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Merge pull request #3806 from thinkyhead/rc_coreyz_support

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Support for COREYZ. Fixes for COREXY, COREXZ
This commit is contained in:
Scott Lahteine 2016-05-26 18:50:43 -07:00
commit fe3122774a
26 changed files with 133 additions and 108 deletions
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10
Marlin/Conditionals.h
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@ -315,11 +315,17 @@
* CoreXY and CoreXZ
*/
#if ENABLED(COREXY)
#define CORE_AXIS_1 A_AXIS // XY from A + B
#define CORE_AXIS_2 B_AXIS
#define CORE_AXIS_3 Z_AXIS
#define NORMAL_AXIS Z_AXIS
#elif ENABLED(COREXZ)
#define CORE_AXIS_1 A_AXIS // XZ from A + C
#define CORE_AXIS_2 C_AXIS
#define CORE_AXIS_3 Y_AXIS
#define NORMAL_AXIS Y_AXIS
#elif ENABLED(COREYZ)
#define CORE_AXIS_1 B_AXIS // YZ from B + C
#define CORE_AXIS_2 C_AXIS
#define NORMAL_AXIS X_AXIS
#endif
/**

5
Marlin/Configuration.h
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@ -345,11 +345,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

10
Marlin/SanityCheck.h
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@ -389,6 +389,16 @@
#endif
/**
* Don't set more than one kinematic type
*/
#if (ENABLED(DELTA) && (ENABLED(SCARA) || ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ))) \
|| (ENABLED(SCARA) && (ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ))) \
|| (ENABLED(COREXY) && (ENABLED(COREXZ) || ENABLED(COREYZ))) \
|| (ENABLED(COREXZ) && ENABLED(COREYZ))
#error "Please enable only one of DELTA, SCARA, COREXY, COREXZ, or COREYZ."
#endif
/**
* Allen Key Z probe requires Auto Bed Leveling grid and Delta
*/

22
Marlin/endstops.cpp
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@ -239,8 +239,8 @@ void Endstops::update() {
#if ENABLED(COREXY) || ENABLED(COREXZ)
// Head direction in -X axis for CoreXY and CoreXZ bots.
// If Delta1 == -Delta2, the movement is only in Y or Z axis
if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[CORE_AXIS_2]) || (stepper.motor_direction(A_AXIS) == stepper.motor_direction(CORE_AXIS_2))) {
// If DeltaA == -DeltaB, the movement is only in Y or Z axis
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))) {
if (stepper.motor_direction(X_HEAD))
#else
if (stepper.motor_direction(X_AXIS)) // stepping along -X axis (regular Cartesian bot)
@ -271,10 +271,10 @@ void Endstops::update() {
}
#endif
#if ENABLED(COREXY)
// Head direction in -Y axis for CoreXY bots.
// If DeltaX == DeltaY, the movement is only in X axis
if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[B_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(B_AXIS))) {
#if ENABLED(COREXY) || ENABLED(COREYZ)
// Head direction in -Y axis for CoreXY / CoreYZ bots.
// If DeltaA == DeltaB, the movement is only in X or Y axis
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))) {
if (stepper.motor_direction(Y_HEAD))
#else
if (stepper.motor_direction(Y_AXIS)) // -direction
@ -289,14 +289,14 @@ void Endstops::update() {
UPDATE_ENDSTOP(Y, MAX);
#endif
}
#if ENABLED(COREXY)
#if ENABLED(COREXY) || ENABLED(COREYZ)
}
#endif
#if ENABLED(COREXZ)
// Head direction in -Z axis for CoreXZ bots.
// If DeltaX == DeltaZ, the movement is only in X axis
if ((stepper.current_block->steps[A_AXIS] != stepper.current_block->steps[C_AXIS]) || (stepper.motor_direction(A_AXIS) != stepper.motor_direction(C_AXIS))) {
#if ENABLED(COREXZ) || ENABLED(COREYZ)
// Head direction in -Z axis for CoreXZ or CoreYZ bots.
// If DeltaA == DeltaB, the movement is only in X or Y axis
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))) {
if (stepper.motor_direction(Z_HEAD))
#else
if (stepper.motor_direction(Z_AXIS))

5
Marlin/example_configurations/Felix/Configuration.h
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@ -327,11 +327,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

5
Marlin/example_configurations/Felix/DUAL/Configuration.h
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@ -325,11 +325,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

5
Marlin/example_configurations/Hephestos/Configuration.h
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@ -337,11 +337,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

5
Marlin/example_configurations/Hephestos_2/Configuration.h
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@ -339,11 +339,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

5
Marlin/example_configurations/K8200/Configuration.h
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@ -362,11 +362,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

5
Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
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@ -345,11 +345,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

5
Marlin/example_configurations/RigidBot/Configuration.h
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@ -339,11 +339,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

5
Marlin/example_configurations/SCARA/Configuration.h
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@ -353,11 +353,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

5
Marlin/example_configurations/TAZ4/Configuration.h
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@ -366,11 +366,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

5
Marlin/example_configurations/WITBOX/Configuration.h
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@ -337,11 +337,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

5
Marlin/example_configurations/adafruit/ST7565/Configuration.h
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@ -345,11 +345,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

5
Marlin/example_configurations/delta/biv2.5/Configuration.h
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@ -345,11 +345,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
//===========================================================================
//============================== Delta Settings =============================

5
Marlin/example_configurations/delta/generic/Configuration.h
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@ -345,11 +345,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
//===========================================================================
//============================== Delta Settings =============================

5
Marlin/example_configurations/delta/kossel_mini/Configuration.h
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@ -345,11 +345,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
//===========================================================================
//============================== Delta Settings =============================

5
Marlin/example_configurations/delta/kossel_pro/Configuration.h
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@ -334,11 +334,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
//===========================================================================
//============================== Delta Settings =============================

5
Marlin/example_configurations/delta/kossel_xl/Configuration.h
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@ -343,11 +343,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
//===========================================================================
//============================== Delta Settings =============================

5
Marlin/example_configurations/makibox/Configuration.h
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@ -348,11 +348,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
//#define CONFIG_STEPPERS_TOSHIBA

5
Marlin/example_configurations/tvrrug/Round2/Configuration.h
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@ -335,11 +335,10 @@
// @section machine
// Uncomment this option to enable CoreXY kinematics
// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
//#define COREXY
// Uncomment this option to enable CoreXZ kinematics
//#define COREXZ
//#define COREYZ
// Enable this option for Toshiba steppers
#define CONFIG_STEPPERS_TOSHIBA

26
Marlin/planner.cpp
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@ -543,6 +543,11 @@ void Planner::check_axes_activity() {
block->steps[A_AXIS] = labs(dx + dz);
block->steps[Y_AXIS] = labs(dy);
block->steps[C_AXIS] = labs(dx - dz);
#elif ENABLED(COREYZ)
// coreyz planning
block->steps[X_AXIS] = labs(dx);
block->steps[B_AXIS] = labs(dy + dz);
block->steps[C_AXIS] = labs(dy - dz);
#else
// default non-h-bot planning
block->steps[X_AXIS] = labs(dx);
@ -581,7 +586,13 @@ void Planner::check_axes_activity() {
if (dy < 0) SBI(db, Y_AXIS);
if (dz < 0) SBI(db, Z_HEAD); // ...and Z
if (dx + dz < 0) SBI(db, A_AXIS); // Motor A direction
if (dx - dz < 0) SBI(db, C_AXIS); // Motor B direction
if (dx - dz < 0) SBI(db, C_AXIS); // Motor C direction
#elif ENABLED(COREYZ)
if (dx < 0) SBI(db, X_AXIS);
if (dy < 0) SBI(db, Y_HEAD); // Save the real Extruder (head) direction in Y Axis
if (dz < 0) SBI(db, Z_HEAD); // ...and Z
if (dy + dz < 0) SBI(db, B_AXIS); // Motor B direction
if (dy - dz < 0) SBI(db, C_AXIS); // Motor C direction
#else
if (dx < 0) SBI(db, X_AXIS);
if (dy < 0) SBI(db, Y_AXIS);
@ -698,20 +709,27 @@ void Planner::check_axes_activity() {
* So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
* Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
*/
#if ENABLED(COREXY)
#if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
float delta_mm[6];
#if ENABLED(COREXY)
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 ENABLED(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];
#elif ENABLED(COREYZ)
delta_mm[X_AXIS] = dx / axis_steps_per_unit[A_AXIS];
delta_mm[Y_HEAD] = dy / axis_steps_per_unit[Y_AXIS];
delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS];
delta_mm[B_AXIS] = (dy + dz) / axis_steps_per_unit[B_AXIS];
delta_mm[C_AXIS] = (dy - dz) / axis_steps_per_unit[C_AXIS];
#endif
#else
float delta_mm[4];
delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
@ -729,6 +747,8 @@ void Planner::check_axes_activity() {
square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS])
#elif ENABLED(COREXZ)
square(delta_mm[X_HEAD]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_HEAD])
#elif ENABLED(COREYZ)
square(delta_mm[X_AXIS]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_HEAD])
#else
square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])
#endif

2
Marlin/planner.h
View File

@ -204,7 +204,7 @@ class Planner {
* Used by G92, G28, G29, and other procedures.
*
* Multiplies by axis_steps_per_unit[] and does necessary conversion
* for COREXY / COREXZ to set the corresponding stepper positions.
* for COREXY / COREXZ / COREYZ to set the corresponding stepper positions.
*
* Clears previous speed values.
*/

33
Marlin/stepper.cpp
View File

@ -204,8 +204,9 @@ void Stepper::wake_up() {
/**
* 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
* COREXY: X_AXIS=A_AXIS and Y_AXIS=B_AXIS
* COREXZ: X_AXIS=A_AXIS and Z_AXIS=C_AXIS
* COREYZ: Y_AXIS=B_AXIS and Z_AXIS=C_AXIS
*/
void Stepper::set_directions() {
@ -649,6 +650,11 @@ void Stepper::set_position(const long& x, const long& y, const long& z, const lo
count_position[A_AXIS] = x + z;
count_position[Y_AXIS] = y;
count_position[C_AXIS] = x - z;
#elif ENABLED(COREYZ)
// coreyz planning
count_position[X_AXIS] = x;
count_position[B_AXIS] = y + z;
count_position[C_AXIS] = y - z;
#else
// default non-h-bot planning
count_position[X_AXIS] = x;
@ -682,15 +688,16 @@ long Stepper::position(AxisEnum axis) {
*/
float Stepper::get_axis_position_mm(AxisEnum axis) {
float axis_steps;
#if ENABLED(COREXY) | ENABLED(COREXZ)
if (axis == X_AXIS || axis == CORE_AXIS_2) {
#if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
// Requesting one of the "core" axes?
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
CRITICAL_SECTION_START;
long pos1 = count_position[A_AXIS],
long pos1 = count_position[CORE_AXIS_1],
pos2 = count_position[CORE_AXIS_2];
CRITICAL_SECTION_END;
// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
axis_steps = (pos1 + ((axis == X_AXIS) ? pos2 : -pos2)) / 2.0f;
axis_steps = (pos1 + ((axis == CORE_AXIS_1) ? pos2 : -pos2)) / 2.0f;
}
else
axis_steps = position(axis);
@ -715,20 +722,20 @@ void Stepper::quick_stop() {
void Stepper::endstop_triggered(AxisEnum axis) {
#if ENABLED(COREXY) || ENABLED(COREXZ)
#if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
float axis_pos = count_position[axis];
if (axis == A_AXIS)
if (axis == CORE_AXIS_1)
axis_pos = (axis_pos + count_position[CORE_AXIS_2]) / 2;
else if (axis == CORE_AXIS_2)
axis_pos = (count_position[A_AXIS] - axis_pos) / 2;
axis_pos = (count_position[CORE_AXIS_1] - axis_pos) / 2;
endstops_trigsteps[axis] = axis_pos;
#else // !COREXY && !COREXZ
#else // !COREXY && !COREXZ && !COREYZ
endstops_trigsteps[axis] = count_position[axis];
#endif // !COREXY && !COREXZ
#endif // !COREXY && !COREXZ && !COREYZ
kill_current_block();
}
@ -747,14 +754,14 @@ void Stepper::report_positions() {
#endif
SERIAL_PROTOCOL(xpos);
#if ENABLED(COREXY) || ENABLED(COREXZ)
#if ENABLED(COREXY) || ENABLED(COREYZ)
SERIAL_PROTOCOLPGM(" B:");
#else
SERIAL_PROTOCOLPGM(" Y:");
#endif
SERIAL_PROTOCOL(ypos);
#if ENABLED(COREXZ) || ENABLED(COREXZ)
#if ENABLED(COREXZ) || ENABLED(COREYZ)
SERIAL_PROTOCOLPGM(" C:");
#else
SERIAL_PROTOCOLPGM(" Z:");

21
Marlin/temperature.h
View File

@ -306,24 +306,25 @@ class Temperature {
#if ENABLED(BABYSTEPPING)
FORCE_INLINE void babystep_axis(AxisEnum axis, int distance) {
#if ENABLED(COREXY) || ENABLED(COREXZ)
#if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
#if ENABLED(BABYSTEP_XY)
switch (axis) {
case X_AXIS: // X on CoreXY and CoreXZ
babystepsTodo[A_AXIS] += distance * 2;
case CORE_AXIS_1: // X on CoreXY and CoreXZ, Y on CoreYZ
babystepsTodo[CORE_AXIS_1] += distance * 2;
babystepsTodo[CORE_AXIS_2] += distance * 2;
break;
case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ
babystepsTodo[A_AXIS] += distance * 2;
case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ and CoreYZ
babystepsTodo[CORE_AXIS_1] += distance * 2;
babystepsTodo[CORE_AXIS_2] -= distance * 2;
break;
case CORE_AXIS_3: // Z on CoreXY, Y on CoreXZ
babystepsTodo[CORE_AXIS_3] += distance;
case NORMAL_AXIS: // Z on CoreXY, Y on CoreXZ, X on CoreYZ
babystepsTodo[NORMAL_AXIS] += distance;
break;
}
#elif ENABLED(COREXZ)
babystepsTodo[A_AXIS] += distance * 2;
babystepsTodo[C_AXIS] -= distance * 2;
#elif ENABLED(COREXZ) || ENABLED(COREYZ)
// Only Z stepping needs to be handled here
babystepsTodo[CORE_AXIS_1] += distance * 2;
babystepsTodo[CORE_AXIS_2] -= distance * 2;
#else
babystepsTodo[Z_AXIS] += distance;
#endif