Merge pull request #6337 from thinkyhead/rc_core_endstop_fix
CORExx endstop detection fixes
This commit is contained in:
Scott Lahteine
commit
76765a8279
1 changed files with 69 additions and 38 deletions
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@ -266,39 +266,48 @@ void Endstops::update() {
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} while(0)
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#if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
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// If G38 command then check Z_MIN_PROBE for every axis and every direction
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// If G38 command is active check Z_MIN_PROBE for ALL movement
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if (G38_move) {
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UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
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if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
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if (stepper.current_block->steps[_AXIS(X)] > 0) {_ENDSTOP_HIT(X); stepper.endstop_triggered(_AXIS(X));}
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else if (stepper.current_block->steps[_AXIS(Y)] > 0) {_ENDSTOP_HIT(Y); stepper.endstop_triggered(_AXIS(Y));}
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else if (stepper.current_block->steps[_AXIS(Z)] > 0) {_ENDSTOP_HIT(Z); stepper.endstop_triggered(_AXIS(Z));}
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if (stepper.current_block->steps[_AXIS(X)] > 0) { _ENDSTOP_HIT(X); stepper.endstop_triggered(_AXIS(X)); }
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else if (stepper.current_block->steps[_AXIS(Y)] > 0) { _ENDSTOP_HIT(Y); stepper.endstop_triggered(_AXIS(Y)); }
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else if (stepper.current_block->steps[_AXIS(Z)] > 0) { _ENDSTOP_HIT(Z); stepper.endstop_triggered(_AXIS(Z)); }
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G38_endstop_hit = true;
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}
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}
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#endif
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#if CORE_IS_XY || CORE_IS_XZ
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#if ENABLED(COREYX) || ENABLED(COREZX)
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#define CORE_X_CMP !=
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#define CORE_X_NOT !
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#else
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#if ENABLED(COREXY) || ENABLED(COREXZ)
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#define CORE_X_CMP ==
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#define CORE_X_NOT
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#elif ENABLED(COREYX) || ENABLED(COREZX)
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#define CORE_X_CMP !=
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#endif
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/**
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* Head direction in -X axis for CoreXY and CoreXZ bots.
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*
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* If steps differ, both axes are moving.
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
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* If DeltaA == DeltaB, the movement is only in the 1st axis (X)
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*/
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#if CORE_IS_XY || CORE_IS_XZ
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if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
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|| ( stepper.current_block->steps[CORE_AXIS_1] > 0
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&& stepper.motor_direction(CORE_AXIS_1) CORE_X_CMP stepper.motor_direction(CORE_AXIS_2)
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)
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) {
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if (stepper.motor_direction(X_HEAD))
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#else
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if (stepper.current_block->steps[X_AXIS] > 0)
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if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
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#endif
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// Head direction in -X axis for CoreXY and CoreXZ bots.
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// If steps differ, both axes are moving.
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// If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below)
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// If DeltaA == DeltaB, the movement is only in the 1st axis (X)
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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)) {
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if (CORE_X_NOT stepper.motor_direction(X_HEAD))
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#else
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if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
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#endif
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{ // -direction
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#if ENABLED(DUAL_X_CARRIAGE)
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
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if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR < 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR < 0))
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if ( (stepper.current_block->active_extruder == 0 && X_HOME_DIR < 0)
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|| (stepper.current_block->active_extruder != 0 && X2_HOME_DIR < 0)
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)
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#endif
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{
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#if HAS_X_MIN
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@ -309,7 +318,9 @@ void Endstops::update() {
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else { // +direction
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#if ENABLED(DUAL_X_CARRIAGE)
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
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if ((stepper.current_block->active_extruder == 0 && X_HOME_DIR > 0) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR > 0))
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if ( (stepper.current_block->active_extruder == 0 && X_HOME_DIR > 0)
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|| (stepper.current_block->active_extruder != 0 && X2_HOME_DIR > 0)
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)
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#endif
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{
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#if HAS_X_MAX
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@ -322,22 +333,28 @@ void Endstops::update() {
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#endif
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// Handle swapped vs. typical Core axis order
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#if ENABLED(COREYX) || ENABLED(COREZY) || ENABLED(COREZX)
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#if ENABLED(COREYX) || ENABLED(COREYZ)
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#define CORE_YZ_CMP ==
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#define CORE_YZ_NOT !
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#elif CORE_IS_XY || CORE_IS_YZ || CORE_IS_XZ
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#elif ENABLED(COREXY) || ENABLED(COREZY)
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#define CORE_YZ_CMP !=
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#define CORE_YZ_NOT
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#endif
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#if CORE_IS_XY || CORE_IS_YZ
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// Head direction in -Y axis for CoreXY / CoreYZ bots.
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// If steps differ, both axes are moving
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// If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
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// If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
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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)) {
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if (CORE_YZ_NOT stepper.motor_direction(Y_HEAD))
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/**
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* Head direction in -Y axis for CoreXY / CoreYZ bots.
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*
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* If steps differ, both axes are moving
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* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y)
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
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*/
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if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
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|| ( stepper.current_block->steps[CORE_AXIS_1] > 0
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&& stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)
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)
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) {
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if (stepper.motor_direction(Y_HEAD))
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#else
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if (stepper.current_block->steps[Y_AXIS] > 0)
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if (stepper.motor_direction(Y_AXIS)) // -direction
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#endif
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{ // -direction
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@ -354,19 +371,33 @@ void Endstops::update() {
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}
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#endif
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#if ENABLED(COREZX) || ENABLED(COREZY)
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#define CORE_YZ_CMP ==
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#elif ENABLED(COREXZ) || ENABLED(COREYZ)
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#define CORE_YZ_CMP !=
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#endif
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#if CORE_IS_XZ || CORE_IS_YZ
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// Head direction in -Z axis for CoreXZ or CoreYZ bots.
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// If steps differ, both axes are moving
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// If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
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// If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
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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)) {
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if (CORE_YZ_NOT stepper.motor_direction(Z_HEAD))
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/**
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* Head direction in -Z axis for CoreXZ or CoreYZ bots.
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*
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* If steps differ, both axes are moving
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* If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above)
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* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
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*/
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if (stepper.current_block->steps[CORE_AXIS_1] != stepper.current_block->steps[CORE_AXIS_2]
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|| ( stepper.current_block->steps[CORE_AXIS_1] > 0
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&& stepper.motor_direction(CORE_AXIS_1) CORE_YZ_CMP stepper.motor_direction(CORE_AXIS_2)
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)
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) {
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if (stepper.motor_direction(Z_HEAD))
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#else
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if (stepper.current_block->steps[Z_AXIS] > 0)
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if (stepper.motor_direction(Z_AXIS))
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#endif
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{ // Z -direction. Gantry down, bed up.
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#if HAS_Z_MIN
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#if ENABLED(Z_DUAL_ENDSTOPS)
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UPDATE_ENDSTOP_BIT(Z, MIN);
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