Moved corexy implementation from stepper to planner
(Thanks iquizzle)
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@ -238,6 +238,11 @@ const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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//#define DISABLE_MAX_ENDSTOPS
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// Disable max endstops for compatibility with endstop checking routine
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#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
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#define DISABLE_MAX_ENDSTOPS
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#endif
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// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
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#define X_ENABLE_ON 0
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#define Y_ENABLE_ON 0
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@ -564,8 +564,16 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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block->busy = false;
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// Number of steps for each axis
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block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
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block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
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#ifndef COREXY
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// default non-h-bot planning
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block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
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block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
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#else
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// corexy planning
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// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
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block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
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block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
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#endif
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block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
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block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
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block->steps_e *= extrudemultiply;
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@ -586,6 +594,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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// Compute direction bits for this block
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block->direction_bits = 0;
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#ifndef COREXY
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if (target[X_AXIS] < position[X_AXIS])
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{
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block->direction_bits |= (1<<X_AXIS);
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@ -594,6 +603,16 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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{
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block->direction_bits |= (1<<Y_AXIS);
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}
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#else
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if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
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{
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block->direction_bits |= (1<<X_AXIS);
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}
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if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
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{
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block->direction_bits |= (1<<Y_AXIS);
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}
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#endif
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if (target[Z_AXIS] < position[Z_AXIS])
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{
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block->direction_bits |= (1<<Z_AXIS);
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@ -638,8 +657,13 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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}
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float delta_mm[4];
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delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
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delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
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#ifndef COREXY
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delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
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delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
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#else
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delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
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delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
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#endif
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delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
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delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
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if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
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@ -345,12 +345,31 @@ ISR(TIMER1_COMPA_vect)
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// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
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out_bits = current_block->direction_bits;
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// Set direction en check limit switches
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if ((out_bits & (1<<X_AXIS)) != 0) { // stepping along -X axis
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#if !defined COREXY //NOT COREXY
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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#endif
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// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
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if((out_bits & (1<<X_AXIS))!=0){
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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count_direction[X_AXIS]=-1;
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}
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else{
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WRITE(X_DIR_PIN, !INVERT_X_DIR);
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count_direction[X_AXIS]=1;
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}
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if((out_bits & (1<<Y_AXIS))!=0){
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WRITE(Y_DIR_PIN, INVERT_Y_DIR);
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count_direction[Y_AXIS]=-1;
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}
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else{
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WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
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count_direction[Y_AXIS]=1;
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}
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// Set direction en check limit switches
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#ifndef COREXY
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if ((out_bits & (1<<X_AXIS)) != 0) { // stepping along -X axis
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#else
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if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) != 0)) { //-X occurs for -A and -B
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#endif
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CHECK_ENDSTOPS
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{
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#if defined(X_MIN_PIN) && X_MIN_PIN > -1
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@ -365,11 +384,6 @@ ISR(TIMER1_COMPA_vect)
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}
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}
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else { // +direction
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#if !defined COREXY //NOT COREXY
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WRITE(X_DIR_PIN,!INVERT_X_DIR);
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#endif
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count_direction[X_AXIS]=1;
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CHECK_ENDSTOPS
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{
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#if defined(X_MAX_PIN) && X_MAX_PIN > -1
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@ -384,11 +398,11 @@ ISR(TIMER1_COMPA_vect)
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}
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}
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#ifndef COREXY
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if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
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#if !defined COREXY //NOT COREXY
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WRITE(Y_DIR_PIN,INVERT_Y_DIR);
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#endif
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count_direction[Y_AXIS]=-1;
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#else
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if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) == 0)) { // -Y occurs for -A and +B
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#endif
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CHECK_ENDSTOPS
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{
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#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
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@ -403,10 +417,6 @@ ISR(TIMER1_COMPA_vect)
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}
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}
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else { // +direction
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#if !defined COREXY //NOT COREXY
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WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
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#endif
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count_direction[Y_AXIS]=1;
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CHECK_ENDSTOPS
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{
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#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
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@ -420,28 +430,7 @@ ISR(TIMER1_COMPA_vect)
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#endif
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}
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}
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#ifdef COREXY //coreXY kinematics defined
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if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) == 0)){ //+X is major axis
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WRITE(X_DIR_PIN, !INVERT_X_DIR);
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WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
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}
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if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) != 0)){ //-X is major axis
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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WRITE(Y_DIR_PIN, INVERT_Y_DIR);
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}
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if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) == 0)){ //+Y is major axis
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WRITE(X_DIR_PIN, !INVERT_X_DIR);
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WRITE(Y_DIR_PIN, INVERT_Y_DIR);
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}
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if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) != 0)){ //-Y is major axis
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
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}
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#endif //coreXY
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if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
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WRITE(Z_DIR_PIN,INVERT_Z_DIR);
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@ -516,7 +505,6 @@ ISR(TIMER1_COMPA_vect)
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}
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#endif //ADVANCE
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#if !defined COREXY
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counter_x += current_block->steps_x;
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if (counter_x > 0) {
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WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
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@ -532,56 +520,7 @@ ISR(TIMER1_COMPA_vect)
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count_position[Y_AXIS]+=count_direction[Y_AXIS];
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WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
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}
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#endif
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#ifdef COREXY
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counter_x += current_block->steps_x;
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counter_y += current_block->steps_y;
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if ((counter_x > 0)&&!(counter_y>0)){ //X step only
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WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
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WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
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counter_x -= current_block->step_event_count;
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count_position[X_AXIS]+=count_direction[X_AXIS];
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WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
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WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
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}
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if (!(counter_x > 0)&&(counter_y>0)){ //Y step only
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WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
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WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
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counter_y -= current_block->step_event_count;
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count_position[Y_AXIS]+=count_direction[Y_AXIS];
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WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
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WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
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}
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if ((counter_x > 0)&&(counter_y>0)){ //step in both axes
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if (((out_bits & (1<<X_AXIS)) == 0)^((out_bits & (1<<Y_AXIS)) == 0)){ //X and Y in different directions
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WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
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counter_x -= current_block->step_event_count;
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WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
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step_wait();
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count_position[X_AXIS]+=count_direction[X_AXIS];
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count_position[Y_AXIS]+=count_direction[Y_AXIS];
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WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
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counter_y -= current_block->step_event_count;
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WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
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}
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else{ //X and Y in same direction
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WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
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counter_x -= current_block->step_event_count;
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WRITE(X_STEP_PIN, INVERT_X_STEP_PIN) ;
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step_wait();
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count_position[X_AXIS]+=count_direction[X_AXIS];
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count_position[Y_AXIS]+=count_direction[Y_AXIS];
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WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
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counter_y -= current_block->step_event_count;
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WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
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}
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}
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#endif //corexy
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counter_z += current_block->steps_z;
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if (counter_z > 0) {
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WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
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