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🐛 Fix Multi-Endstop stepping (#22625)

Ryan V1 2 gadus atpakaļ
vecāks
7dec5c2674
revīzija
71c96db932
Revīzijas autora e-pasta adrese nav piesaistīta nevienam kontam
1 mainītis faili ar 61 papildinājumiem un 48 dzēšanām
Dalītais skats Rādīt salīdzināšanas statistiku
  1. 61
    48
      Marlin/src/module/stepper.cpp

+ 61
- 48
Marlin/src/module/stepper.cpp Parādīt failu 

@@ -257,25 +257,30 @@ xyze_int8_t Stepper::count_direction{0};
257 257 
   };
258 258 
 #endif
259 259
260 
-#define DUAL_ENDSTOP_APPLY_STEP(A,V)                                                                                        \
261 
-  if (separate_multi_axis) {                                                                                                \
262 
-    if (ENABLED(A##_HOME_TO_MIN)) {                                                                                         \
263 
-      if (TERN0(HAS_##A##_MIN, !(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor)) A##_STEP_WRITE(V);     \
264 
-      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); \
265 
-    }                                                                                                                       \
266 
-    else {                                                                                                                  \
267 
-      if (TERN0(HAS_##A##_MAX, !(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor)) A##_STEP_WRITE(V);     \
268 
-      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); \
269 
-    }                                                                                                                       \
270 
-  }                                                                                                                         \
271 
-  else {                                                                                                                    \
272 
-    A##_STEP_WRITE(V);                                                                                                      \
273 
-    A##2_STEP_WRITE(V);                                                                                                     \
260 
+#define MINDIR(A) (count_direction[_AXIS(A)] < 0)
261 
+#define MAXDIR(A) (count_direction[_AXIS(A)] > 0)
262 
+
263 
+#define STEPTEST(A,M,I) TERN0(HAS_ ##A## ##I## _ ##M, !(TEST(endstops.state(), A## ##I## _ ##M) && M## DIR(A)) && !locked_ ##A## ##I## _motor)
264 
+
265 
+#define DUAL_ENDSTOP_APPLY_STEP(A,V)             \
266 
+  if (separate_multi_axis) {                     \
267 
+    if (ENABLED(A##_HOME_TO_MIN)) {              \
268 
+      if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
269 
+      if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
270 
+    }                                            \
271 
+    else if (ENABLED(A##_HOME_TO_MAX)) {         \
272 
+      if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
273 
+      if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
274 
+    }                                            \
275 
+  }                                              \
276 
+  else {                                         \
277 
+    A##_STEP_WRITE(V);                           \
278 
+    A##2_STEP_WRITE(V);                          \
274 279 
   }
275 280
276 281 
 #define DUAL_SEPARATE_APPLY_STEP(A,V)             \
277 282 
   if (separate_multi_axis) {                      \
278 
-    if (!locked_##A##_motor) A##_STEP_WRITE(V);   \
283 
+    if (!locked_##A## _motor) A## _STEP_WRITE(V); \
279 284 
     if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
280 285 
   }                                               \
281 286 
   else {                                          \
 
@@ -283,60 +288,68 @@ xyze_int8_t Stepper::count_direction{0};
283 288 
     A##2_STEP_WRITE(V);                           \
284 289 
   }
285 290
286 
-#define TRIPLE_ENDSTOP_APPLY_STEP(A,V)                                                                                      \
287 
-  if (separate_multi_axis) {                                                                                                \
288 
-    if (ENABLED(A##_HOME_TO_MIN)) {                                                                                         \
289 
-      if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V);    \
290 
-      if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
291 
-      if (!(TEST(endstops.state(), A##3_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
292 
-    }                                                                                                                       \
293 
-    else {                                                                                                                  \
294 
-      if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V);    \
295 
-      if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
296 
-      if (!(TEST(endstops.state(), A##3_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
297 
-    }                                                                                                                       \
298 
-  }                                                                                                                         \
299 
-  else {                                                                                                                    \
300 
-    A##_STEP_WRITE(V);                                                                                                      \
301 
-    A##2_STEP_WRITE(V);                                                                                                     \
302 
-    A##3_STEP_WRITE(V);                                                                                                     \
291 
+#define TRIPLE_ENDSTOP_APPLY_STEP(A,V)           \
292 
+  if (separate_multi_axis) {                     \
293 
+    if (ENABLED(A##_HOME_TO_MIN)) {              \
294 
+      if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
295 
+      if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
296 
+      if (STEPTEST(A,MIN,3)) A##3_STEP_WRITE(V); \
297 
+    }                                            \
298 
+    else if (ENABLED(A##_HOME_TO_MAX)) {         \
299 
+      if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
300 
+      if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
301 
+      if (STEPTEST(A,MAX,3)) A##3_STEP_WRITE(V); \
302 
+    }                                            \
303 
+  }                                              \
304 
+  else {                                         \
305 
+    A##_STEP_WRITE(V);                           \
306 
+    A##2_STEP_WRITE(V);                          \
307 
+    A##3_STEP_WRITE(V);                          \
303 308 
   }
304 309
305 310 
 #define TRIPLE_SEPARATE_APPLY_STEP(A,V)           \
306 311 
   if (separate_multi_axis) {                      \
307 
-    if (!locked_##A##_motor) A##_STEP_WRITE(V);   \
312 
+    if (!locked_##A## _motor) A## _STEP_WRITE(V); \
308 313 
     if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
309 314 
     if (!locked_##A##3_motor) A##3_STEP_WRITE(V); \
310 315 
   }                                               \
311 316 
   else {                                          \
312 
-    A##_STEP_WRITE(V);                            \
317 
+    A## _STEP_WRITE(V);                           \
313 318 
     A##2_STEP_WRITE(V);                           \
314 319 
     A##3_STEP_WRITE(V);                           \
315 320 
   }
316 321
317 
-#define QUAD_ENDSTOP_APPLY_STEP(A,V) \
318 
-  if (separate_multi_axis) {         \
319 
-    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);  \
320 
-    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); \
321 
-    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); \
322 
-    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); \
323 
-  }       \
324 
-  else {  \
325 
-    A##_STEP_WRITE(V);  \
326 
-    A##2_STEP_WRITE(V); \
327 
-    A##3_STEP_WRITE(V); \
328 
-    A##4_STEP_WRITE(V); \
322 
+#define QUAD_ENDSTOP_APPLY_STEP(A,V)             \
323 
+  if (separate_multi_axis) {                     \
324 
+    if (ENABLED(A##_HOME_TO_MIN)) {              \
325 
+      if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
326 
+      if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
327 
+      if (STEPTEST(A,MIN,3)) A##3_STEP_WRITE(V); \
328 
+      if (STEPTEST(A,MIN,4)) A##4_STEP_WRITE(V); \
329 
+    }                                            \
330 
+    else if (ENABLED(A##_HOME_TO_MAX)) {         \
331 
+      if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
332 
+      if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
333 
+      if (STEPTEST(A,MAX,3)) A##3_STEP_WRITE(V); \
334 
+      if (STEPTEST(A,MAX,4)) A##4_STEP_WRITE(V); \
335 
+    }                                            \
336 
+  }                                              \
337 
+  else {                                         \
338 
+    A## _STEP_WRITE(V);                          \
339 
+    A##2_STEP_WRITE(V);                          \
340 
+    A##3_STEP_WRITE(V);                          \
341 
+    A##4_STEP_WRITE(V);                          \
329 342 
   }
330 343
331 344 
 #define QUAD_SEPARATE_APPLY_STEP(A,V)             \
332 345 
   if (separate_multi_axis) {                      \
333 
-    if (!locked_##A##_motor) A##_STEP_WRITE(V);   \
346 
+    if (!locked_##A## _motor) A## _STEP_WRITE(V); \
334 347 
     if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
335 348 
     if (!locked_##A##3_motor) A##3_STEP_WRITE(V); \
336 349 
     if (!locked_##A##4_motor) A##4_STEP_WRITE(V); \
337 350 
   }                                               \
338 351 
   else {                                          \
339 
-    A##_STEP_WRITE(V);                            \
352 
+    A## _STEP_WRITE(V);                           \
340 353 
     A##2_STEP_WRITE(V);                           \
341 354 
     A##3_STEP_WRITE(V);                           \
342 355 
     A##4_STEP_WRITE(V);                           \

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