Merge CORE_XZ (PR#2300)
This commit is contained in:
commit
39092efe88
19 changed files with 181 additions and 83 deletions
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@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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// Enable this option for Toshiba steppers
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//#define CONFIG_STEPPERS_TOSHIBA
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@ -196,7 +196,7 @@ void manage_inactivity(bool ignore_stepper_queue=false);
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* A_AXIS and B_AXIS are used by COREXY printers
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* X_HEAD and Y_HEAD is used for systems that don't have a 1:1 relationship between X_AXIS and X Head movement, like CoreXY bots.
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*/
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enum AxisEnum {X_AXIS=0, Y_AXIS=1, A_AXIS=0, B_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
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enum AxisEnum {X_AXIS=0, A_AXIS=0, Y_AXIS=1, B_AXIS=1, Z_AXIS=2, C_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5, Z_HEAD=5};
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enum EndstopEnum {X_MIN=0, Y_MIN=1, Z_MIN=2, Z_PROBE=3, X_MAX=4, Y_MAX=5, Z_MAX=6, Z2_MIN=7, Z2_MAX=8};
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@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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// Enable this option for Toshiba steppers
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//#define CONFIG_STEPPERS_TOSHIBA
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@ -288,6 +288,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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// Enable this option for Toshiba steppers
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//#define CONFIG_STEPPERS_TOSHIBA
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@ -273,6 +273,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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// Enable this option for Toshiba steppers
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//#define CONFIG_STEPPERS_TOSHIBA
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@ -298,6 +298,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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// Enable this option for Toshiba steppers
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//#define CONFIG_STEPPERS_TOSHIBA
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@ -294,6 +294,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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// Enable this option for Toshiba steppers
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//#define CONFIG_STEPPERS_TOSHIBA
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@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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// Enable this option for Toshiba steppers
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//#define CONFIG_STEPPERS_TOSHIBA
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@ -314,6 +314,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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// Enable this option for Toshiba steppers
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//#define CONFIG_STEPPERS_TOSHIBA
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@ -298,6 +298,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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// Enable this option for Toshiba steppers
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//#define CONFIG_STEPPERS_TOSHIBA
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@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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// Enable this option for Toshiba steppers
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//#define CONFIG_STEPPERS_TOSHIBA
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@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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//===========================================================================
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//============================== Delta Settings =============================
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//===========================================================================
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@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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//===========================================================================
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//============================== Delta Settings =============================
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//===========================================================================
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@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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//===========================================================================
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//============================== Delta Settings =============================
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//===========================================================================
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@ -293,6 +293,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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//===========================================================================
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//============================== Delta Settings =============================
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//===========================================================================
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@ -309,6 +309,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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// Enable this option for Toshiba steppers
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//#define CONFIG_STEPPERS_TOSHIBA
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@ -296,6 +296,9 @@ Here are some standard links for getting your machine calibrated:
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// Uncomment this option to enable CoreXY kinematics
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// #define COREXY
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// Uncomment this option to enable CoreXZ kinematics
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// #define COREXZ
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// Enable this option for Toshiba steppers
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#define CONFIG_STEPPERS_TOSHIBA
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@ -541,13 +541,19 @@ float junction_deviation = 0.1;
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// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
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block->steps[A_AXIS] = labs(dx + dy);
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block->steps[B_AXIS] = labs(dx - dy);
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block->steps[Z_AXIS] = labs(dz);
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#elif defined(COREXZ)
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// corexz planning
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block->steps[A_AXIS] = labs(dx + dz);
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block->steps[Y_AXIS] = labs(dy);
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block->steps[C_AXIS] = labs(dx - dz);
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#else
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// default non-h-bot planning
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block->steps[X_AXIS] = labs(dx);
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block->steps[Y_AXIS] = labs(dy);
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block->steps[Z_AXIS] = labs(dz);
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#endif
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block->steps[Z_AXIS] = labs(dz);
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block->steps[E_AXIS] = labs(de);
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block->steps[E_AXIS] *= volumetric_multiplier[extruder];
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block->steps[E_AXIS] *= extruder_multiplier[extruder];
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@ -568,13 +574,20 @@ float junction_deviation = 0.1;
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#ifdef COREXY
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if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
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if (dy < 0) db |= BIT(Y_HEAD); // ...and Y
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if (dz < 0) db |= BIT(Z_AXIS);
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if (dx + dy < 0) db |= BIT(A_AXIS); // Motor A direction
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if (dx - dy < 0) db |= BIT(B_AXIS); // Motor B direction
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#elif defined(COREXZ)
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if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
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if (dy < 0) db |= BIT(Y_AXIS);
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if (dz < 0) db |= BIT(Z_HEAD); // ...and Z
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if (dx + dz < 0) db |= BIT(A_AXIS); // Motor A direction
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if (dx - dz < 0) db |= BIT(C_AXIS); // Motor B direction
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#else
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if (dx < 0) db |= BIT(X_AXIS);
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if (dy < 0) db |= BIT(Y_AXIS);
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if (dz < 0) db |= BIT(Z_AXIS);
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#endif
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if (dz < 0) db |= BIT(Z_AXIS);
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if (de < 0) db |= BIT(E_AXIS);
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block->direction_bits = db;
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@ -586,13 +599,20 @@ float junction_deviation = 0.1;
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enable_x();
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enable_y();
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}
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#ifndef Z_LATE_ENABLE
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if (block->steps[Z_AXIS]) enable_z();
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#endif
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#elif defined(COREXZ)
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if (block->steps[A_AXIS] || block->steps[C_AXIS]) {
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enable_x();
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enable_z();
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}
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#else
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if (block->steps[X_AXIS]) enable_x();
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if (block->steps[Y_AXIS]) enable_y();
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#endif
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#ifndef Z_LATE_ENABLE
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if (block->steps[Z_AXIS]) enable_z();
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#ifndef Z_LATE_ENABLE
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if (block->steps[Z_AXIS]) enable_z();
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#endif
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#endif
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// Enable extruder(s)
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@ -676,14 +696,22 @@ float junction_deviation = 0.1;
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float delta_mm[6];
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delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
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delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
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delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
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delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
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delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
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#elif defined(COREXZ)
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float delta_mm[6];
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delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
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delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
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delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS];
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delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_unit[A_AXIS];
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delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_unit[C_AXIS];
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#else
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float delta_mm[4];
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delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
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delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
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delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
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#endif
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delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
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delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0;
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if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
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@ -692,11 +720,12 @@ float junction_deviation = 0.1;
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else {
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block->millimeters = sqrt(
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#ifdef COREXY
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square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD])
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square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS])
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#elif defined(COREXZ)
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square(delta_mm[X_HEAD]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_HEAD])
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#else
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square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS])
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square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])
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#endif
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+ square(delta_mm[Z_AXIS])
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);
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}
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float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
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@ -342,34 +342,38 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
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return timer;
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}
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// set the stepper direction of each axis
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/**
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* Set the stepper direction of each axis
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*
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* X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY
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* X_AXIS=A_AXIS and Z_AXIS=C_AXIS for COREXZ
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*/
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void set_stepper_direction() {
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// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
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if (TEST(out_bits, X_AXIS)) {
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X_APPLY_DIR(INVERT_X_DIR,0);
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if (TEST(out_bits, X_AXIS)) { // A_AXIS
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X_APPLY_DIR(INVERT_X_DIR, 0);
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count_direction[X_AXIS] = -1;
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}
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else {
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X_APPLY_DIR(!INVERT_X_DIR,0);
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X_APPLY_DIR(!INVERT_X_DIR, 0);
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count_direction[X_AXIS] = 1;
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}
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if (TEST(out_bits, Y_AXIS)) {
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Y_APPLY_DIR(INVERT_Y_DIR,0);
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if (TEST(out_bits, Y_AXIS)) { // B_AXIS
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Y_APPLY_DIR(INVERT_Y_DIR, 0);
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count_direction[Y_AXIS] = -1;
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}
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else {
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Y_APPLY_DIR(!INVERT_Y_DIR,0);
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Y_APPLY_DIR(!INVERT_Y_DIR, 0);
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count_direction[Y_AXIS] = 1;
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}
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if (TEST(out_bits, Z_AXIS)) {
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Z_APPLY_DIR(INVERT_Z_DIR,0);
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if (TEST(out_bits, Z_AXIS)) { // C_AXIS
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Z_APPLY_DIR(INVERT_Z_DIR, 0);
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count_direction[Z_AXIS] = -1;
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}
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else {
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Z_APPLY_DIR(!INVERT_Z_DIR,0);
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Z_APPLY_DIR(!INVERT_Z_DIR, 0);
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count_direction[Z_AXIS] = 1;
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}
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@ -503,6 +507,11 @@ ISR(TIMER1_COMPA_vect) {
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// If DeltaX == -DeltaY, the movement is only in Y axis
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if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS))) {
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if (TEST(out_bits, X_HEAD))
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#elif defined(COREXZ)
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// Head direction in -X axis for CoreXZ bots.
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// If DeltaX == -DeltaZ, the movement is only in Z axis
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if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, C_AXIS))) {
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if (TEST(out_bits, X_HEAD))
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#else
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if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular Cartesian bot)
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#endif
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@ -528,8 +537,11 @@ ISR(TIMER1_COMPA_vect) {
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#endif
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}
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}
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#ifdef COREXY
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#if defined(COREXY) || defined(COREXZ)
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}
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#endif
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#ifdef COREXY
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// Head direction in -Y axis for CoreXY bots.
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// If DeltaX == DeltaY, the movement is only in X axis
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if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS))) {
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@ -547,82 +559,91 @@ ISR(TIMER1_COMPA_vect) {
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UPDATE_ENDSTOP(Y, MAX);
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#endif
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}
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#ifdef COREXY
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#if defined(COREXY) || defined(COREXZ)
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}
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#endif
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if (TEST(out_bits, Z_AXIS)) { // z -direction
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#if HAS_Z_MIN
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#ifdef Z_DUAL_ENDSTOPS
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SET_ENDSTOP_BIT(Z, MIN);
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#if HAS_Z2_MIN
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SET_ENDSTOP_BIT(Z2, MIN);
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#else
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COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
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#endif
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#ifdef COREXZ
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// Head direction in -Z axis for CoreXZ bots.
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// If DeltaX == DeltaZ, the movement is only in X axis
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if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) != TEST(out_bits, C_AXIS))) {
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if (TEST(out_bits, Z_HEAD))
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#else
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if (TEST(out_bits, Z_AXIS))
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#endif
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{ // z -direction
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#if HAS_Z_MIN
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byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
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#ifdef Z_DUAL_ENDSTOPS
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SET_ENDSTOP_BIT(Z, MIN);
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#if HAS_Z2_MIN
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SET_ENDSTOP_BIT(Z2, MIN);
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#else
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COPY_BIT(current_endstop_bits, Z_MIN, Z2_MIN);
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#endif
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if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
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endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
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endstop_hit_bits |= BIT(Z_MIN);
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if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
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step_events_completed = current_block->step_event_count;
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}
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#else // !Z_DUAL_ENDSTOPS
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byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
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UPDATE_ENDSTOP(Z, MIN);
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||||
#endif // !Z_DUAL_ENDSTOPS
|
||||
#endif // Z_MIN_PIN
|
||||
if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_hit_bits |= BIT(Z_MIN);
|
||||
if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
|
||||
step_events_completed = current_block->step_event_count;
|
||||
}
|
||||
#else // !Z_DUAL_ENDSTOPS
|
||||
|
||||
#ifdef Z_PROBE_ENDSTOP
|
||||
UPDATE_ENDSTOP(Z, PROBE);
|
||||
UPDATE_ENDSTOP(Z, MIN);
|
||||
#endif // !Z_DUAL_ENDSTOPS
|
||||
#endif // Z_MIN_PIN
|
||||
|
||||
if (TEST_ENDSTOP(Z_PROBE))
|
||||
{
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_hit_bits |= BIT(Z_PROBE);
|
||||
#ifdef Z_PROBE_ENDSTOP
|
||||
UPDATE_ENDSTOP(Z, PROBE);
|
||||
|
||||
if (TEST_ENDSTOP(Z_PROBE))
|
||||
{
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_hit_bits |= BIT(Z_PROBE);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
}
|
||||
else { // z +direction
|
||||
#if HAS_Z_MAX
|
||||
else { // z +direction
|
||||
#if HAS_Z_MAX
|
||||
|
||||
#ifdef Z_DUAL_ENDSTOPS
|
||||
#ifdef Z_DUAL_ENDSTOPS
|
||||
|
||||
SET_ENDSTOP_BIT(Z, MAX);
|
||||
#if HAS_Z2_MAX
|
||||
SET_ENDSTOP_BIT(Z2, MAX);
|
||||
#else
|
||||
COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX)
|
||||
#endif
|
||||
SET_ENDSTOP_BIT(Z, MAX);
|
||||
#if HAS_Z2_MAX
|
||||
SET_ENDSTOP_BIT(Z2, MAX);
|
||||
#else
|
||||
COPY_BIT(current_endstop_bits, Z_MAX, Z2_MAX)
|
||||
#endif
|
||||
|
||||
byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
|
||||
byte z_test = TEST_ENDSTOP(Z_MAX) << 0 + TEST_ENDSTOP(Z2_MAX) << 1; // bit 0 for Z, bit 1 for Z2
|
||||
|
||||
if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_hit_bits |= BIT(Z_MIN);
|
||||
if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
|
||||
step_events_completed = current_block->step_event_count;
|
||||
}
|
||||
if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_hit_bits |= BIT(Z_MIN);
|
||||
if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
|
||||
step_events_completed = current_block->step_event_count;
|
||||
}
|
||||
|
||||
#else // !Z_DUAL_ENDSTOPS
|
||||
#else // !Z_DUAL_ENDSTOPS
|
||||
|
||||
UPDATE_ENDSTOP(Z, MAX);
|
||||
UPDATE_ENDSTOP(Z, MAX);
|
||||
|
||||
#endif // !Z_DUAL_ENDSTOPS
|
||||
#endif // Z_MAX_PIN
|
||||
#endif // !Z_DUAL_ENDSTOPS
|
||||
#endif // Z_MAX_PIN
|
||||
|
||||
#ifdef Z_PROBE_ENDSTOP
|
||||
UPDATE_ENDSTOP(Z, PROBE);
|
||||
#ifdef Z_PROBE_ENDSTOP
|
||||
UPDATE_ENDSTOP(Z, PROBE);
|
||||
|
||||
if (TEST_ENDSTOP(Z_PROBE))
|
||||
{
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_hit_bits |= BIT(Z_PROBE);
|
||||
if (TEST_ENDSTOP(Z_PROBE))
|
||||
{
|
||||
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
|
||||
endstop_hit_bits |= BIT(Z_PROBE);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
}
|
||||
old_endstop_bits = current_endstop_bits;
|
||||
}
|
||||
|
||||
|
|
Reference in a new issue