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machinery
MarlinKimbra
Commits
47628402
Commit
47628402
authored
Jun 11, 2015
by
MagoKimbra
Browse files
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Plain Diff
Add COREXZ mechanism
parent
6bbb3e37
Changes
10
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Showing
10 changed files
with
154 additions
and
103 deletions
+154
-103
Configuration.h
MarlinKimbra/Configuration.h
+4
-1
Configuration_Core.h
MarlinKimbra/Configuration_Core.h
+1
-1
Marlin.h
MarlinKimbra/Marlin.h
+2
-6
Marlin_main.cpp
MarlinKimbra/Marlin_main.cpp
+6
-6
blinkm.h
MarlinKimbra/blinkm.h
+1
-5
boards.h
MarlinKimbra/boards.h
+2
-1
conditionals.h
MarlinKimbra/conditionals.h
+3
-3
pins.h
MarlinKimbra/pins.h
+3
-2
planner.cpp
MarlinKimbra/planner.cpp
+39
-10
stepper.cpp
MarlinKimbra/stepper.cpp
+93
-68
No files found.
MarlinKimbra/Configuration.h
View file @
47628402
...
...
@@ -57,6 +57,7 @@
***********************************************************************/
#define CARTESIAN
//#define COREXY
//#define COREXZ
//#define DELTA
//#define SCARA
/***********************************************************************\
...
...
@@ -67,7 +68,9 @@
#if defined(CARTESIAN)
#include "Configuration_Cartesian.h"
#elif defined(COREXY)
#include "Configuration_Corexy.h"
#include "Configuration_Core.h"
#elif defined(COREXZ)
#include "Configuration_Core.h"
#elif defined(DELTA)
#include "Configuration_Delta.h"
#elif defined(SCARA)
...
...
MarlinKimbra/Configuration_Core
xy
.h
→
MarlinKimbra/Configuration_Core.h
View file @
47628402
// Define this to set a custom name for your generic Mendel,
// Displayed in the LCD "Ready" message
#define CUSTOM_MACHINE_NAME "Core
XY
"
#define CUSTOM_MACHINE_NAME "Core"
//===========================================================================
//=============================Mechanical Settings===========================
...
...
MarlinKimbra/Marlin.h
View file @
47628402
...
...
@@ -29,11 +29,7 @@
#error Your Configuration.h and Configuration_adv.h files are outdated!
#endif
#if (ARDUINO >= 100)
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include "Arduino.h"
// Macros for bit masks
#define BIT(b) (1<<(b))
...
...
@@ -148,7 +144,7 @@ void manage_inactivity(bool ignore_stepper_queue=false);
* A_AXIS and B_AXIS are used by COREXY printers
* 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.
*/
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
};
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
};
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
};
...
...
MarlinKimbra/Marlin_main.cpp
View file @
47628402
...
...
@@ -1046,7 +1046,7 @@ static const PROGMEM type array##_P[3] = \
static inline type array(int axis) \
{ return pgm_read_any(&array##_P[axis]); }
#if defined(CARTESIAN) || defined(COREXY) || defined(SCARA)
#if defined(CARTESIAN) || defined(COREXY) || defined(
COREXZ) || defined(
SCARA)
XYZ_CONSTS_FROM_CONFIG
(
float
,
base_max_pos
,
MAX_POS
);
XYZ_CONSTS_FROM_CONFIG
(
float
,
base_home_pos
,
HOME_POS
);
XYZ_CONSTS_FROM_CONFIG
(
float
,
max_length
,
MAX_LENGTH
);
...
...
@@ -1217,7 +1217,7 @@ static void setup_for_endstop_move() {
enable_endstops
(
true
);
}
#if defined(CARTESIAN) || defined(COREXY) || defined(SCARA)
#if defined(CARTESIAN) || defined(COREXY) || defined(
COREXZ) || defined(
SCARA)
static
void
do_blocking_move_to
(
float
x
,
float
y
,
float
z
)
{
float
oldFeedRate
=
feedrate
;
...
...
@@ -1538,7 +1538,7 @@ static void setup_for_endstop_move() {
}
}
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
#endif // C
artesian || CoreXY || Scara
#endif // C
ARTESIAN || COREXY || COREXZ || SCARA
#ifdef DELTA
...
...
@@ -6754,7 +6754,7 @@ FORCE_INLINE void clamp_to_software_endstops(float target[3]) {
#endif // DUAL_X_CARRIAGE
#if defined(CARTESIAN) || defined(COREXY)
#if defined(CARTESIAN) || defined(COREXY)
|| defined(COREXZ)
inline
bool
prepare_move_cartesian
()
{
// Do not use feedrate_multiplier for E or Z only moves
...
...
@@ -6767,7 +6767,7 @@ FORCE_INLINE void clamp_to_software_endstops(float target[3]) {
return
true
;
}
#endif // CARTESIAN || COREXY
#endif // CARTESIAN || COREXY
|| COREXZ
/**
* Prepare a single move and get ready for the next one
...
...
@@ -6790,7 +6790,7 @@ void prepare_move() {
if
(
!
prepare_move_dual_x_carriage
())
return
;
#endif
#if defined(CARTESIAN) || defined(COREXY)
#if defined(CARTESIAN) || defined(COREXY)
|| defined(COREXZ)
if
(
!
prepare_move_cartesian
())
return
;
#endif
...
...
MarlinKimbra/blinkm.h
View file @
47628402
...
...
@@ -2,12 +2,8 @@
blinkm.h
Library header file for BlinkM library
*/
#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include "Arduino.h"
#include "Wire.h"
void
SendColors
(
byte
red
,
byte
grn
,
byte
blu
);
MarlinKimbra/boards.h
View file @
47628402
...
...
@@ -19,6 +19,7 @@
#define BOARD_RAMPS_13_EFF 35 // RAMPS 1.3 / 1.4 (Power outputs: Hotend, Fan, Fan)
#define BOARD_RAMPS_13_EEF 36 // RAMPS 1.3 / 1.4 (Power outputs: Hotend0, Hotend1, Fan)
#define BOARD_RAMBO 301 // Rambo
#define BOARD_MINIRAMBO 302 // Mini-Rambo
#define BOARD_DUEMILANOVE_328P 4 // Duemilanove w/ ATMega328P pin assignments
#define BOARD_RADDS 402 // RADDS
...
...
@@ -42,7 +43,7 @@
#define BOARD_ULTIMAKER 7 // Ultimaker
#define BOARD_MEGATRONICS 70 // Megatronics
#define BOARD_MEGATRONICS_2 701 // Megatronics v2.0
#define BOARD_M
EGATRONICS_1
702 // Minitronics v1.0
#define BOARD_M
INITRONICS
702 // Minitronics v1.0
#define BOARD_MEGATRONICS_3 703 // Megatronics v3.0
#define BOARD_ULTIMAKER_OLD 71 // Ultimaker (Older electronics. Pre 1.5.4. This is rare)
#define BOARD_ULTIMAIN_2 72 // Ultimainboard 2.x (Uses TEMP_SENSOR 20)
...
...
MarlinKimbra/conditionals.h
View file @
47628402
...
...
@@ -381,15 +381,15 @@
* MAX_STEP_FREQUENCY differs for TOSHIBA OR ARDUINO DUE OR ARDUINO MEGA
*/
#ifdef __SAM3X8E__
#if
def CONFIG_STEPPERS_TOSHIBA
#define MAX_STEP_FREQUENCY 1
2
0000 // Max step frequency for Toshiba Stepper Controllers
#if
defined(CONFIG_STEPPERS_TOSHIBA) || !defined(ENABLE_HIGH_SPEED_STEPPING)
#define MAX_STEP_FREQUENCY 1
5
0000 // Max step frequency for Toshiba Stepper Controllers
#define DOUBLE_STEP_FREQUENCY MAX_STEP_FREQUENCY
#else
#define MAX_STEP_FREQUENCY 500000 // Max step frequency for the Due is approx. 330kHz
#define DOUBLE_STEP_FREQUENCY 120000 //96kHz is close to maximum for an Arduino Due
#endif
#else
#if
def CONFIG_STEPPERS_TOSHIBA
#if
defined(CONFIG_STEPPERS_TOSHIBA) || !defined(ENABLE_HIGH_SPEED_STEPPING)
#define MAX_STEP_FREQUENCY 10000 // Max step frequency for Toshiba Stepper Controllers
#define DOUBLE_STEP_FREQUENCY MAX_STEP_FREQUENCY
#else
...
...
MarlinKimbra/pins.h
View file @
47628402
...
...
@@ -20,6 +20,7 @@
* 36 BOARD_RAMPS_13_EEF - RAMPS 1.3 / 1.4 (Power outputs: Extruder0, Extruder1, Fan)
*
*301 BOARD_RAMBO - Rambo
*302 BOARD_MINIRAMBO - Mini Rambo
*
* 4 BOARD_DUEMILANOVE_328P - Duemilanove w/ ATMega328P pin assignment
*401 BOARD_RADDS - Radds Arduino DUE
...
...
@@ -45,7 +46,7 @@
*
* 70 BOARD_MEGATRONICS - Megatronics
*701 BOARD_MEGATRONICS_2 - Megatronics v2.0
*702 BOARD_M
EGATRONICS_1
- Minitronics v1.0
*702 BOARD_M
INITRONICS
- Minitronics v1.0
*703 BOARD_MEGATRONICS_3 - Megatronics v3.0
* 71 BOARD_ULTIMAKER_OLD - Ultimaker (Older electronics. Pre 1.5.4. This is rare)
* 72 BOARD_ULTIMAIN_2 - Ultimainboard 2.x (Uses TEMP_SENSOR 20)
...
...
@@ -3327,7 +3328,7 @@
* Minitronics v1.0
****************************************************************************************/
#if MB(M
EGATRONICS_1
)
#if MB(M
INITRONICS
)
#define KNOWN_BOARD 1
...
...
MarlinKimbra/planner.cpp
View file @
47628402
...
...
@@ -552,13 +552,19 @@ float junction_deviation = 0.1;
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
block
->
steps
[
A_AXIS
]
=
labs
(
dx
+
dy
);
block
->
steps
[
B_AXIS
]
=
labs
(
dx
-
dy
);
block
->
steps
[
Z_AXIS
]
=
labs
(
dz
);
#elif defined(COREXZ)
// corexz planning
block
->
steps
[
A_AXIS
]
=
labs
(
dx
+
dz
);
block
->
steps
[
Y_AXIS
]
=
labs
(
dy
);
block
->
steps
[
C_AXIS
]
=
labs
(
dx
-
dz
);
#else
// default non-h-bot planning
block
->
steps
[
X_AXIS
]
=
labs
(
dx
);
block
->
steps
[
Y_AXIS
]
=
labs
(
dy
);
block
->
steps
[
Z_AXIS
]
=
labs
(
dz
);
#endif
block
->
steps
[
Z_AXIS
]
=
labs
(
dz
);
block
->
steps
[
E_AXIS
]
=
labs
(
de
);
block
->
steps
[
E_AXIS
]
*=
volumetric_multiplier
[
extruder
];
block
->
steps
[
E_AXIS
]
*=
extruder_multiplier
[
extruder
];
...
...
@@ -584,13 +590,20 @@ float junction_deviation = 0.1;
#ifdef COREXY
if
(
dx
<
0
)
db
|=
BIT
(
X_HEAD
);
// Save the real Extruder (head) direction in X Axis
if
(
dy
<
0
)
db
|=
BIT
(
Y_HEAD
);
// ...and Y
if
(
dz
<
0
)
db
|=
BIT
(
Z_AXIS
);
if
(
dx
+
dy
<
0
)
db
|=
BIT
(
A_AXIS
);
// Motor A direction
if
(
dx
-
dy
<
0
)
db
|=
BIT
(
B_AXIS
);
// Motor B direction
#elif defined(COREXZ)
if
(
dx
<
0
)
db
|=
BIT
(
X_HEAD
);
// Save the real Extruder (head) direction in X Axis
if
(
dy
<
0
)
db
|=
BIT
(
Y_AXIS
);
if
(
dz
<
0
)
db
|=
BIT
(
Z_HEAD
);
// ...and Z
if
(
dx
+
dz
<
0
)
db
|=
BIT
(
A_AXIS
);
// Motor A direction
if
(
dx
-
dz
<
0
)
db
|=
BIT
(
C_AXIS
);
// Motor B direction
#else
if
(
dx
<
0
)
db
|=
BIT
(
X_AXIS
);
if
(
dy
<
0
)
db
|=
BIT
(
Y_AXIS
);
if
(
dz
<
0
)
db
|=
BIT
(
Z_AXIS
);
#endif
if
(
dz
<
0
)
db
|=
BIT
(
Z_AXIS
);
if
(
de
<
0
)
db
|=
BIT
(
E_AXIS
);
block
->
direction_bits
=
db
;
...
...
@@ -602,13 +615,20 @@ float junction_deviation = 0.1;
enable_x
();
enable_y
();
}
#ifndef Z_LATE_ENABLE
if
(
block
->
steps
[
Z_AXIS
])
enable_z
();
#endif
#elif defined(COREXZ)
if
(
block
->
steps
[
A_AXIS
]
||
block
->
steps
[
C_AXIS
])
{
enable_x
();
enable_z
();
}
#else
if
(
block
->
steps
[
X_AXIS
])
enable_x
();
if
(
block
->
steps
[
Y_AXIS
])
enable_y
();
#endif
#ifndef Z_LATE_ENABLE
if
(
block
->
steps
[
Z_AXIS
])
enable_z
();
#ifndef Z_LATE_ENABLE
if
(
block
->
steps
[
Z_AXIS
])
enable_z
();
#endif
#endif
// Enable extruder(s)
...
...
@@ -711,14 +731,22 @@ float junction_deviation = 0.1;
float
delta_mm
[
6
];
delta_mm
[
X_HEAD
]
=
dx
/
axis_steps_per_unit
[
A_AXIS
];
delta_mm
[
Y_HEAD
]
=
dy
/
axis_steps_per_unit
[
B_AXIS
];
delta_mm
[
Z_AXIS
]
=
dz
/
axis_steps_per_unit
[
Z_AXIS
];
delta_mm
[
A_AXIS
]
=
(
dx
+
dy
)
/
axis_steps_per_unit
[
A_AXIS
];
delta_mm
[
B_AXIS
]
=
(
dx
-
dy
)
/
axis_steps_per_unit
[
B_AXIS
];
#elif defined(COREXZ)
float
delta_mm
[
6
];
delta_mm
[
X_HEAD
]
=
dx
/
axis_steps_per_unit
[
A_AXIS
];
delta_mm
[
Y_AXIS
]
=
dy
/
axis_steps_per_unit
[
Y_AXIS
];
delta_mm
[
Z_HEAD
]
=
dz
/
axis_steps_per_unit
[
C_AXIS
];
delta_mm
[
A_AXIS
]
=
(
dx
+
dz
)
/
axis_steps_per_unit
[
A_AXIS
];
delta_mm
[
C_AXIS
]
=
(
dx
-
dz
)
/
axis_steps_per_unit
[
C_AXIS
];
#else
float
delta_mm
[
4
];
delta_mm
[
X_AXIS
]
=
dx
/
axis_steps_per_unit
[
X_AXIS
];
delta_mm
[
Y_AXIS
]
=
dy
/
axis_steps_per_unit
[
Y_AXIS
];
delta_mm
[
Z_AXIS
]
=
dz
/
axis_steps_per_unit
[
Z_AXIS
];
#endif
delta_mm
[
Z_AXIS
]
=
dz
/
axis_steps_per_unit
[
Z_AXIS
];
delta_mm
[
E_AXIS
]
=
(
de
/
axis_steps_per_unit
[
E_AXIS
+
extruder
])
*
volumetric_multiplier
[
extruder
]
*
extruder_multiplier
[
extruder
]
/
100.0
;
if
(
block
->
steps
[
X_AXIS
]
<=
dropsegments
&&
block
->
steps
[
Y_AXIS
]
<=
dropsegments
&&
block
->
steps
[
Z_AXIS
]
<=
dropsegments
)
{
...
...
@@ -727,11 +755,12 @@ float junction_deviation = 0.1;
else
{
block
->
millimeters
=
sqrt
(
#ifdef COREXY
square
(
delta_mm
[
X_HEAD
])
+
square
(
delta_mm
[
Y_HEAD
])
square
(
delta_mm
[
X_HEAD
])
+
square
(
delta_mm
[
Y_HEAD
])
+
square
(
delta_mm
[
Z_AXIS
])
#elif defined(COREXZ)
square
(
delta_mm
[
X_HEAD
])
+
square
(
delta_mm
[
Y_AXIS
])
+
square
(
delta_mm
[
Z_HEAD
])
#else
square
(
delta_mm
[
X_AXIS
])
+
square
(
delta_mm
[
Y_AXIS
])
square
(
delta_mm
[
X_AXIS
])
+
square
(
delta_mm
[
Y_AXIS
])
+
square
(
delta_mm
[
Z_AXIS
])
#endif
+
square
(
delta_mm
[
Z_AXIS
])
);
}
float
inverse_millimeters
=
1.0
/
block
->
millimeters
;
// Inverse millimeters to remove multiple divides
...
...
MarlinKimbra/stepper.cpp
View file @
47628402
...
...
@@ -350,34 +350,38 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
return
timer
;
}
// set the stepper direction of each axis
/**
* Set the stepper direction of each axis
*
* X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY
* X_AXIS=A_AXIS and Z_AXIS=C_AXIS for COREXZ
*/
void
set_stepper_direction
()
{
// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
if
(
TEST
(
out_bits
,
X_AXIS
))
{
X_APPLY_DIR
(
INVERT_X_DIR
,
0
);
if
(
TEST
(
out_bits
,
X_AXIS
))
{
// A_AXIS
X_APPLY_DIR
(
INVERT_X_DIR
,
0
);
count_direction
[
X_AXIS
]
=
-
1
;
}
else
{
X_APPLY_DIR
(
!
INVERT_X_DIR
,
0
);
X_APPLY_DIR
(
!
INVERT_X_DIR
,
0
);
count_direction
[
X_AXIS
]
=
1
;
}
if
(
TEST
(
out_bits
,
Y_AXIS
))
{
Y_APPLY_DIR
(
INVERT_Y_DIR
,
0
);
if
(
TEST
(
out_bits
,
Y_AXIS
))
{
// B_AXIS
Y_APPLY_DIR
(
INVERT_Y_DIR
,
0
);
count_direction
[
Y_AXIS
]
=
-
1
;
}
else
{
Y_APPLY_DIR
(
!
INVERT_Y_DIR
,
0
);
Y_APPLY_DIR
(
!
INVERT_Y_DIR
,
0
);
count_direction
[
Y_AXIS
]
=
1
;
}
if
(
TEST
(
out_bits
,
Z_AXIS
))
{
Z_APPLY_DIR
(
INVERT_Z_DIR
,
0
);
if
(
TEST
(
out_bits
,
Z_AXIS
))
{
// C_AXIS
Z_APPLY_DIR
(
INVERT_Z_DIR
,
0
);
count_direction
[
Z_AXIS
]
=
-
1
;
}
else
{
Z_APPLY_DIR
(
!
INVERT_Z_DIR
,
0
);
Z_APPLY_DIR
(
!
INVERT_Z_DIR
,
0
);
count_direction
[
Z_AXIS
]
=
1
;
}
...
...
@@ -513,6 +517,11 @@ ISR(TIMER1_COMPA_vect) {
// If DeltaX == -DeltaY, the movement is only in Y axis
if
((
current_block
->
steps
[
A_AXIS
]
!=
current_block
->
steps
[
B_AXIS
])
||
(
TEST
(
out_bits
,
A_AXIS
)
==
TEST
(
out_bits
,
B_AXIS
)))
{
if
(
TEST
(
out_bits
,
X_HEAD
))
#elif defined(COREXZ)
// Head direction in -X axis for CoreXZ bots.
// If DeltaX == -DeltaZ, the movement is only in Z axis
if
((
current_block
->
steps
[
A_AXIS
]
!=
current_block
->
steps
[
C_AXIS
])
||
(
TEST
(
out_bits
,
A_AXIS
)
==
TEST
(
out_bits
,
C_AXIS
)))
{
if
(
TEST
(
out_bits
,
X_HEAD
))
#else
if
(
TEST
(
out_bits
,
X_AXIS
))
// stepping along -X axis (regular Cartesian bot)
#endif
...
...
@@ -538,8 +547,11 @@ ISR(TIMER1_COMPA_vect) {
#endif
}
}
#if
def COREXY
#if
defined(COREXY) || defined(COREXZ)
}
#endif
#ifdef COREXY
// Head direction in -Y axis for CoreXY bots.
// If DeltaX == DeltaY, the movement is only in X axis
if
((
current_block
->
steps
[
A_AXIS
]
!=
current_block
->
steps
[
B_AXIS
])
||
(
TEST
(
out_bits
,
A_AXIS
)
!=
TEST
(
out_bits
,
B_AXIS
)))
{
...
...
@@ -560,70 +572,82 @@ ISR(TIMER1_COMPA_vect) {
#ifdef COREXY
}
#endif
if
(
TEST
(
out_bits
,
Z_AXIS
))
{
// z -direction
#if HAS_Z_MIN
#ifdef Z_DUAL_ENDSTOPS
SET_ENDSTOP_BIT
(
Z
,
MIN
);
#if HAS_Z2_MIN
SET_ENDSTOP_BIT
(
Z2
,
MIN
);
#else
COPY_BIT
(
current_endstop_bits
,
Z_MIN
,
Z2_MIN
);
#endif
byte
z_test
=
TEST_ENDSTOP
(
Z_MIN
)
<<
0
+
TEST_ENDSTOP
(
Z2_MIN
)
<<
1
;
// bit 0 for Z, bit 1 for Z2
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
UPDATE_ENDSTOP
(
Z
,
MIN
);
#endif // !Z_DUAL_ENDSTOPS
#endif // Z_MIN_PIN
#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
);
#ifdef COREXZ
// Head direction in -Z axis for CoreXZ bots.
// If DeltaX == DeltaZ, the movement is only in X axis
if
((
current_block
->
steps
[
A_AXIS
]
!=
current_block
->
steps
[
C_AXIS
])
||
(
TEST
(
out_bits
,
A_AXIS
)
!=
TEST
(
out_bits
,
C_AXIS
)))
{
if
(
TEST
(
out_bits
,
Z_HEAD
))
#else
if
(
TEST
(
out_bits
,
Z_AXIS
))
#endif
{
// z -direction
#if HAS_Z_MIN
#ifdef Z_DUAL_ENDSTOPS
SET_ENDSTOP_BIT
(
Z
,
MIN
);
#if HAS_Z2_MIN
SET_ENDSTOP_BIT
(
Z2
,
MIN
);
#else
COPY_BIT
(
current_endstop_bits
,
Z_MIN
,
Z2_MIN
);
#endif
byte
z_test
=
TEST_ENDSTOP
(
Z_MIN
)
<<
0
+
TEST_ENDSTOP
(
Z2_MIN
)
<<
1
;
// bit 0 for Z, bit 1 for Z2
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
UPDATE_ENDSTOP
(
Z
,
MIN
);
#endif // !Z_DUAL_ENDSTOPS
#endif // Z_MIN_PIN
#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
}
old_endstop_bits
=
current_endstop_bits
;
}
old_endstop_bits
=
current_endstop_bits
;
#ifdef COREXZ
}
#endif
}
#ifdef ENABLE_HIGH_SPEED_STEPPING
...
...
@@ -664,6 +688,7 @@ ISR(TIMER1_COMPA_vect) {
#endif
step_events_completed
++
;
#endif
// Calculate new timer value
unsigned
short
timer
;
unsigned
short
step_rate
;
...
...
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