From 71c96db932134ce845855fd51d910a86d044261e Mon Sep 17 00:00:00 2001 From: Ryan V1 <55478432+V1EngineeringInc@users.noreply.github.com> Date: Tue, 24 Aug 2021 20:34:10 -0700 Subject: [PATCH] =?UTF-8?q?=F0=9F=90=9B=20Fix=20Multi-Endstop=20stepping?= =?UTF-8?q?=20(#22625)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/src/module/stepper.cpp | 109 +++++++++++++++++++--------------- 1 file changed, 61 insertions(+), 48 deletions(-) diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index 882f5efc35..86e469827d 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -257,25 +257,30 @@ xyze_int8_t Stepper::count_direction{0}; }; #endif -#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); \ - } \ - 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 { \ - A##_STEP_WRITE(V); \ - A##2_STEP_WRITE(V); \ +#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 (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \ + if (STEPTEST(A,MIN,2)) 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 { \ + A##_STEP_WRITE(V); \ + A##2_STEP_WRITE(V); \ } #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 { \ @@ -283,60 +288,68 @@ xyze_int8_t Stepper::count_direction{0}; A##2_STEP_WRITE(V); \ } -#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); \ - } \ - 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 { \ - A##_STEP_WRITE(V); \ - A##2_STEP_WRITE(V); \ - A##3_STEP_WRITE(V); \ +#define TRIPLE_ENDSTOP_APPLY_STEP(A,V) \ + if (separate_multi_axis) { \ + 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); \ + } \ + 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 { \ + A##_STEP_WRITE(V); \ + A##2_STEP_WRITE(V); \ + A##3_STEP_WRITE(V); \ } #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); \ - } \ - else { \ - A##_STEP_WRITE(V); \ - A##2_STEP_WRITE(V); \ - A##3_STEP_WRITE(V); \ - A##4_STEP_WRITE(V); \ +#define QUAD_ENDSTOP_APPLY_STEP(A,V) \ + if (separate_multi_axis) { \ + 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##2_STEP_WRITE(V); \ + A##3_STEP_WRITE(V); \ + A##4_STEP_WRITE(V); \ } #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); \