0x90/Marlin
12
0
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

Merge CORE_XZ (PR#2300)

Browse source
This commit is contained in:
Richard Wackerbarth 2015-07-19 16:17:55 -05:00
parent 69b0490b77 9f53e2f0c9
commit 39092efe88
19 changed files with 181 additions and 83 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

3
Marlin/Configuration.h
View file

@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

2
Marlin/Marlin.h
View file

@ -196,7 +196,7 @@ 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};

3
Marlin/configurator/config/Configuration.h
View file

@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

3
Marlin/example_configurations/Felix/Configuration.h
View file

@ -288,6 +288,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

3
Marlin/example_configurations/Felix/Configuration_DUAL.h
View file

@ -273,6 +273,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

3
Marlin/example_configurations/Hephestos/Configuration.h
View file

@ -298,6 +298,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

3
Marlin/example_configurations/K8200/Configuration.h
View file

@ -294,6 +294,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

3
Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
View file

@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

3
Marlin/example_configurations/SCARA/Configuration.h
View file

@ -314,6 +314,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

3
Marlin/example_configurations/WITBOX/Configuration.h
View file

@ -298,6 +298,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

3
Marlin/example_configurations/adafruit/ST7565/Configuration.h
View file

@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

3
Marlin/example_configurations/delta/biv2.5/Configuration.h
View file

@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================

3
Marlin/example_configurations/delta/generic/Configuration.h
View file

@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================

3
Marlin/example_configurations/delta/kossel_mini/Configuration.h
View file

@ -306,6 +306,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================

3
Marlin/example_configurations/delta/kossel_pro/Configuration.h
View file

@ -293,6 +293,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
//===========================================================================
//============================== Delta Settings =============================
//===========================================================================

3
Marlin/example_configurations/makibox/Configuration.h
View file

@ -309,6 +309,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

3
Marlin/example_configurations/tvrrug/Round2/Configuration.h
View file

@ -296,6 +296,9 @@ Here are some standard links for getting your machine calibrated:
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Uncomment this option to enable CoreXZ kinematics
// #define COREXZ
// Enable this option for Toshiba steppers
#define CONFIG_STEPPERS_TOSHIBA

49
Marlin/planner.cpp
View file

@ -541,13 +541,19 @@ 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];
@ -568,13 +574,20 @@ 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;
@ -586,13 +599,20 @@ 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)
@ -676,14 +696,22 @@ 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]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0;
if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
@ -692,11 +720,12 @@ 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

165
Marlin/stepper.cpp
View file

@ -342,34 +342,38 @@ 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;
}
@ -503,6 +507,11 @@ 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
@ -528,8 +537,11 @@ 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))) {
@ -547,82 +559,91 @@ ISR(TIMER1_COMPA_vect) {
UPDATE_ENDSTOP(Y, MAX);
#endif
}
#ifdef COREXY
#if defined(COREXY) || defined(COREXZ)
}
#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
#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
byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
#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
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
byte z_test = TEST_ENDSTOP(Z_MIN) << 0 + TEST_ENDSTOP(Z2_MIN) << 1; // bit 0 for Z, bit 1 for Z2
UPDATE_ENDSTOP(Z, MIN);
#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
#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 // !Z_DUAL_ENDSTOPS
#endif // Z_MAX_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
}
old_endstop_bits = current_endstop_bits;
}