Implement reversed CORE options

8 years ago · 1864b282c5
parent e3c8318504
commit 1864b282c5
7 changed files with 110 additions and 88 deletions
--- a/Marlin/Conditionals_post.h
+++ b/Marlin/Conditionals_post.h
@ -45,20 +45,31 @@
  #define Z_CENTER float((Z_MIN_POS + Z_MAX_POS) * 0.5)

  /**
-   * CoreXY and CoreXZ
+   * CoreXY, CoreXZ, and CoreYZ - and their reverse
   */
-  #if ENABLED(COREXY)
-    #define CORE_AXIS_1 A_AXIS // XY from A + B
-    #define CORE_AXIS_2 B_AXIS
-    #define NORMAL_AXIS Z_AXIS
-  #elif ENABLED(COREXZ)
-    #define CORE_AXIS_1 A_AXIS // XZ from A + C
-    #define CORE_AXIS_2 C_AXIS
-    #define NORMAL_AXIS Y_AXIS
-  #elif ENABLED(COREYZ)
-    #define CORE_AXIS_1 B_AXIS // YZ from B + C
-    #define CORE_AXIS_2 C_AXIS
-    #define NORMAL_AXIS X_AXIS
+  #define CORE_IS_XY (ENABLED(COREXY) || ENABLED(COREYX))
+  #define CORE_IS_XZ (ENABLED(COREXZ) || ENABLED(COREZX))
+  #define CORE_IS_YZ (ENABLED(COREYZ) || ENABLED(COREZY))
+  #define IS_CORE (CORE_IS_XY || CORE_IS_XZ || CORE_IS_YZ)
+  #if IS_CORE
+    #if CORE_IS_XY
+      #define CORE_AXIS_1 A_AXIS
+      #define CORE_AXIS_2 B_AXIS
+      #define NORMAL_AXIS Z_AXIS
+    #elif CORE_IS_XZ
+      #define CORE_AXIS_1 A_AXIS
+      #define NORMAL_AXIS Y_AXIS
+      #define CORE_AXIS_2 C_AXIS
+    #elif CORE_IS_YZ
+      #define NORMAL_AXIS X_AXIS
+      #define CORE_AXIS_1 B_AXIS
+      #define CORE_AXIS_2 C_AXIS
+    #endif
+    #if (ENABLED(COREYX) || ENABLED(COREZX) || ENABLED(COREZY))
+      #define CORESIGN(n) (-(n))
+    #else
+      #define CORESIGN(n) (n)
+    #endif
  #endif

  #define IS_SCARA (ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA))
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@ -3044,7 +3044,7 @@ inline void gcode_G4() {
      SERIAL_ECHOLNPGM("Delta");
    #elif IS_SCARA
      SERIAL_ECHOLNPGM("SCARA");
-    #elif ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
+    #elif IS_CORE
      SERIAL_ECHOLNPGM("Core");
    #else
      SERIAL_ECHOLNPGM("Cartesian");
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@ -57,8 +57,8 @@
  #error "Thermal Runaway Protection for hotends is now enabled with THERMAL_PROTECTION_HOTENDS."
 #elif DISABLED(THERMAL_PROTECTION_BED) && defined(THERMAL_PROTECTION_BED_PERIOD)
  #error "Thermal Runaway Protection for the bed is now enabled with THERMAL_PROTECTION_BED."
-#elif ENABLED(COREXZ) && ENABLED(Z_LATE_ENABLE)
-  #error "Z_LATE_ENABLE can't be used with COREXZ."
+#elif (CORE_IS_XZ || CORE_IS_YZ) && ENABLED(Z_LATE_ENABLE)
+  #error "Z_LATE_ENABLE can't be used with COREXZ, COREZX, COREYZ, or COREZY."
 #elif defined(X_HOME_RETRACT_MM)
  #error "[XYZ]_HOME_RETRACT_MM settings have been renamed [XYZ]_HOME_BUMP_MM."
 #elif defined(SDCARDDETECTINVERTED)
@ -644,8 +644,23 @@
 #else
  #define COUNT_KIN_7 COUNT_KIN_6
 #endif
-#if COUNT_KIN_7 > 1
-  #error "Please enable only one of DELTA, MORGAN_SCARA, MAKERARM_SCARA, COREXY, COREXZ, or COREYZ."
+#if ENABLED(COREYX)
+  #define COUNT_KIN_8 INCREMENT(COUNT_KIN_7)
+#else
+  #define COUNT_KIN_8 COUNT_KIN_7
+#endif
+#if ENABLED(COREZX)
+  #define COUNT_KIN_9 INCREMENT(COUNT_KIN_8)
+#else
+  #define COUNT_KIN_9 COUNT_KIN_8
+#endif
+#if ENABLED(COREZY)
+  #define COUNT_KIN_10 INCREMENT(COUNT_KIN_9)
+#else
+  #define COUNT_KIN_10 COUNT_KIN_9
+#endif
+#if COUNT_KIN_10 > 1
+  #error "Please enable only one of DELTA, MORGAN_SCARA, MAKERARM_SCARA, COREXY, COREYX, COREXZ, COREZX, COREYZ, or COREZY."
 #endif

 /**
@ -662,8 +677,8 @@
 #if ENABLED(DUAL_X_CARRIAGE)
  #if EXTRUDERS == 1
    #error "DUAL_X_CARRIAGE requires 2 (or more) extruders."
-  #elif ENABLED(COREXY) || ENABLED(COREXZ)
-    #error "DUAL_X_CARRIAGE cannot be used with COREXY or COREXZ."
+  #elif CORE_IS_XY || CORE_IS_XZ
+    #error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, or COREZX."
  #elif !HAS_X2_ENABLE || !HAS_X2_STEP || !HAS_X2_DIR
    #error "DUAL_X_CARRIAGE requires X2 stepper pins to be defined."
  #elif !HAS_X_MAX
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@ -268,7 +268,7 @@ void Endstops::update() {

  #endif

-  #if ENABLED(COREXY) || ENABLED(COREXZ)
+  #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))) {
@ -298,11 +298,11 @@ void Endstops::update() {
            #endif
          }
      }
-  #if ENABLED(COREXY) || ENABLED(COREXZ)
+  #if CORE_IS_XY || CORE_IS_XZ
    }
  #endif

-  #if ENABLED(COREXY) || ENABLED(COREYZ)
+  #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))) {
@ -320,11 +320,11 @@ void Endstops::update() {
          UPDATE_ENDSTOP(Y, MAX);
        #endif
      }
-  #if ENABLED(COREXY) || ENABLED(COREYZ)
+  #if CORE_IS_XY || CORE_IS_YZ
    }
  #endif

-  #if ENABLED(COREXZ) || ENABLED(COREYZ)
+  #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))) {
@ -390,7 +390,7 @@ void Endstops::update() {
          #endif // !Z_MIN_PROBE_PIN...
        #endif // Z_MAX_PIN
      }
-  #if ENABLED(COREXZ)
+  #if CORE_IS_XZ || CORE_IS_YZ
    }
  #endif

--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@ -674,24 +674,24 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const

  // Compute direction bit-mask for this block
  uint8_t dm = 0;
-  #if ENABLED(COREXY)
-    if (da < 0) SBI(dm, X_HEAD); // Save the real Extruder (head) direction in X Axis
-    if (db < 0) SBI(dm, Y_HEAD); // ...and Y
+  #if CORE_IS_XY
+    if (da < 0) SBI(dm, X_HEAD);                // Save the real Extruder (head) direction in X Axis
+    if (db < 0) SBI(dm, Y_HEAD);                // ...and Y
    if (dc < 0) SBI(dm, Z_AXIS);
-    if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
-    if (da - db < 0) SBI(dm, B_AXIS); // Motor B direction
-  #elif ENABLED(COREXZ)
-    if (da < 0) SBI(dm, X_HEAD); // Save the real Extruder (head) direction in X Axis
+    if (da + db < 0) SBI(dm, A_AXIS);           // Motor A direction
+    if (CORESIGN(da - db) < 0) SBI(dm, B_AXIS); // Motor B direction
+  #elif CORE_IS_XZ
+    if (da < 0) SBI(dm, X_HEAD);                // Save the real Extruder (head) direction in X Axis
    if (db < 0) SBI(dm, Y_AXIS);
-    if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
-    if (da + dc < 0) SBI(dm, A_AXIS); // Motor A direction
-    if (da - dc < 0) SBI(dm, C_AXIS); // Motor C direction
-  #elif ENABLED(COREYZ)
+    if (dc < 0) SBI(dm, Z_HEAD);                // ...and Z
+    if (da + dc < 0) SBI(dm, A_AXIS);           // Motor A direction
+    if (CORESIGN(da - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
+  #elif CORE_IS_YZ
    if (da < 0) SBI(dm, X_AXIS);
-    if (db < 0) SBI(dm, Y_HEAD); // Save the real Extruder (head) direction in Y Axis
-    if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
-    if (db + dc < 0) SBI(dm, B_AXIS); // Motor B direction
-    if (db - dc < 0) SBI(dm, C_AXIS); // Motor C direction
+    if (db < 0) SBI(dm, Y_HEAD);                // Save the real Extruder (head) direction in Y Axis
+    if (dc < 0) SBI(dm, Z_HEAD);                // ...and Z
+    if (db + dc < 0) SBI(dm, B_AXIS);           // Motor B direction
+    if (CORESIGN(db - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
  #else
    if (da < 0) SBI(dm, X_AXIS);
    if (db < 0) SBI(dm, Y_AXIS);
@ -718,19 +718,16 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
  block->direction_bits = dm;

  // Number of steps for each axis
-  #if ENABLED(COREXY)
-    // corexy planning
-    // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
+  // See http://www.corexy.com/theory.html
+  #if CORE_IS_XY
    block->steps[A_AXIS] = labs(da + db);
    block->steps[B_AXIS] = labs(da - db);
    block->steps[Z_AXIS] = labs(dc);
-  #elif ENABLED(COREXZ)
-    // corexz planning
+  #elif CORE_IS_XZ
    block->steps[A_AXIS] = labs(da + dc);
    block->steps[Y_AXIS] = labs(db);
    block->steps[C_AXIS] = labs(da - dc);
-  #elif ENABLED(COREYZ)
-    // coreyz planning
+  #elif CORE_IS_YZ
    block->steps[X_AXIS] = labs(da);
    block->steps[B_AXIS] = labs(db + dc);
    block->steps[C_AXIS] = labs(db - dc);
@ -765,7 +762,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
  block->active_extruder = extruder;

  //enable active axes
-  #if ENABLED(COREXY)
+  #if CORE_IS_XY
    if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
      enable_x();
      enable_y();
@ -773,13 +770,13 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
    #if DISABLED(Z_LATE_ENABLE)
      if (block->steps[Z_AXIS]) enable_z();
    #endif
-  #elif ENABLED(COREXZ)
+  #elif CORE_IS_XZ
    if (block->steps[A_AXIS] || block->steps[C_AXIS]) {
      enable_x();
      enable_z();
    }
    if (block->steps[Y_AXIS]) enable_y();
-  #elif ENABLED(COREYZ)
+  #elif CORE_IS_YZ
    if (block->steps[B_AXIS] || block->steps[C_AXIS]) {
      enable_y();
      enable_z();
@ -876,26 +873,26 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
   * So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
   * Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
   */
-  #if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
+  #if IS_CORE
    float delta_mm[7];
-    #if ENABLED(COREXY)
+    #if CORE_IS_XY
      delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
      delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
      delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
      delta_mm[A_AXIS] = (da + db) * steps_to_mm[A_AXIS];
-      delta_mm[B_AXIS] = (da - db) * steps_to_mm[B_AXIS];
-    #elif ENABLED(COREXZ)
+      delta_mm[B_AXIS] = CORESIGN(da - db) * steps_to_mm[B_AXIS];
+    #elif CORE_IS_XZ
      delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
      delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
      delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
      delta_mm[A_AXIS] = (da + dc) * steps_to_mm[A_AXIS];
-      delta_mm[C_AXIS] = (da - dc) * steps_to_mm[C_AXIS];
-    #elif ENABLED(COREYZ)
+      delta_mm[C_AXIS] = CORESIGN(da - dc) * steps_to_mm[C_AXIS];
+    #elif CORE_IS_YZ
      delta_mm[X_AXIS] = da * steps_to_mm[X_AXIS];
      delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
      delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
      delta_mm[B_AXIS] = (db + dc) * steps_to_mm[B_AXIS];
-      delta_mm[C_AXIS] = (db - dc) * steps_to_mm[C_AXIS];
+      delta_mm[C_AXIS] = CORESIGN(db - dc) * steps_to_mm[C_AXIS];
    #endif
  #else
    float delta_mm[4];
@ -910,11 +907,11 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
  }
  else {
    block->millimeters = sqrt(
-      #if ENABLED(COREXY)
+      #if CORE_IS_XY
        sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_AXIS])
-      #elif ENABLED(COREXZ)
+      #elif CORE_IS_XZ
        sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_HEAD])
-      #elif ENABLED(COREYZ)
+      #elif CORE_IS_YZ
        sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_HEAD])
      #else
        sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS])
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@ -968,22 +968,22 @@ void Stepper::set_position(const long &a, const long &b, const long &c, const lo

  CRITICAL_SECTION_START;

-  #if ENABLED(COREXY)
+  #if CORE_IS_XY
    // corexy positioning
    // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
    count_position[A_AXIS] = a + b;
-    count_position[B_AXIS] = a - b;
+    count_position[B_AXIS] = CORESIGN(a - b);
    count_position[Z_AXIS] = c;
-  #elif ENABLED(COREXZ)
+  #elif CORE_IS_XZ
    // corexz planning
    count_position[A_AXIS] = a + c;
    count_position[Y_AXIS] = b;
-    count_position[C_AXIS] = a - c;
-  #elif ENABLED(COREYZ)
+    count_position[C_AXIS] = CORESIGN(a - c);
+  #elif CORE_IS_YZ
    // coreyz planning
    count_position[X_AXIS] = a;
    count_position[B_AXIS] = b + c;
-    count_position[C_AXIS] = b - c;
+    count_position[C_AXIS] = CORESIGN(b - c);
  #else
    // default non-h-bot planning
    count_position[X_AXIS] = a;
@ -1023,16 +1023,17 @@ long Stepper::position(AxisEnum axis) {
 */
 float Stepper::get_axis_position_mm(AxisEnum axis) {
  float axis_steps;
-  #if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
+  #if IS_CORE
    // Requesting one of the "core" axes?
    if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
      CRITICAL_SECTION_START;
-      long pos1 = count_position[CORE_AXIS_1],
-           pos2 = count_position[CORE_AXIS_2];
-      CRITICAL_SECTION_END;
      // ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
      // ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
-      axis_steps = (pos1 + ((axis == CORE_AXIS_1) ? pos2 : -pos2)) * 0.5f;
+      axis_steps = 0.5f * (
+        axis == CORE_AXIS_2 ? CORESIGN(count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2])
+                            : count_position[CORE_AXIS_1] + count_position[CORE_AXIS_2]
+      );
+      CRITICAL_SECTION_END;
    }
    else
      axis_steps = position(axis);
@ -1057,14 +1058,12 @@ void Stepper::quick_stop() {

 void Stepper::endstop_triggered(AxisEnum axis) {

-  #if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
+  #if IS_CORE

-    float axis_pos = count_position[axis];
-    if (axis == CORE_AXIS_1)
-      axis_pos = (axis_pos + count_position[CORE_AXIS_2]) * 0.5;
-    else if (axis == CORE_AXIS_2)
-      axis_pos = (count_position[CORE_AXIS_1] - axis_pos) * 0.5;
-    endstops_trigsteps[axis] = axis_pos;
+    endstops_trigsteps[axis] = 0.5f * (
+      axis == CORE_AXIS_2 ? CORESIGN(count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2])
+                          : count_position[CORE_AXIS_1] + count_position[CORE_AXIS_2]
+    );

  #else // !COREXY && !COREXZ && !COREYZ

@ -1082,21 +1081,21 @@ void Stepper::report_positions() {
       zpos = count_position[Z_AXIS];
  CRITICAL_SECTION_END;

-  #if ENABLED(COREXY) || ENABLED(COREXZ) || IS_SCARA
+  #if CORE_IS_XY || CORE_IS_XZ || IS_SCARA
    SERIAL_PROTOCOLPGM(MSG_COUNT_A);
  #else
    SERIAL_PROTOCOLPGM(MSG_COUNT_X);
  #endif
  SERIAL_PROTOCOL(xpos);

-  #if ENABLED(COREXY) || ENABLED(COREYZ) || IS_SCARA
+  #if CORE_IS_XY || CORE_IS_YZ || IS_SCARA
    SERIAL_PROTOCOLPGM(" B:");
  #else
    SERIAL_PROTOCOLPGM(" Y:");
  #endif
  SERIAL_PROTOCOL(ypos);

-  #if ENABLED(COREXZ) || ENABLED(COREYZ)
+  #if CORE_IS_XZ || CORE_IS_YZ
    SERIAL_PROTOCOLPGM(" C:");
  #else
    SERIAL_PROTOCOLPGM(" Z:");
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@ -385,7 +385,7 @@ class Temperature {
    #if ENABLED(BABYSTEPPING)

      static void babystep_axis(const AxisEnum axis, const int distance) {
-        #if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
+        #if IS_CORE
          #if ENABLED(BABYSTEP_XY)
            switch (axis) {
              case CORE_AXIS_1: // X on CoreXY and CoreXZ, Y on CoreYZ
@ -393,17 +393,17 @@ class Temperature {
                babystepsTodo[CORE_AXIS_2] += distance * 2;
                break;
              case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ and CoreYZ
-                babystepsTodo[CORE_AXIS_1] += distance * 2;
-                babystepsTodo[CORE_AXIS_2] -= distance * 2;
+                babystepsTodo[CORE_AXIS_1] += CORESIGN(distance * 2);
+                babystepsTodo[CORE_AXIS_2] -= CORESIGN(distance * 2);
                break;
              case NORMAL_AXIS: // Z on CoreXY, Y on CoreXZ, X on CoreYZ
                babystepsTodo[NORMAL_AXIS] += distance;
                break;
            }
-          #elif ENABLED(COREXZ) || ENABLED(COREYZ)
+          #elif CORE_IS_XZ || CORE_IS_YZ
            // Only Z stepping needs to be handled here
-            babystepsTodo[CORE_AXIS_1] += distance * 2;
-            babystepsTodo[CORE_AXIS_2] -= distance * 2;
+            babystepsTodo[CORE_AXIS_1] += CORESIGN(distance * 2);
+            babystepsTodo[CORE_AXIS_2] -= CORESIGN(distance * 2);
          #else
            babystepsTodo[Z_AXIS] += distance;
          #endif