diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 9ecbdb8f3c29968fafc6b9c49dee5c1c11bfb316..432055eb3ee7b6bb91d60904143fc6de72e7e548 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/Marlin.h b/Marlin/Marlin.h
index 4846d12b7c82baaf6254ef67e501f4eb7f54839b..7bdb12b7aa9815670b34509b6d8d5921e0a60478 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};
diff --git a/Marlin/configurator/config/Configuration.h b/Marlin/configurator/config/Configuration.h
index 9ecbdb8f3c29968fafc6b9c49dee5c1c11bfb316..432055eb3ee7b6bb91d60904143fc6de72e7e548 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 85186922f28001ff9212407f385c42847cd07beb..a3806de99c07548c7620324af978b4c6132214ca 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 d75109ac1e73b9d80aef1a0327c6f51cec908152..81db1aae3a9f23e00e3d6624a3f6711908f386f3 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 791e5b0e10712d6b626eac91ecc8c6ec6e8aa7ca..4b0192a50c0e7ed11b409dd419d3dcb956aa986b 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 48b67d9ab8480fecd2f0eb07218f917b032c269c..d7e78116296d5d6c61f50c28c104ed6eb87526fb 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 ae47a35d955daf18c7f3eb2df5fd6316dd47f4ac..540019e4512aaf83e2ae58e981a7fb12db43581b 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 552540cf1f0fde435b35b20d75379449094b2bc5..a835a83b4079091ffae437648d4d9031f40496a8 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 c9ddf8410b0065ffe05f3aa0072a1a1cdb31c595..5fb542f6de25b4739fc8c0eb6847a6838730f77e 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 c7ef630e6978f1cd52d0d2046ca6c92e03e13470..d9aef0431cd39f5062cc54922fab47b02a9056e1 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 8844d6a6782a58d274f68c16a8b3807dcf58aef7..378a454fa94542482e8609f492ddcb1c3ddf1a70 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 9088318bd1a35c7c8977459585abe20790e18d74..646e3118b54943d14f5fbc024171542bfb2f55d7 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 a9be123f8770f3de3bbd5c24928ef67258d032e3..129c1c1a247d0d23286f5fdd8a9b6201ed5afa07 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 302d234e0a6d54bb00b4da9336f4414b2a3c569d..0d065e903c42c854b10bf68d1c55ac110406e73f 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 0a5f8fb9a3c6c5eea0f7a9c7f80aa8bcfcd54254..ffb062a0a8ae3aa0531432023cdb7b230fc32d2e 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 4bfc6e28466330fc023f7c55e9087c3edfae4e2f..79bcb76d3320c00443753083cfe80b0a2d5a6197 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
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index d9a52c0bc00dd4d9e18f95b9ce9d97ba4c054ac4..4460a7b3b97fd029c7fe6b42bbf7ce2515ebc761 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -541,13 +541,19 @@ 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);
+ #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);
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 +574,20 @@ 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
+ #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);
+ 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 +599,20 @@ float junction_deviation = 0.1;
enable_x();
enable_y();
}
+ #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();
- #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 +696,22 @@ 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];
+ #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];
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 +720,12 @@ 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])
+ #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[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
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 4bf2e1d9ee2844701681289f88deaa19167a9d20..f802bc1c5a64c63863ed0a0e050b45cd4d143373 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
-
- byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
-
- 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
-
- UPDATE_ENDSTOP(Z, MIN);
- #endif // !Z_DUAL_ENDSTOPS
- #endif // Z_MIN_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);
+
+ #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
+
+ #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
+
+ byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
+
+ 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
+
+ UPDATE_ENDSTOP(Z, MIN);
+ #endif // !Z_DUAL_ENDSTOPS
+ #endif // Z_MIN_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
- }
- else { // z +direction
- #if HAS_Z_MAX
-
- #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
-
- 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;
- }
-
- #else // !Z_DUAL_ENDSTOPS
-
- 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);
+ else { // z +direction
+ #if HAS_Z_MAX
+
+ #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
+
+ 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;
+ }
+
+ #else // !Z_DUAL_ENDSTOPS
+
+ 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
}
- #endif
- }
old_endstop_bits = current_endstop_bits;
}