From 80ebb16314dd88f8bd0d6c57d23d81dc49c369a7 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 12 May 2020 04:25:39 -0500 Subject: [PATCH 1/2] CoreXY sensorless homing --- Marlin/src/inc/Conditionals_post.h | 9 ++++++ Marlin/src/module/endstops.cpp | 46 ++++++++++++++++++++++++++-- buildroot/share/tests/teensy35-tests | 5 +-- 3 files changed, 56 insertions(+), 4 deletions(-) diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index 7d5cb060b99d..70601c3158ae 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -1587,6 +1587,15 @@ #if _HAS_STOP(Z,MAX) #define HAS_Z_MAX 1 #endif +#if _HAS_STOP(X,STOP) + #define HAS_X_STOP 1 +#endif +#if _HAS_STOP(Y,STOP) + #define HAS_Y_STOP 1 +#endif +#if _HAS_STOP(Z,STOP) + #define HAS_Z_STOP 1 +#endif #if PIN_EXISTS(X2_MIN) #define HAS_X2_MIN 1 #endif diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp index 092043b59c5e..332fa5748c4b 100644 --- a/Marlin/src/module/endstops.cpp +++ b/Marlin/src/module/endstops.cpp @@ -674,6 +674,14 @@ void Endstops::update() { } \ }while(0) + // Trigger based on a second CORE endstop + #define PROCESS_CORE_ENDSTOP(ES, MM1, HS, MM2) do { \ + if (TEST_ENDSTOP(_ENDSTOP(ES, MM1))) { \ + _ENDSTOP_HIT(HS, MM2); \ + planner.endstop_triggered(_AXIS(HS)); \ + } \ + }while(0) + // Call the endstop triggered routine for dual endstops #define PROCESS_DUAL_ENDSTOP(A, MINMAX) do { \ const byte dual_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1); \ @@ -742,16 +750,27 @@ void Endstops::update() { } #endif - // Now, we must signal, after validation, if an endstop limit is pressed or not + // Signal, after validation, if an endstop limit is pressed or not + if (stepper.axis_is_moving(X_AXIS)) { if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction #if HAS_X_MIN || (X_SPI_SENSORLESS && X_HOME_DIR < 0) PROCESS_ENDSTOP_X(MIN); + #if ALL(HAS_Y_STOP, CORE_IS_XY, X_SPI_SENSORLESS, Y_SPI_SENSORLESS) + PROCESS_CORE_ENDSTOP(Y, TERN(HAS_Y_MIN,MIN,MAX), X, MIN); + #elif ALL(HAS_Z_STOP, CORE_IS_XZ, X_SPI_SENSORLESS, Z_SPI_SENSORLESS) + PROCESS_CORE_ENDSTOP(Z, TERN(HAS_Z_MIN,MIN,MAX), X, MIN); + #endif #endif } else { // +direction #if HAS_X_MAX || (X_SPI_SENSORLESS && X_HOME_DIR > 0) PROCESS_ENDSTOP_X(MAX); + #if ALL(HAS_Y_STOP, CORE_IS_XY, X_SPI_SENSORLESS, Y_SPI_SENSORLESS) + PROCESS_CORE_ENDSTOP(Y, TERN(HAS_Y_MIN,MIN,MAX), X, MAX); + #elif ALL(HAS_Z_STOP, CORE_IS_XZ, X_SPI_SENSORLESS, Z_SPI_SENSORLESS) + PROCESS_CORE_ENDSTOP(Z, TERN(HAS_Z_MIN,MIN,MAX), X, MAX); + #endif #endif } } @@ -760,22 +779,40 @@ void Endstops::update() { if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction #if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_DIR < 0) PROCESS_ENDSTOP_Y(MIN); + #if ALL(HAS_X_STOP, CORE_IS_XY, X_SPI_SENSORLESS, Y_SPI_SENSORLESS) + PROCESS_CORE_ENDSTOP(X, TERN(HAS_X_MIN,MIN,MAX), Y, MIN); + #elif ALL(HAS_Z_STOP, CORE_IS_YZ, Y_SPI_SENSORLESS, Z_SPI_SENSORLESS) + PROCESS_CORE_ENDSTOP(Z, TERN(HAS_Z_MIN,MIN,MAX), Y, MIN); + #endif #endif } else { // +direction #if HAS_Y_MAX || (Y_SPI_SENSORLESS && Y_HOME_DIR > 0) PROCESS_ENDSTOP_Y(MAX); + #if ALL(HAS_X_STOP, CORE_IS_XY, X_SPI_SENSORLESS, Y_SPI_SENSORLESS) + PROCESS_CORE_ENDSTOP(X, TERN(HAS_X_MIN,MIN,MAX), Y, MAX); + #elif ALL(HAS_Z_STOP, CORE_IS_YZ, Y_SPI_SENSORLESS, Z_SPI_SENSORLESS) + PROCESS_CORE_ENDSTOP(Z, TERN(HAS_Z_MIN,MIN,MAX), Y, MAX); + #endif #endif } } if (stepper.axis_is_moving(Z_AXIS)) { + bool cond_z = false; if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up. #if HAS_Z_MIN || (Z_SPI_SENSORLESS && Z_HOME_DIR < 0) if ( TERN1(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, z_probe_enabled) && TERN1(HAS_CUSTOM_PROBE_PIN, !z_probe_enabled) - ) PROCESS_ENDSTOP_Z(MIN); + ) { + PROCESS_ENDSTOP_Z(MIN); + #if ALL(HAS_X_STOP, CORE_IS_XZ, X_SPI_SENSORLESS, Z_SPI_SENSORLESS) + PROCESS_CORE_ENDSTOP(X, TERN(HAS_X_MIN,MIN,MAX), Z, MIN); + #elif ALL(HAS_Y_STOP, CORE_IS_YZ, Y_SPI_SENSORLESS, Z_SPI_SENSORLESS) + PROCESS_CORE_ENDSTOP(Y, TERN(HAS_Y_MIN,MIN,MAX), Z, MIN); + #endif + } #endif // When closing the gap check the enabled probe @@ -789,6 +826,11 @@ void Endstops::update() { PROCESS_ENDSTOP_Z(MAX); #elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN // No probe or probe is Z_MIN || Probe is not Z_MAX PROCESS_ENDSTOP(Z, MAX); + #if ALL(HAS_X_STOP, CORE_IS_XZ, X_SPI_SENSORLESS, Z_SPI_SENSORLESS) + PROCESS_CORE_ENDSTOP(X, TERN(HAS_X_MIN,MIN,MAX), Z, MAX); + #elif ALL(HAS_Y_STOP, CORE_IS_YZ, Y_SPI_SENSORLESS, Z_SPI_SENSORLESS) + PROCESS_CORE_ENDSTOP(Y, TERN(HAS_Y_MIN,MIN,MAX), Z, MAX); + #endif #endif #endif } diff --git a/buildroot/share/tests/teensy35-tests b/buildroot/share/tests/teensy35-tests index f2a098e7cd1c..6ea8bd3c1c40 100755 --- a/buildroot/share/tests/teensy35-tests +++ b/buildroot/share/tests/teensy35-tests @@ -83,13 +83,14 @@ exec_test $1 $2 "Mixing Extruder" # opt_set NUM_SERVOS 1 # opt_enable SWITCHING_EXTRUDER ULTIMAKERCONTROLLER # exec_test $1 $2 "SWITCHING_EXTRUDER" + # # Enable COREXY # restore_configs opt_set MOTHERBOARD BOARD_TEENSY35_36 opt_enable COREXY -exec_test $1 $2 "COREXY" +exec_test $1 $2 "Teensy 3.5/3.6 COREXY" # # Enable COREXZ @@ -97,7 +98,7 @@ exec_test $1 $2 "COREXY" restore_configs opt_set MOTHERBOARD BOARD_TEENSY35_36 opt_enable COREXZ -exec_test $1 $2 "COREXZ" +exec_test $1 $2 "Teensy 3.5/3.6 COREXZ" # # Enable Dual Z with Dual Z endstops From 251ccb95172e1ddce2676d5a21197f022011ba2a Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 12 May 2020 04:54:57 -0500 Subject: [PATCH 2/2] Cleaner solution --- Marlin/src/module/endstops.cpp | 67 +++++++++++----------------------- 1 file changed, 22 insertions(+), 45 deletions(-) diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp index 332fa5748c4b..5cfd7771a0cb 100644 --- a/Marlin/src/module/endstops.cpp +++ b/Marlin/src/module/endstops.cpp @@ -674,14 +674,6 @@ void Endstops::update() { } \ }while(0) - // Trigger based on a second CORE endstop - #define PROCESS_CORE_ENDSTOP(ES, MM1, HS, MM2) do { \ - if (TEST_ENDSTOP(_ENDSTOP(ES, MM1))) { \ - _ENDSTOP_HIT(HS, MM2); \ - planner.endstop_triggered(_AXIS(HS)); \ - } \ - }while(0) - // Call the endstop triggered routine for dual endstops #define PROCESS_DUAL_ENDSTOP(A, MINMAX) do { \ const byte dual_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1); \ @@ -756,21 +748,11 @@ void Endstops::update() { if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction #if HAS_X_MIN || (X_SPI_SENSORLESS && X_HOME_DIR < 0) PROCESS_ENDSTOP_X(MIN); - #if ALL(HAS_Y_STOP, CORE_IS_XY, X_SPI_SENSORLESS, Y_SPI_SENSORLESS) - PROCESS_CORE_ENDSTOP(Y, TERN(HAS_Y_MIN,MIN,MAX), X, MIN); - #elif ALL(HAS_Z_STOP, CORE_IS_XZ, X_SPI_SENSORLESS, Z_SPI_SENSORLESS) - PROCESS_CORE_ENDSTOP(Z, TERN(HAS_Z_MIN,MIN,MAX), X, MIN); - #endif #endif } else { // +direction #if HAS_X_MAX || (X_SPI_SENSORLESS && X_HOME_DIR > 0) PROCESS_ENDSTOP_X(MAX); - #if ALL(HAS_Y_STOP, CORE_IS_XY, X_SPI_SENSORLESS, Y_SPI_SENSORLESS) - PROCESS_CORE_ENDSTOP(Y, TERN(HAS_Y_MIN,MIN,MAX), X, MAX); - #elif ALL(HAS_Z_STOP, CORE_IS_XZ, X_SPI_SENSORLESS, Z_SPI_SENSORLESS) - PROCESS_CORE_ENDSTOP(Z, TERN(HAS_Z_MIN,MIN,MAX), X, MAX); - #endif #endif } } @@ -779,40 +761,22 @@ void Endstops::update() { if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction #if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_DIR < 0) PROCESS_ENDSTOP_Y(MIN); - #if ALL(HAS_X_STOP, CORE_IS_XY, X_SPI_SENSORLESS, Y_SPI_SENSORLESS) - PROCESS_CORE_ENDSTOP(X, TERN(HAS_X_MIN,MIN,MAX), Y, MIN); - #elif ALL(HAS_Z_STOP, CORE_IS_YZ, Y_SPI_SENSORLESS, Z_SPI_SENSORLESS) - PROCESS_CORE_ENDSTOP(Z, TERN(HAS_Z_MIN,MIN,MAX), Y, MIN); - #endif #endif } else { // +direction #if HAS_Y_MAX || (Y_SPI_SENSORLESS && Y_HOME_DIR > 0) PROCESS_ENDSTOP_Y(MAX); - #if ALL(HAS_X_STOP, CORE_IS_XY, X_SPI_SENSORLESS, Y_SPI_SENSORLESS) - PROCESS_CORE_ENDSTOP(X, TERN(HAS_X_MIN,MIN,MAX), Y, MAX); - #elif ALL(HAS_Z_STOP, CORE_IS_YZ, Y_SPI_SENSORLESS, Z_SPI_SENSORLESS) - PROCESS_CORE_ENDSTOP(Z, TERN(HAS_Z_MIN,MIN,MAX), Y, MAX); - #endif #endif } } if (stepper.axis_is_moving(Z_AXIS)) { - bool cond_z = false; if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up. #if HAS_Z_MIN || (Z_SPI_SENSORLESS && Z_HOME_DIR < 0) if ( TERN1(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, z_probe_enabled) && TERN1(HAS_CUSTOM_PROBE_PIN, !z_probe_enabled) - ) { - PROCESS_ENDSTOP_Z(MIN); - #if ALL(HAS_X_STOP, CORE_IS_XZ, X_SPI_SENSORLESS, Z_SPI_SENSORLESS) - PROCESS_CORE_ENDSTOP(X, TERN(HAS_X_MIN,MIN,MAX), Z, MIN); - #elif ALL(HAS_Y_STOP, CORE_IS_YZ, Y_SPI_SENSORLESS, Z_SPI_SENSORLESS) - PROCESS_CORE_ENDSTOP(Y, TERN(HAS_Y_MIN,MIN,MAX), Z, MIN); - #endif - } + ) PROCESS_ENDSTOP_Z(MIN); #endif // When closing the gap check the enabled probe @@ -826,11 +790,6 @@ void Endstops::update() { PROCESS_ENDSTOP_Z(MAX); #elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN // No probe or probe is Z_MIN || Probe is not Z_MAX PROCESS_ENDSTOP(Z, MAX); - #if ALL(HAS_X_STOP, CORE_IS_XZ, X_SPI_SENSORLESS, Z_SPI_SENSORLESS) - PROCESS_CORE_ENDSTOP(X, TERN(HAS_X_MIN,MIN,MAX), Z, MAX); - #elif ALL(HAS_Y_STOP, CORE_IS_YZ, Y_SPI_SENSORLESS, Z_SPI_SENSORLESS) - PROCESS_CORE_ENDSTOP(Y, TERN(HAS_Y_MIN,MIN,MAX), Z, MAX); - #endif #endif #endif } @@ -846,19 +805,37 @@ void Endstops::update() { bool Endstops::tmc_spi_homing_check() { bool hit = false; #if X_SPI_SENSORLESS - if (tmc_spi_homing.x && stepperX.test_stall_status()) { + if (tmc_spi_homing.x && (stepperX.test_stall_status() + #if CORE_IS_XY && Y_SPI_SENSORLESS + || stepperY.test_stall_status() + #elif CORE_IS_XZ && Z_SPI_SENSORLESS + || stepperZ.test_stall_status() + #endif + )) { SBI(live_state, X_STOP); hit = true; } #endif #if Y_SPI_SENSORLESS - if (tmc_spi_homing.y && stepperY.test_stall_status()) { + if (tmc_spi_homing.y && (stepperY.test_stall_status() + #if CORE_IS_XY && X_SPI_SENSORLESS + || stepperX.test_stall_status() + #elif CORE_IS_YZ && Z_SPI_SENSORLESS + || stepperZ.test_stall_status() + #endif + )) { SBI(live_state, Y_STOP); hit = true; } #endif #if Z_SPI_SENSORLESS - if (tmc_spi_homing.z && stepperZ.test_stall_status()) { + if (tmc_spi_homing.z && (stepperZ.test_stall_status() + #if CORE_IS_XZ && X_SPI_SENSORLESS + || stepperX.test_stall_status() + #elif CORE_IS_YZ && Y_SPI_SENSORLESS + || stepperY.test_stall_status() + #endif + )) { SBI(live_state, Z_STOP); hit = true; }