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@ -273,17 +273,26 @@ void Endstops::update() { |
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#endif |
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#if CORE_IS_XY || CORE_IS_XZ |
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#if ENABLED(COREYX) || ENABLED(COREZX) |
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#define CORE_X_CMP != |
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#define CORE_X_NOT ! |
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#else |
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#define CORE_X_CMP == |
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#define CORE_X_NOT |
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#endif |
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// Head direction in -X axis for CoreXY and CoreXZ bots.
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// If DeltaA == -DeltaB, the movement is only in Y or Z axis
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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))) { |
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if (stepper.motor_direction(X_HEAD)) |
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// If steps differ, both axes are moving.
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// If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
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// If DeltaA == DeltaB, the movement is only in the 1st axis (X)
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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)) { |
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if (CORE_X_NOT stepper.motor_direction(X_HEAD)) |
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#else |
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if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
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if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
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#endif |
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{ // -direction
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#if ENABLED(DUAL_X_CARRIAGE) |
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
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if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == -1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == -1)) |
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if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR < 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR < 0)) |
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#endif |
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{ |
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#if HAS_X_MIN |
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@ -294,7 +303,7 @@ void Endstops::update() { |
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else { // +direction
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#if ENABLED(DUAL_X_CARRIAGE) |
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
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if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == 1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == 1)) |
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if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR > 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR > 0)) |
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#endif |
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{ |
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#if HAS_X_MAX |
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@ -306,11 +315,22 @@ void Endstops::update() { |
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} |
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#endif |
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// Handle swapped vs. typical Core axis order
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#if ENABLED(COREYX) || ENABLED(COREZY) || ENABLED(COREZX) |
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#define CORE_YZ_CMP == |
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#define CORE_YZ_NOT ! |
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#elif CORE_IS_XY || CORE_IS_YZ || CORE_IS_XZ |
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#define CORE_YZ_CMP != |
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#define CORE_YZ_NOT |
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#endif |
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#if CORE_IS_XY || CORE_IS_YZ |
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// Head direction in -Y axis for CoreXY / CoreYZ bots.
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// If DeltaA == DeltaB, the movement is only in X or Y axis
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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))) { |
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if (stepper.motor_direction(Y_HEAD)) |
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// If steps differ, both axes are moving
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// If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
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// If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
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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)) { |
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if (CORE_YZ_NOT stepper.motor_direction(Y_HEAD)) |
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#else |
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if (stepper.motor_direction(Y_AXIS)) // -direction
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#endif |
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@ -330,9 +350,11 @@ void Endstops::update() { |
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#if CORE_IS_XZ || CORE_IS_YZ |
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// Head direction in -Z axis for CoreXZ or CoreYZ bots.
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// If DeltaA == DeltaB, the movement is only in X or Y axis
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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))) { |
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if (stepper.motor_direction(Z_HEAD)) |
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// If steps differ, both axes are moving
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// If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
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// If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
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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)) { |
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if (CORE_YZ_NOT stepper.motor_direction(Z_HEAD)) |
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#else |
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if (stepper.motor_direction(Z_AXIS)) |
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#endif |
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