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G34 Auto-align multi-stepper Z axis (#11302)

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This commit is contained in:
TheLongAndOnly
2018-10-29 20:01:36 +01:00
committed by Scott Lahteine
parent f9b80e7217
commit 5536228359
72 changed files with 1434 additions and 29 deletions
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22
Marlin/src/module/stepper.cpp
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@@ -115,7 +115,7 @@ Stepper stepper; // Singleton
// public:
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
bool Stepper::separate_multi_axis = false;
#endif
@@ -142,10 +142,10 @@ bool Stepper::abort_current_block;
#if ENABLED(Y_DUAL_ENDSTOPS)
bool Stepper::locked_Y_motor = false, Stepper::locked_Y2_motor = false;
#endif
#if Z_MULTI_ENDSTOPS
#if Z_MULTI_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
bool Stepper::locked_Z_motor = false, Stepper::locked_Z2_motor = false;
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#if ENABLED(Z_TRIPLE_ENDSTOPS) || (ENABLED(Z_STEPPER_AUTO_ALIGN) && ENABLED(Z_TRIPLE_STEPPER_DRIVERS))
bool Stepper::locked_Z3_motor = false;
#endif
@@ -211,7 +211,7 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ];
volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (A##_HOME_DIR < 0) { \
if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
@@ -227,7 +227,17 @@ int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
A##2_STEP_WRITE(V); \
}
#define TRIPLE_ENDSTOP_APPLY_STEP(A,V) \
#define DUAL_SEPARATE_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (!locked_##A##_motor) A##_STEP_WRITE(V); \
if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
}
#define TRIPLE_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (A##_HOME_DIR < 0) { \
if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
@@ -298,6 +308,8 @@ int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
#define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }while(0)
#if ENABLED(Z_DUAL_ENDSTOPS)
#define Z_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Z,v)
#elif ENABLED(Z_STEPPER_AUTO_ALIGN)
#define Z_APPLY_STEP(v,Q) DUAL_SEPARATE_APPLY_STEP(Z,v)
#else
#define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }while(0)
#endif