Add COREXZ mechanism

MarlinKimbra/Configuration.h

@@ -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_Corexy.h → MarlinKimbra/Configuration_Core.h

 // 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

@@ -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   #error Your Configuration.h and Configuration_adv.h files are outdated!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

@@ -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 // Cartesian || CoreXY || Scara
+#endif // CARTESIAN || 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

@@ -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

@@ -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_MEGATRONICS_1     702  // Minitronics v1.0
+#define BOARD_MINITRONICS       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

@@ -381,15 +381,15 @@
      * MAX_STEP_FREQUENCY differs for TOSHIBA OR ARDUINO DUE OR ARDUINO MEGA
      */
     #ifdef __SAM3X8E__
-      #ifdef CONFIG_STEPPERS_TOSHIBA
-        #define MAX_STEP_FREQUENCY 120000 // Max step frequency for Toshiba Stepper Controllers
+      #if defined(CONFIG_STEPPERS_TOSHIBA) || !defined(ENABLE_HIGH_SPEED_STEPPING)
+        #define MAX_STEP_FREQUENCY 150000 // 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
-      #ifdef 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

@@ -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_MEGATRONICS_1 - Minitronics v1.0
+*702 BOARD_MINITRONICS   - 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(MEGATRONICS_1)
+#if MB(MINITRONICS)
 #define KNOWN_BOARD 1
 
 

MarlinKimbra/planner.cpp

@@ -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); 
-  #endif
     if (dz < 0) db |= BIT(Z_AXIS);
+  #endif
   if (de < 0) db |= BIT(E_AXIS); 
   block->direction_bits = db;
 
@@ -602,14 +615,21 @@ 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();
     #endif
+  #endif
 
   // Enable extruder(s)
   if (block->steps[E_AXIS]) {
@@ -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];
-  #endif
     delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
+  #endif
   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

@@ -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
               }
           }
-      #ifdef 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))) {
@@ -560,7 +572,16 @@ ISR(TIMER1_COMPA_vect) {
       #ifdef COREXY
         }
       #endif
-      if (TEST(out_bits, Z_AXIS)) { // z -direction
+
+      #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
@@ -624,6 +645,9 @@ ISR(TIMER1_COMPA_vect) {
 
           }
           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;