@ -266,39 +266,48 @@ void Endstops::update() {
} while ( 0 )
# if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
// If G38 command then check Z_MIN_PROBE for every axis and every direction
// If G38 command is active check Z_MIN_PROBE for ALL movement
if ( G38_move ) {
UPDATE_ENDSTOP_BIT ( Z , MIN_PROBE ) ;
if ( TEST_ENDSTOP ( _ENDSTOP ( Z , MIN_PROBE ) ) ) {
if ( stepper . current_block - > steps [ _AXIS ( X ) ] > 0 ) { _ENDSTOP_HIT ( X ) ; stepper . endstop_triggered ( _AXIS ( X ) ) ; }
else if ( stepper . current_block - > steps [ _AXIS ( Y ) ] > 0 ) { _ENDSTOP_HIT ( Y ) ; stepper . endstop_triggered ( _AXIS ( Y ) ) ; }
else if ( stepper . current_block - > steps [ _AXIS ( Z ) ] > 0 ) { _ENDSTOP_HIT ( Z ) ; stepper . endstop_triggered ( _AXIS ( Z ) ) ; }
if ( stepper . current_block - > steps [ _AXIS ( X ) ] > 0 ) { _ENDSTOP_HIT ( X ) ; stepper . endstop_triggered ( _AXIS ( X ) ) ; }
else if ( stepper . current_block - > steps [ _AXIS ( Y ) ] > 0 ) { _ENDSTOP_HIT ( Y ) ; stepper . endstop_triggered ( _AXIS ( Y ) ) ; }
else if ( stepper . current_block - > steps [ _AXIS ( Z ) ] > 0 ) { _ENDSTOP_HIT ( Z ) ; stepper . endstop_triggered ( _AXIS ( Z ) ) ; }
G38_endstop_hit = true ;
}
}
# endif
# if CORE_IS_XY || CORE_IS_XZ
# if ENABLED(COREYX) || ENABLED(COREZX)
# if ENABLED(COREXY) || ENABLED(COREXZ)
# define CORE_X_CMP ==
# elif ENABLED(COREYX) || ENABLED(COREZX)
# define CORE_X_CMP !=
# define CORE_X_NOT !
# endif
/**
* Head direction in - X axis for CoreXY and CoreXZ bots .
*
* If steps differ , both axes are moving .
* If DeltaA = = - DeltaB , the movement is only in the 2 nd axis ( Y or Z , handled below )
* If DeltaA = = DeltaB , the movement is only in the 1 st axis ( X )
*/
# if CORE_IS_XY || CORE_IS_XZ
if ( stepper . current_block - > steps [ CORE_AXIS_1 ] ! = stepper . current_block - > steps [ CORE_AXIS_2 ]
| | ( stepper . current_block - > steps [ CORE_AXIS_1 ] > 0
& & stepper . motor_direction ( CORE_AXIS_1 ) CORE_X_CMP stepper . motor_direction ( CORE_AXIS_2 )
)
) {
if ( stepper . motor_direction ( X_HEAD ) )
# else
# define CORE_X_CMP ==
# define CORE_X_NOT
if ( stepper . current_block - > steps [ X_AXIS ] > 0 )
if ( stepper . motor_direction ( X_AXIS ) ) // stepping along -X axis (regular Cartesian bot)
# endif
// Head direction in -X axis for CoreXY and CoreXZ bots.
// If steps differ, both axes are moving.
// If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
// If DeltaA == DeltaB, the movement is only in the 1st axis (X)
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)
# 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 < 0 ) | | ( stepper . current_block - > active_extruder ! = 0 & & X2_HOME_DIR < 0 ) )
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
@ -309,7 +318,9 @@ 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 > 0 ) | | ( stepper . current_block - > active_extruder ! = 0 & & X2_HOME_DIR > 0 ) )
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
@ -322,22 +333,28 @@ void Endstops::update() {
# endif
// Handle swapped vs. typical Core axis order
# if ENABLED(COREYX) || ENABLED(CORE Z Y) || ENABLED(CORE ZX )
# if ENABLED(COREYX) || ENABLED(CORE YZ)
# define CORE_YZ_CMP ==
# define CORE_YZ_NOT !
# elif CORE_IS_XY || CORE_IS_YZ || CORE_IS_XZ
# elif ENABLED(COREXY) || ENABLED(COREZY)
# 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 steps differ, both axes are moving
// If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
// If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
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 ) )
/**
* Head direction in - Y axis for CoreXY / CoreYZ bots .
*
* If steps differ , both axes are moving
* If DeltaA = = DeltaB , the movement is only in the 1 st axis ( X or Y )
* If DeltaA = = - DeltaB , the movement is only in the 2 nd axis ( Y or Z )
*/
if ( stepper . current_block - > steps [ CORE_AXIS_1 ] ! = stepper . current_block - > steps [ CORE_AXIS_2 ]
| | ( stepper . current_block - > steps [ CORE_AXIS_1 ] > 0
& & stepper . motor_direction ( CORE_AXIS_1 ) CORE_YZ_CMP stepper . motor_direction ( CORE_AXIS_2 )
)
) {
if ( stepper . motor_direction ( Y_HEAD ) )
# else
if ( stepper . current_block - > steps [ Y_AXIS ] > 0 )
if ( stepper . motor_direction ( Y_AXIS ) ) // -direction
# endif
{ // -direction
@ -354,19 +371,33 @@ void Endstops::update() {
}
# endif
# if ENABLED(COREZX) || ENABLED(COREZY)
# define CORE_YZ_CMP ==
# elif ENABLED(COREXZ) || ENABLED(COREYZ)
# define CORE_YZ_CMP !=
# endif
# if CORE_IS_XZ || CORE_IS_YZ
// Head direction in -Z axis for CoreXZ or CoreYZ bots.
// If steps differ, both axes are moving
// If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
// If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
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 ) )
/**
* Head direction in - Z axis for CoreXZ or CoreYZ bots .
*
* If steps differ , both axes are moving
* If DeltaA = = DeltaB , the movement is only in the 1 st axis ( X or Y , already handled above )
* If DeltaA = = - DeltaB , the movement is only in the 2 nd axis ( Z )
*/
if ( stepper . current_block - > steps [ CORE_AXIS_1 ] ! = stepper . current_block - > steps [ CORE_AXIS_2 ]
| | ( stepper . current_block - > steps [ CORE_AXIS_1 ] > 0
& & stepper . motor_direction ( CORE_AXIS_1 ) CORE_YZ_CMP stepper . motor_direction ( CORE_AXIS_2 )
)
) {
if ( stepper . motor_direction ( Z_HEAD ) )
# else
if ( stepper . current_block - > steps [ Z_AXIS ] > 0 )
if ( stepper . motor_direction ( Z_AXIS ) )
# endif
{ // Z -direction. Gantry down, bed up.
# if HAS_Z_MIN
# if ENABLED(Z_DUAL_ENDSTOPS)
UPDATE_ENDSTOP_BIT ( Z , MIN ) ;