@ -399,89 +399,84 @@ ISR(TIMER1_COMPA_vect)
count_direction [ Y_AXIS ] = 1 ;
}
// Set direction en check limit switches
# ifndef COREXY
if ( ( out_bits & ( 1 < < X_AXIS ) ) ! = 0 ) // stepping along -X axis
# else
if ( ( out_bits & ( 1 < < X_HEAD ) ) ! = 0 ) //AlexBorro: Head direction in -X axis for CoreXY bots.
# endif
if ( check_endstops ) // check X and Y Endstops
{
CHECK_ENDSTOPS
{
# ifdef DUAL_X_CARRIAGE
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
if ( ( current_block - > active_extruder = = 0 & & X_HOME_DIR = = - 1 )
| | ( current_block - > active_extruder ! = 0 & & X2_HOME_DIR = = - 1 ) )
# ifndef COREXY
if ( ( out_bits & ( 1 < < X_AXIS ) ) ! = 0 ) // stepping along -X axis (regular cartesians bot)
# else
if ( ! ( ( current_block - > steps_x = = current_block - > steps_y ) & & ( ( out_bits & ( 1 < < X_AXIS ) ) > > X_AXIS ! = ( out_bits & ( 1 < < Y_AXIS ) ) > > Y_AXIS ) ) ) // AlexBorro: If DeltaX == -DeltaY, the movement is only in Y axis
if ( ( out_bits & ( 1 < < X_HEAD ) ) ! = 0 ) //AlexBorro: Head direction in -X axis for CoreXY bots.
# endif
{
# if defined(X_MIN_PIN) && X_MIN_PIN > -1
bool x_min_endstop = ( READ ( X_MIN_PIN ) ! = X_MIN_ENDSTOP_INVERTING ) ;
if ( x_min_endstop & & old_x_min_endstop & & ( current_block - > steps_x > 0 ) ) {
endstops_trigsteps [ X_AXIS ] = count_position [ X_AXIS ] ;
endstop_x_hit = true ;
step_events_completed = current_block - > step_event_count ;
{ // -direction
# ifdef DUAL_X_CARRIAGE
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
if ( ( current_block - > active_extruder = = 0 & & X_HOME_DIR = = - 1 ) | | ( current_block - > active_extruder ! = 0 & & X2_HOME_DIR = = - 1 ) )
# endif
{
# if defined(X_MIN_PIN) && X_MIN_PIN > -1
bool x_min_endstop = ( READ ( X_MIN_PIN ) ! = X_MIN_ENDSTOP_INVERTING ) ;
if ( x_min_endstop & & old_x_min_endstop & & ( current_block - > steps_x > 0 ) )
{
endstops_trigsteps [ X_AXIS ] = count_position [ X_AXIS ] ;
endstop_x_hit = true ;
step_events_completed = current_block - > step_event_count ;
}
old_x_min_endstop = x_min_endstop ;
# endif
}
old_x_min_endstop = x_min_endstop ;
# endif
}
}
}
else
{ // +direction
CHECK_ENDSTOPS
{
# ifdef DUAL_X_CARRIAGE
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
if ( ( current_block - > active_extruder = = 0 & & X_HOME_DIR = = 1 )
| | ( current_block - > active_extruder ! = 0 & & X2_HOME_DIR = = 1 ) )
# endif
{
# if defined(X_MAX_PIN) && X_MAX_PIN > -1
bool x_max_endstop = ( READ ( X_MAX_PIN ) ! = X_MAX_ENDSTOP_INVERTING ) ;
if ( x_max_endstop & & old_x_max_endstop & & ( current_block - > steps_x > 0 ) ) {
endstops_trigsteps [ X_AXIS ] = count_position [ X_AXIS ] ;
endstop_x_hit = true ;
step_events_completed = current_block - > step_event_count ;
else
{ // +direction
# ifdef DUAL_X_CARRIAGE
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
if ( ( current_block - > active_extruder = = 0 & & X_HOME_DIR = = 1 ) | | ( current_block - > active_extruder ! = 0 & & X2_HOME_DIR = = 1 ) )
# endif
{
# if defined(X_MAX_PIN) && X_MAX_PIN > -1
bool x_max_endstop = ( READ ( X_MAX_PIN ) ! = X_MAX_ENDSTOP_INVERTING ) ;
if ( x_max_endstop & & old_x_max_endstop & & ( current_block - > steps_x > 0 ) )
{
endstops_trigsteps [ X_AXIS ] = count_position [ X_AXIS ] ;
endstop_x_hit = true ;
step_events_completed = current_block - > step_event_count ;
}
old_x_max_endstop = x_max_endstop ;
# endif
}
old_x_max_endstop = x_max_endstop ;
# endif
}
}
}
# ifndef COREXY
if ( ( out_bits & ( 1 < < Y_AXIS ) ) ! = 0 ) // -direction
# else
if ( ( out_bits & ( 1 < < Y_HEAD ) ) ! = 0 ) //AlexBorro: Head direction in -Y axis for CoreXY bots.
# endif
{
CHECK_ENDSTOPS
{
# if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
bool y_min_endstop = ( READ ( Y_MIN_PIN ) ! = Y_MIN_ENDSTOP_INVERTING ) ;
if ( y_min_endstop & & old_y_min_endstop & & ( current_block - > steps_y > 0 ) ) {
endstops_trigsteps [ Y_AXIS ] = count_position [ Y_AXIS ] ;
endstop_y_hit = true ;
step_events_completed = current_block - > step_event_count ;
}
old_y_min_endstop = y_min_endstop ;
# endif
}
}
else
{ // +direction
CHECK_ENDSTOPS
{
# if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
bool y_max_endstop = ( READ ( Y_MAX_PIN ) ! = Y_MAX_ENDSTOP_INVERTING ) ;
if ( y_max_endstop & & old_y_max_endstop & & ( current_block - > steps_y > 0 ) ) {
endstops_trigsteps [ Y_AXIS ] = count_position [ Y_AXIS ] ;
endstop_y_hit = true ;
step_events_completed = current_block - > step_event_count ;
}
old_y_max_endstop = y_max_endstop ;
# ifndef COREXY
if ( ( out_bits & ( 1 < < Y_AXIS ) ) ! = 0 ) // -direction
# else
if ( ! ( ( current_block - > steps_x = = current_block - > steps_y ) & & ( ( out_bits & ( 1 < < X_AXIS ) ) > > X_AXIS = = ( out_bits & ( 1 < < Y_AXIS ) ) > > Y_AXIS ) ) ) // AlexBorro: If DeltaX == DeltaY, the movement is only in X axis
if ( ( out_bits & ( 1 < < Y_HEAD ) ) ! = 0 ) //AlexBorro: Head direction in -Y axis for CoreXY bots.
# endif
}
{ // -direction
# if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
bool y_min_endstop = ( READ ( Y_MIN_PIN ) ! = Y_MIN_ENDSTOP_INVERTING ) ;
if ( y_min_endstop & & old_y_min_endstop & & ( current_block - > steps_y > 0 ) )
{
endstops_trigsteps [ Y_AXIS ] = count_position [ Y_AXIS ] ;
endstop_y_hit = true ;
step_events_completed = current_block - > step_event_count ;
}
old_y_min_endstop = y_min_endstop ;
# endif
}
else
{ // +direction
# if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
bool y_max_endstop = ( READ ( Y_MAX_PIN ) ! = Y_MAX_ENDSTOP_INVERTING ) ;
if ( y_max_endstop & & old_y_max_endstop & & ( current_block - > steps_y > 0 ) )
{
endstops_trigsteps [ Y_AXIS ] = count_position [ Y_AXIS ] ;
endstop_y_hit = true ;
step_events_completed = current_block - > step_event_count ;
}
old_y_max_endstop = y_max_endstop ;
# endif
}
}
if ( ( out_bits & ( 1 < < Z_AXIS ) ) ! = 0 ) { // -direction