COREYZ stepper, planner, endstop, babysteps

Marlin/endstops.cpp

@@ -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))

Marlin/planner.cpp

@@ -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];
-    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];
+    #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)
+      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

Marlin/planner.h

@@ -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.
        */

Marlin/stepper.cpp

@@ -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:");

Marlin/temperature.h

@@ -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
+              case CORE_AXIS_3: // Z on CoreXY, Y on CoreXZ, X on CoreYZ
                 babystepsTodo[CORE_AXIS_3] += 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