diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 04f7fe5751c733b0491637ccc86dd57b8f2510b0..4460a7b3b97fd029c7fe6b42bbf7ce2515ebc761 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 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;
}