From 445d39e95a6b184fac057a245f38dff5e8c9acb3 Mon Sep 17 00:00:00 2001 From: Bob-the-Kuhn Date: Thu, 13 Apr 2017 19:32:37 -0500 Subject: [PATCH] CORExx endstop detection fixes 1. The CORExx printers were checking more endstop axis than needed. 2. Removed all the CORE_xx_NOT logic. The motor_direction(xx) routine always returns the correct data so it is not needed. It was actually cause the wrong direction to be checked in some cases. 3. Made the logic/defines for X, Y & Z axis all the same. The old logic checked inappropriate configurations for Y and didn't check all the correct configurations on Z. 4. Added a check for zero steps before the X, Y & Z axis. Previously would check the they axis even if there were no movement. --- Marlin/endstops.cpp | 105 ++++++++++++++++++++++++++++---------------- 1 file changed, 68 insertions(+), 37 deletions(-) diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp index 2cc872a88..d5b152502 100644 --- a/Marlin/endstops.cpp +++ b/Marlin/endstops.cpp @@ -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 2nd axis (Y or Z, handled below) + * If DeltaA == DeltaB, the movement is only in the 1st 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(COREZY) || ENABLED(COREZX) + #if ENABLED(COREYX) || ENABLED(COREYZ) #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 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.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 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.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);