -Z axis for CoreXZ or CoreYZ bots.
// 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))
/**
* Head direction in -Z axis for CoreXZ or CoreYZ bots.
*
* 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.current_block->steps[CORE_AXIS_1] > 0
&& stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)
)
) {
if (stepper.motor_direction(Z_HEAD))
#else
if (stepper.current_block->steps[Z_AXIS] > 0)
if (stepper.motor_direction(Z_AXIS))
#endif
{ // Z -direction. Gantry down, bed up.
#if HAS_Z_MIN
#if ENABLED(Z_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT(Z, MIN);

Write Preview
Loading…
Cancel
Save