zaubentrucker/muele-marlin
1
0
Fork 0
Code Issues Pull requests Actions Packages Projects Releases Wiki Activity

Merge pull request #5169 from thinkyhead/rc_core_inverted

Browse source 
Support for COREYX, COREZX, COREZY
This commit is contained in:
Scott Lahteine 2016-11-28 02:26:41 -06:00 committed by GitHub
parent e9e4208ff1 1864b282c5
commit 092e949b58
29 changed files with 198 additions and 88 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

37
Marlin/Conditionals_post.h
View file

@ -39,20 +39,31 @@
#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))

4
Marlin/Configuration.h
View file

@ -408,9 +408,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

2
Marlin/Marlin_main.cpp
View file

@ -3078,7 +3078,7 @@ 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");

27
Marlin/SanityCheck.h
View file

@ -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

12
Marlin/endstops.cpp
View file

@ -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

4
Marlin/example_configurations/Cartesio/Configuration.h
View file

@ -408,9 +408,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/Felix/Configuration.h
View file

@ -390,9 +390,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/Felix/DUAL/Configuration.h
View file

@ -390,9 +390,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/Hephestos/Configuration.h
View file

@ -400,9 +400,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/Hephestos_2/Configuration.h
View file

@ -402,9 +402,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/K8200/Configuration.h
View file

@ -438,9 +438,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/K8400/Configuration.h
View file

@ -408,9 +408,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/K8400/Dual-head/Configuration.h
View file

@ -408,9 +408,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
View file

@ -408,9 +408,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/RigidBot/Configuration.h
View file

@ -405,9 +405,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/SCARA/Configuration.h
View file

@ -423,9 +423,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/TAZ4/Configuration.h
View file

@ -429,9 +429,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/WITBOX/Configuration.h
View file

@ -400,9 +400,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/adafruit/ST7565/Configuration.h
View file

@ -408,9 +408,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/delta/biv2.5/Configuration.h
View file

@ -408,9 +408,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
//===========================================================================
//============================== Delta Settings =============================

4
Marlin/example_configurations/delta/generic/Configuration.h
View file

@ -408,9 +408,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
//===========================================================================
//============================== Delta Settings =============================

4
Marlin/example_configurations/delta/kossel_mini/Configuration.h
View file

@ -408,9 +408,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
//===========================================================================
//============================== Delta Settings =============================

4
Marlin/example_configurations/delta/kossel_pro/Configuration.h
View file

@ -395,9 +395,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
//===========================================================================
//============================== Delta Settings =============================

4
Marlin/example_configurations/delta/kossel_xl/Configuration.h
View file

@ -406,9 +406,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
//===========================================================================
//============================== Delta Settings =============================

4
Marlin/example_configurations/makibox/Configuration.h
View file

@ -411,9 +411,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

4
Marlin/example_configurations/tvrrug/Round2/Configuration.h
View file

@ -398,9 +398,13 @@
// @section machine
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
// either in the usual order or reversed
//#define COREXY
//#define COREXZ
//#define COREYZ
//#define COREYX
//#define COREZX
//#define COREZY
// Enable this option for Toshiba steppers
#define CONFIG_STEPPERS_TOSHIBA

67
Marlin/planner.cpp
View file

@ -712,24 +712,24 @@ 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);
@ -757,19 +757,16 @@ 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);
@ -804,7 +801,7 @@ 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();
@ -812,13 +809,13 @@ 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();
@ -915,26 +912,26 @@ 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];
@ -949,11 +946,11 @@ 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])

41
Marlin/stepper.cpp
View file

@ -991,22 +991,22 @@ 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;
@ -1046,16 +1046,17 @@ 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);
@ -1083,14 +1084,12 @@ 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
@ -1108,21 +1107,21 @@ 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:");

12
Marlin/temperature.h
View file

@ -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