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CORExx endstop detection fixes

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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.
This commit is contained in:
Bob-the-Kuhn 2017-04-13 19:32:37 -05:00 committed by Scott Lahteine
parent 28fec61f92
commit 445d39e95a
1 changed files with 69 additions and 38 deletions
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107
Marlin/endstops.cpp
View file

@ -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)
#define CORE_X_CMP !=
#define CORE_X_NOT !
#else
#if ENABLED(COREXY) || ENABLED(COREXZ)
#define CORE_X_CMP ==
#define CORE_X_NOT
#elif ENABLED(COREYX) || ENABLED(COREZX)
#define CORE_X_CMP !=
#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
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);