From c5e08e87612c53f7aba333e7bfa04f8ed53d9fb6 Mon Sep 17 00:00:00 2001
From: Bob-the-Kuhn <bob.kuhn@att.net>
Date: Tue, 21 Feb 2017 21:42:52 -0600
Subject: [PATCH] CoreYX/YZ/ZX needs different endstop logic than CoreXY/YZ/XZ
In the endstop testing section, add the "reverse" logic in addition to "normal" core handling.
In CoreXY/YZ/XZ steppers rotating the same direction gives X movement. Opposing directions produces Y movement.
In CoreYX/ZY/ZX this is reversed. Same = Y, Opposite = X.
----
Fixes the issue where the Y endstop was being checked when moving in the X direction, etc.
---
.travis.yml | 4 ++--
Marlin/endstops.cpp | 40 ++++++++++++++++++++++++++++------------
2 files changed, 30 insertions(+), 14 deletions(-)
diff --git a/.travis.yml b/.travis.yml
index 2cad83912f..cad55428a6 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -226,10 +226,10 @@ script:
- opt_enable COREXY
- build_marlin
#
- # Enable COREXZ
+ # Enable COREYX (swapped)
#
- restore_configs
- - opt_enable COREXZ
+ - opt_enable COREYX
- build_marlin
#
# Enable Z_DUAL_STEPPER_DRIVERS, Z_DUAL_ENDSTOPS
diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index 545ca09c0f..9f7da77b04 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -274,16 +274,23 @@ void Endstops::update() {
#if CORE_IS_XY || CORE_IS_XZ
// Head direction in -X axis for CoreXY and CoreXZ bots.
- // If DeltaA == -DeltaB, the movement is only in Y or Z axis
- 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))) {
- if (stepper.motor_direction(X_HEAD))
+ // If DeltaA == -DeltaB, the movement is only in only one axis
+ #if ENABLED(COREYX) || ENABLED(COREZX)
+ #define CORE_X_CMP !=
+ #define CORE_X_NOT !
+ #else
+ #define CORE_X_CMP ==
+ #define CORE_X_NOT
+ #endif
+ 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)) {
+ if (CORE_X_NOT stepper.motor_direction(X_HEAD))
#else
- if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
+ if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
#endif
{ // -direction
#if ENABLED(DUAL_X_CARRIAGE)
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
- if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == -1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == -1))
+ if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR < 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR < 0))
#endif
{
#if HAS_X_MIN
@@ -294,7 +301,7 @@ void Endstops::update() {
else { // +direction
#if ENABLED(DUAL_X_CARRIAGE)
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
- if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR == 1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == 1))
+ if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR > 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR > 0))
#endif
{
#if HAS_X_MAX
@@ -306,11 +313,20 @@ void Endstops::update() {
}
#endif
+ // Handle swapped vs. typical Core axis order
+ #if ENABLED(COREYX) || ENABLED(COREZY) || ENABLED(COREZX)
+ #define CORE_YZ_CMP ==
+ #define CORE_YZ_NOT !
+ #elif CORE_IS_XY || CORE_IS_YZ || CORE_IS_XZ
+ #define CORE_YZ_CMP !=
+ #define CORE_YZ_NOT
+ #endif
+
#if CORE_IS_XY || CORE_IS_YZ
// Head direction in -Y axis for CoreXY / CoreYZ bots.
- // If DeltaA == DeltaB, the movement is only in X or Y axis
- 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))) {
- if (stepper.motor_direction(Y_HEAD))
+ // If DeltaA == DeltaB, the movement is in only one axis
+ 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)) {
+ if (CORE_YZ_NOT stepper.motor_direction(Y_HEAD))
#else
if (stepper.motor_direction(Y_AXIS)) // -direction
#endif
@@ -330,9 +346,9 @@ void Endstops::update() {
#if CORE_IS_XZ || CORE_IS_YZ
// Head direction in -Z axis for CoreXZ or CoreYZ bots.
- // If DeltaA == DeltaB, the movement is only in X or Y axis
- 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))) {
- if (stepper.motor_direction(Z_HEAD))
+ // If DeltaA == DeltaB, the movement is in only one axis
+ 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)) {
+ if (CORE_YZ_NOT stepper.motor_direction(Z_HEAD))
#else
if (stepper.motor_direction(Z_AXIS))
#endif
--
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