From 129f986ccf39905087056491e2bfabe2196d90d6 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Mon, 15 Jun 2015 17:28:43 -0700
Subject: [PATCH 1/4] Add COREXZ option to configurations
---
Marlin/Configuration.h | 3 +++
Marlin/configurator/config/Configuration.h | 3 +++
Marlin/example_configurations/Felix/Configuration.h | 3 +++
Marlin/example_configurations/Felix/Configuration_DUAL.h | 3 +++
Marlin/example_configurations/Hephestos/Configuration.h | 3 +++
Marlin/example_configurations/K8200/Configuration.h | 3 +++
.../RepRapWorld/Megatronics/Configuration.h | 3 +++
Marlin/example_configurations/SCARA/Configuration.h | 3 +++
Marlin/example_configurations/WITBOX/Configuration.h | 3 +++
Marlin/example_configurations/adafruit/ST7565/Configuration.h | 3 +++
Marlin/example_configurations/delta/biv2.5/Configuration.h | 3 +++
Marlin/example_configurations/delta/generic/Configuration.h | 3 +++
.../example_configurations/delta/kossel_mini/Configuration.h | 3 +++
Marlin/example_configurations/delta/kossel_pro/Configuration.h | 3 +++
Marlin/example_configurations/makibox/Configuration.h | 3 +++
Marlin/example_configurations/tvrrug/Round2/Configuration.h | 3 +++
16 files changed, 48 insertions(+)
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 9ecbdb8f3c2..432055eb3ee 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
diff --git a/Marlin/configurator/config/Configuration.h b/Marlin/configurator/config/Configuration.h
index 9ecbdb8f3c2..432055eb3ee 100644
--- a/Marlin/configurator/config/Configuration.h
+++ b/Marlin/configurator/config/Configuration.h
@@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h
index 85186922f28..a3806de99c0 100644
--- a/Marlin/example_configurations/Felix/Configuration.h
+++ b/Marlin/example_configurations/Felix/Configuration.h
@@ -288,6 +288,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
diff --git a/Marlin/example_configurations/Felix/Configuration_DUAL.h b/Marlin/example_configurations/Felix/Configuration_DUAL.h
index d75109ac1e7..81db1aae3a9 100644
--- a/Marlin/example_configurations/Felix/Configuration_DUAL.h
+++ b/Marlin/example_configurations/Felix/Configuration_DUAL.h
@@ -273,6 +273,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
diff --git a/Marlin/example_configurations/Hephestos/Configuration.h b/Marlin/example_configurations/Hephestos/Configuration.h
index 791e5b0e107..4b0192a50c0 100644
--- a/Marlin/example_configurations/Hephestos/Configuration.h
+++ b/Marlin/example_configurations/Hephestos/Configuration.h
@@ -298,6 +298,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
diff --git a/Marlin/example_configurations/K8200/Configuration.h b/Marlin/example_configurations/K8200/Configuration.h
index 48b67d9ab84..d7e78116296 100644
--- a/Marlin/example_configurations/K8200/Configuration.h
+++ b/Marlin/example_configurations/K8200/Configuration.h
@@ -294,6 +294,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
diff --git a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
index ae47a35d955..540019e4512 100644
--- a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
+++ b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
@@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
index 552540cf1f0..a835a83b407 100644
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -314,6 +314,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
diff --git a/Marlin/example_configurations/WITBOX/Configuration.h b/Marlin/example_configurations/WITBOX/Configuration.h
index c9ddf8410b0..5fb542f6de2 100644
--- a/Marlin/example_configurations/WITBOX/Configuration.h
+++ b/Marlin/example_configurations/WITBOX/Configuration.h
@@ -298,6 +298,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
diff --git a/Marlin/example_configurations/adafruit/ST7565/Configuration.h b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
index c7ef630e697..d9aef0431cd 100644
--- a/Marlin/example_configurations/adafruit/ST7565/Configuration.h
+++ b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
@@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
diff --git a/Marlin/example_configurations/delta/biv2.5/Configuration.h b/Marlin/example_configurations/delta/biv2.5/Configuration.h
index 8844d6a6782..378a454fa94 100644
--- a/Marlin/example_configurations/delta/biv2.5/Configuration.h
+++ b/Marlin/example_configurations/delta/biv2.5/Configuration.h
@@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================
diff --git a/Marlin/example_configurations/delta/generic/Configuration.h b/Marlin/example_configurations/delta/generic/Configuration.h
index 9088318bd1a..646e3118b54 100644
--- a/Marlin/example_configurations/delta/generic/Configuration.h
+++ b/Marlin/example_configurations/delta/generic/Configuration.h
@@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================
diff --git a/Marlin/example_configurations/delta/kossel_mini/Configuration.h b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
index a9be123f877..129c1c1a247 100644
--- a/Marlin/example_configurations/delta/kossel_mini/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_mini/Configuration.h
@@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================
diff --git a/Marlin/example_configurations/delta/kossel_pro/Configuration.h b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
index 302d234e0a6..0d065e903c4 100644
--- a/Marlin/example_configurations/delta/kossel_pro/Configuration.h
+++ b/Marlin/example_configurations/delta/kossel_pro/Configuration.h
@@ -293,6 +293,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================
diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h
index 0a5f8fb9a3c..ffb062a0a8a 100644
--- a/Marlin/example_configurations/makibox/Configuration.h
+++ b/Marlin/example_configurations/makibox/Configuration.h
@@ -309,6 +309,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
index 4bfc6e28466..79bcb76d332 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@@ -296,6 +296,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
+// Uncomment this option to enable CoreXZ kinematics
+// #define COREXZ
+
// Enable this option for Toshiba steppers
#define CONFIG_STEPPERS_TOSHIBA
From c7dd5527b46a5b0d1d30eb147b12b471f1be98c5 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Mon, 15 Jun 2015 17:29:21 -0700
Subject: [PATCH 2/4] Add a C_AXIS and Z_HEAD to support COREXZ
---
Marlin/Marlin.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 4846d12b7c8..7bdb12b7aa9 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -196,7 +196,7 @@ void manage_inactivity(bool ignore_stepper_queue=false);
* A_AXIS and B_AXIS are used by COREXY printers
* X_HEAD and Y_HEAD is used for systems that don't have a 1:1 relationship between X_AXIS and X Head movement, like CoreXY bots.
*/
-enum AxisEnum {X_AXIS=0, Y_AXIS=1, A_AXIS=0, B_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
+enum AxisEnum {X_AXIS=0, A_AXIS=0, Y_AXIS=1, B_AXIS=1, Z_AXIS=2, C_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5, Z_HEAD=5};
enum EndstopEnum {X_MIN=0, Y_MIN=1, Z_MIN=2, Z_PROBE=3, X_MAX=4, Y_MAX=5, Z_MAX=6, Z2_MIN=7, Z2_MAX=8};
From fa00e1d97f2d82c719560c91e5001695e691ec12 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Mon, 15 Jun 2015 17:34:04 -0700
Subject: [PATCH 3/4] Explode conditions common to corexy and cartesian
---
Marlin/planner.cpp | 24 ++++++++++++++----------
1 file changed, 14 insertions(+), 10 deletions(-)
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index d9a52c0bc00..04f7fe5751c 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -541,13 +541,14 @@ float junction_deviation = 0.1;
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
block->steps[A_AXIS] = labs(dx + dy);
block->steps[B_AXIS] = labs(dx - dy);
+ block->steps[Z_AXIS] = labs(dz);
#else
// default non-h-bot planning
block->steps[X_AXIS] = labs(dx);
block->steps[Y_AXIS] = labs(dy);
+ block->steps[Z_AXIS] = labs(dz);
#endif
- block->steps[Z_AXIS] = labs(dz);
block->steps[E_AXIS] = labs(de);
block->steps[E_AXIS] *= volumetric_multiplier[extruder];
block->steps[E_AXIS] *= extruder_multiplier[extruder];
@@ -568,13 +569,14 @@ float junction_deviation = 0.1;
#ifdef COREXY
if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
if (dy < 0) db |= BIT(Y_HEAD); // ...and Y
+ if (dz < 0) db |= BIT(Z_AXIS);
if (dx + dy < 0) db |= BIT(A_AXIS); // Motor A direction
if (dx - dy < 0) db |= BIT(B_AXIS); // Motor B direction
#else
if (dx < 0) db |= BIT(X_AXIS);
if (dy < 0) db |= BIT(Y_AXIS);
+ if (dz < 0) db |= BIT(Z_AXIS);
#endif
- if (dz < 0) db |= BIT(Z_AXIS);
if (de < 0) db |= BIT(E_AXIS);
block->direction_bits = db;
@@ -586,13 +588,15 @@ float junction_deviation = 0.1;
enable_x();
enable_y();
}
+ #ifndef Z_LATE_ENABLE
+ if (block->steps[Z_AXIS]) enable_z();
+ #endif
#else
if (block->steps[X_AXIS]) enable_x();
if (block->steps[Y_AXIS]) enable_y();
- #endif
-
- #ifndef Z_LATE_ENABLE
- if (block->steps[Z_AXIS]) enable_z();
+ #ifndef Z_LATE_ENABLE
+ if (block->steps[Z_AXIS]) enable_z();
+ #endif
#endif
// Enable extruder(s)
@@ -676,14 +680,15 @@ float junction_deviation = 0.1;
float delta_mm[6];
delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
+ delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
#else
float delta_mm[4];
delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
+ delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
#endif
- delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0;
if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
@@ -692,11 +697,10 @@ float junction_deviation = 0.1;
else {
block->millimeters = sqrt(
#ifdef COREXY
- square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD])
+ square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS])
#else
- square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS])
+ square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])
#endif
- + square(delta_mm[Z_AXIS])
);
}
float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
From 9f53e2f0c94e99d7d63e707d6741ddd9395b889d Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Mon, 15 Jun 2015 17:36:41 -0700
Subject: [PATCH 4/4] Implement COREXZ in stepper.cpp and planner.cpp
---
Marlin/planner.cpp | 25 +++++++
Marlin/stepper.cpp | 165 +++++++++++++++++++++++++--------------------
2 files changed, 118 insertions(+), 72 deletions(-)
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 04f7fe5751c..4460a7b3b97 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -542,6 +542,11 @@ float junction_deviation = 0.1;
block->steps[A_AXIS] = labs(dx + dy);
block->steps[B_AXIS] = labs(dx - dy);
block->steps[Z_AXIS] = labs(dz);
+ #elif defined(COREXZ)
+ // corexz planning
+ block->steps[A_AXIS] = labs(dx + dz);
+ block->steps[Y_AXIS] = labs(dy);
+ block->steps[C_AXIS] = labs(dx - dz);
#else
// default non-h-bot planning
block->steps[X_AXIS] = labs(dx);
@@ -572,6 +577,12 @@ float junction_deviation = 0.1;
if (dz < 0) db |= BIT(Z_AXIS);
if (dx + dy < 0) db |= BIT(A_AXIS); // Motor A direction
if (dx - dy < 0) db |= BIT(B_AXIS); // Motor B direction
+ #elif defined(COREXZ)
+ if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
+ if (dy < 0) db |= BIT(Y_AXIS);
+ if (dz < 0) db |= BIT(Z_HEAD); // ...and Z
+ if (dx + dz < 0) db |= BIT(A_AXIS); // Motor A direction
+ if (dx - dz < 0) db |= BIT(C_AXIS); // Motor B direction
#else
if (dx < 0) db |= BIT(X_AXIS);
if (dy < 0) db |= BIT(Y_AXIS);
@@ -591,6 +602,11 @@ float junction_deviation = 0.1;
#ifndef Z_LATE_ENABLE
if (block->steps[Z_AXIS]) enable_z();
#endif
+ #elif defined(COREXZ)
+ if (block->steps[A_AXIS] || block->steps[C_AXIS]) {
+ enable_x();
+ enable_z();
+ }
#else
if (block->steps[X_AXIS]) enable_x();
if (block->steps[Y_AXIS]) enable_y();
@@ -683,6 +699,13 @@ float junction_deviation = 0.1;
delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
+ #elif defined(COREXZ)
+ float delta_mm[6];
+ delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
+ delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
+ delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS];
+ delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_unit[A_AXIS];
+ delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_unit[C_AXIS];
#else
float delta_mm[4];
delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
@@ -698,6 +721,8 @@ float junction_deviation = 0.1;
block->millimeters = sqrt(
#ifdef COREXY
square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS])
+ #elif defined(COREXZ)
+ square(delta_mm[X_HEAD]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_HEAD])
#else
square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])
#endif
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 4bf2e1d9ee2..f802bc1c5a6 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -342,34 +342,38 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
return timer;
}
-// set the stepper direction of each axis
+/**
+ * Set the stepper direction of each axis
+ *
+ * X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY
+ * X_AXIS=A_AXIS and Z_AXIS=C_AXIS for COREXZ
+ */
void set_stepper_direction() {
-
- // Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
- if (TEST(out_bits, X_AXIS)) {
- X_APPLY_DIR(INVERT_X_DIR,0);
+
+ if (TEST(out_bits, X_AXIS)) { // A_AXIS
+ X_APPLY_DIR(INVERT_X_DIR, 0);
count_direction[X_AXIS] = -1;
}
else {
- X_APPLY_DIR(!INVERT_X_DIR,0);
+ X_APPLY_DIR(!INVERT_X_DIR, 0);
count_direction[X_AXIS] = 1;
}
- if (TEST(out_bits, Y_AXIS)) {
- Y_APPLY_DIR(INVERT_Y_DIR,0);
+ if (TEST(out_bits, Y_AXIS)) { // B_AXIS
+ Y_APPLY_DIR(INVERT_Y_DIR, 0);
count_direction[Y_AXIS] = -1;
}
else {
- Y_APPLY_DIR(!INVERT_Y_DIR,0);
+ Y_APPLY_DIR(!INVERT_Y_DIR, 0);
count_direction[Y_AXIS] = 1;
}
- if (TEST(out_bits, Z_AXIS)) {
- Z_APPLY_DIR(INVERT_Z_DIR,0);
+ if (TEST(out_bits, Z_AXIS)) { // C_AXIS
+ Z_APPLY_DIR(INVERT_Z_DIR, 0);
count_direction[Z_AXIS] = -1;
}
else {
- Z_APPLY_DIR(!INVERT_Z_DIR,0);
+ Z_APPLY_DIR(!INVERT_Z_DIR, 0);
count_direction[Z_AXIS] = 1;
}
@@ -503,6 +507,11 @@ ISR(TIMER1_COMPA_vect) {
// If DeltaX == -DeltaY, the movement is only in Y axis
if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS))) {
if (TEST(out_bits, X_HEAD))
+ #elif defined(COREXZ)
+ // Head direction in -X axis for CoreXZ bots.
+ // If DeltaX == -DeltaZ, the movement is only in Z axis
+ if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, C_AXIS))) {
+ if (TEST(out_bits, X_HEAD))
#else
if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular Cartesian bot)
#endif
@@ -528,8 +537,11 @@ ISR(TIMER1_COMPA_vect) {
#endif
}
}
- #ifdef COREXY
+ #if defined(COREXY) || defined(COREXZ)
}
+ #endif
+
+ #ifdef COREXY
// Head direction in -Y axis for CoreXY bots.
// If DeltaX == DeltaY, the movement is only in X axis
if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS))) {
@@ -547,82 +559,91 @@ ISR(TIMER1_COMPA_vect) {
UPDATE_ENDSTOP(Y, MAX);
#endif
}
- #ifdef COREXY
+ #if defined(COREXY) || defined(COREXZ)
}
#endif
- if (TEST(out_bits, Z_AXIS)) { // z -direction
- #if HAS_Z_MIN
- #ifdef Z_DUAL_ENDSTOPS
- SET_ENDSTOP_BIT(Z, MIN);
- #if HAS_Z2_MIN
- SET_ENDSTOP_BIT(Z2, MIN);
- #else
- COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
- #endif
+ #ifdef COREXZ
+ // Head direction in -Z axis for CoreXZ bots.
+ // If DeltaX == DeltaZ, the movement is only in X axis
+ if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, C_AXIS))) {
+ if (TEST(out_bits, Z_HEAD))
+ #else
+ if (TEST(out_bits, Z_AXIS))
+ #endif
+ { // z -direction
+ #if HAS_Z_MIN
- byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
+ #ifdef Z_DUAL_ENDSTOPS
+ SET_ENDSTOP_BIT(Z, MIN);
+ #if HAS_Z2_MIN
+ SET_ENDSTOP_BIT(Z2, MIN);
+ #else
+ COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
+ #endif
- if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
- endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
- endstop_hit_bits |= BIT(Z_MIN);
- if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
- step_events_completed = current_block->step_event_count;
- }
- #else // !Z_DUAL_ENDSTOPS
+ byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
- UPDATE_ENDSTOP(Z, MIN);
- #endif // !Z_DUAL_ENDSTOPS
- #endif // Z_MIN_PIN
+ if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
+ endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+ endstop_hit_bits |= BIT(Z_MIN);
+ if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
+ step_events_completed = current_block->step_event_count;
+ }
+ #else // !Z_DUAL_ENDSTOPS
- #ifdef Z_PROBE_ENDSTOP
- UPDATE_ENDSTOP(Z, PROBE);
+ UPDATE_ENDSTOP(Z, MIN);
+ #endif // !Z_DUAL_ENDSTOPS
+ #endif // Z_MIN_PIN
- if (TEST_ENDSTOP(Z_PROBE))
- {
- endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
- endstop_hit_bits |= BIT(Z_PROBE);
+ #ifdef Z_PROBE_ENDSTOP
+ UPDATE_ENDSTOP(Z, PROBE);
+
+ if (TEST_ENDSTOP(Z_PROBE))
+ {
+ endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+ endstop_hit_bits |= BIT(Z_PROBE);
+ }
+ #endif
}
- #endif
- }
- else { // z +direction
- #if HAS_Z_MAX
+ else { // z +direction
+ #if HAS_Z_MAX
- #ifdef Z_DUAL_ENDSTOPS
+ #ifdef Z_DUAL_ENDSTOPS
- SET_ENDSTOP_BIT(Z, MAX);
- #if HAS_Z2_MAX
- SET_ENDSTOP_BIT(Z2, MAX);
- #else
- COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX)
- #endif
+ SET_ENDSTOP_BIT(Z, MAX);
+ #if HAS_Z2_MAX
+ SET_ENDSTOP_BIT(Z2, MAX);
+ #else
+ COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX)
+ #endif
- byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
+ byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
- if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
- endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
- endstop_hit_bits |= BIT(Z_MIN);
- if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
- step_events_completed = current_block->step_event_count;
- }
+ if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
+ endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+ endstop_hit_bits |= BIT(Z_MIN);
+ if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
+ step_events_completed = current_block->step_event_count;
+ }
- #else // !Z_DUAL_ENDSTOPS
+ #else // !Z_DUAL_ENDSTOPS
- UPDATE_ENDSTOP(Z, MAX);
+ UPDATE_ENDSTOP(Z, MAX);
- #endif // !Z_DUAL_ENDSTOPS
- #endif // Z_MAX_PIN
-
- #ifdef Z_PROBE_ENDSTOP
- UPDATE_ENDSTOP(Z, PROBE);
-
- if (TEST_ENDSTOP(Z_PROBE))
- {
- endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
- endstop_hit_bits |= BIT(Z_PROBE);
+ #endif // !Z_DUAL_ENDSTOPS
+ #endif // Z_MAX_PIN
+
+ #ifdef Z_PROBE_ENDSTOP
+ UPDATE_ENDSTOP(Z, PROBE);
+
+ if (TEST_ENDSTOP(Z_PROBE))
+ {
+ endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+ endstop_hit_bits |= BIT(Z_PROBE);
+ }
+ #endif
}
- #endif
- }
old_endstop_bits = current_endstop_bits;
}