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🐛 Fix Multi-Endstop stepping (#22625)
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@V1EngineeringInc @thinkyhead
V1EngineeringInc authored and thinkyhead committed Sep 13, 2021
1 parent 95f27cf commit 125c5bc
Showing 1 changed file with 61 additions and 48 deletions.
109 changes: 61 additions & 48 deletions Marlin/src/module/stepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -257,86 +257,99 @@ xyze_int8_t Stepper::count_direction{0};
};
#endif

#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (ENABLED(A##_HOME_TO_MIN)) { \
if (TERN0(HAS_##A##_MIN, !(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor)) A##_STEP_WRITE(V); \
if (TERN0(HAS_##A##2_MIN, !(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor)) A##2_STEP_WRITE(V); \
} \
else { \
if (TERN0(HAS_##A##_MAX, !(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor)) A##_STEP_WRITE(V); \
if (TERN0(HAS_##A##2_MAX, !(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor)) A##2_STEP_WRITE(V); \
} \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
#define MINDIR(A) (count_direction[_AXIS(A)] < 0)
#define MAXDIR(A) (count_direction[_AXIS(A)] > 0)

#define STEPTEST(A,M,I) TERN0(HAS_ ##A## ##I## _ ##M, !(TEST(endstops.state(), A## ##I## _ ##M) && M## DIR(A)) && !locked_ ##A## ##I## _motor)

#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (ENABLED(A##_HOME_TO_MIN)) { \
if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
} \
else if (ENABLED(A##_HOME_TO_MAX)) { \
if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
} \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
}

#define DUAL_SEPARATE_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (!locked_##A##_motor) A##_STEP_WRITE(V); \
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 (ENABLED(A##_HOME_TO_MIN)) { \
if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##3_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
} \
else { \
if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##3_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
} \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
#define TRIPLE_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (ENABLED(A##_HOME_TO_MIN)) { \
if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MIN,3)) A##3_STEP_WRITE(V); \
} \
else if (ENABLED(A##_HOME_TO_MAX)) { \
if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MAX,3)) A##3_STEP_WRITE(V); \
} \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
}

#define TRIPLE_SEPARATE_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (!locked_##A##_motor) A##_STEP_WRITE(V); \
if (!locked_##A## _motor) A## _STEP_WRITE(V); \
if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!locked_##A##3_motor) A##3_STEP_WRITE(V); \
} \
else { \
A##_STEP_WRITE(V); \
A## _STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
}

#define QUAD_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (!(TEST(endstops.state(), (TERN(A##_HOME_TO_MIN, A##_MIN, A##_MAX))) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), (TERN(A##_HOME_TO_MIN, A##2_MIN, A##2_MAX))) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.state(), (TERN(A##_HOME_TO_MIN, A##3_MIN, A##3_MAX))) && count_direction[_AXIS(A)] < 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
if (!(TEST(endstops.state(), (TERN(A##_HOME_TO_MIN, A##4_MIN, A##4_MAX))) && count_direction[_AXIS(A)] < 0) && !locked_##A##4_motor) A##4_STEP_WRITE(V); \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
A##4_STEP_WRITE(V); \
#define QUAD_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (ENABLED(A##_HOME_TO_MIN)) { \
if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MIN,3)) A##3_STEP_WRITE(V); \
if (STEPTEST(A,MIN,4)) A##4_STEP_WRITE(V); \
} \
else if (ENABLED(A##_HOME_TO_MAX)) { \
if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MAX,3)) A##3_STEP_WRITE(V); \
if (STEPTEST(A,MAX,4)) A##4_STEP_WRITE(V); \
} \
} \
else { \
A## _STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
A##4_STEP_WRITE(V); \
}

#define QUAD_SEPARATE_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (!locked_##A##_motor) A##_STEP_WRITE(V); \
if (!locked_##A## _motor) A## _STEP_WRITE(V); \
if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!locked_##A##3_motor) A##3_STEP_WRITE(V); \
if (!locked_##A##4_motor) A##4_STEP_WRITE(V); \
} \
else { \
A##_STEP_WRITE(V); \
A## _STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
A##4_STEP_WRITE(V); \
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