CoreYX/YZ/ZX needs different endstop logic than CoreXY/YZ/XZ
In the endstop testing section, add the "reverse" logic in addition to "normal" core handling. In CoreXY/YZ/XZ steppers rotating the same direction gives X movement. Opposing directions produces Y movement. In CoreYX/ZY/ZX this is reversed. Same = Y, Opposite = X. ---- Fixes the issue where the Y endstop was being checked when moving in the X direction, etc.
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@ -226,10 +226,10 @@ script:
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- opt_enable COREXY
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- build_marlin
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#
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# Enable COREXZ
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# Enable COREYX (swapped)
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#
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- restore_configs
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- opt_enable COREXZ
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- opt_enable COREYX
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- build_marlin
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#
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# Enable Z_DUAL_STEPPER_DRIVERS, Z_DUAL_ENDSTOPS
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@ -274,16 +274,23 @@ void Endstops::update() {
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#if CORE_IS_XY || CORE_IS_XZ
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// Head direction in -X axis for CoreXY and CoreXZ bots.
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// If DeltaA == -DeltaB, the movement is only in Y or Z axis
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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) == stepper.motor_direction(CORE_AXIS_2))) {
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if (stepper.motor_direction(X_HEAD))
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// If DeltaA == -DeltaB, the movement is only in only one axis
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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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#define CORE_X_CMP ==
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#define CORE_X_NOT
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#endif
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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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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 == -1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == -1))
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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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#endif
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{
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#if HAS_X_MIN
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@ -294,7 +301,7 @@ 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 == 1) || (stepper.current_block->active_extruder != 0 && X2_HOME_DIR == 1))
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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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#endif
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{
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#if HAS_X_MAX
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@ -306,11 +313,20 @@ void Endstops::update() {
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}
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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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#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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#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 DeltaA == DeltaB, the movement is only in X or Y axis
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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) != stepper.motor_direction(CORE_AXIS_2))) {
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if (stepper.motor_direction(Y_HEAD))
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// If DeltaA == DeltaB, the movement is in only one axis
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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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#else
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if (stepper.motor_direction(Y_AXIS)) // -direction
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#endif
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@ -330,9 +346,9 @@ void Endstops::update() {
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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 DeltaA == DeltaB, the movement is only in X or Y axis
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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) != stepper.motor_direction(CORE_AXIS_2))) {
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if (stepper.motor_direction(Z_HEAD))
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// If DeltaA == DeltaB, the movement is in only one axis
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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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#else
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if (stepper.motor_direction(Z_AXIS))
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#endif
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