#define MOTHERBOARD 7
#endif
+/// Comment out the following line to enable normal kinematics
+
+#define COREXY
+
//===========================================================================
//=============================Thermal Settings ============================
//===========================================================================
#define DISABLE_E false // For all extruders
#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
-#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
+#define INVERT_Y_DIR true // for Mendel set to true, for Orca set to false
#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define Y_HOME_DIR -1
#define Z_HOME_DIR -1
-#define min_software_endstops true //If true, axis won't move to coordinates less than HOME_POS.
-#define max_software_endstops true //If true, axis won't move to coordinates greater than the defined lengths below.
+#define min_software_endstops false //If true, axis won't move to coordinates less than HOME_POS.
+#define max_software_endstops false //If true, axis won't move to coordinates greater than the defined lengths below.
#define X_MAX_LENGTH 205
#define Y_MAX_LENGTH 205
#define Z_MAX_LENGTH 200
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
+void step_wait(){
+ for(int8_t i=0; i < 6; i++){
+ }
+}
+
+
FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
unsigned short timer;
if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
out_bits = current_block->direction_bits;
// Set direction en check limit switches
- if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
- WRITE(X_DIR_PIN, INVERT_X_DIR);
+ if ((out_bits & (1<<X_AXIS)) != 0) { // stepping along -X axis
+ #if !defined COREXY //NOT COREXY
+ WRITE(X_DIR_PIN, INVERT_X_DIR);
+ #endif
count_direction[X_AXIS]=-1;
CHECK_ENDSTOPS
{
#endif
}
}
- else { // +direction
- WRITE(X_DIR_PIN,!INVERT_X_DIR);
+ else { // +direction
+ #if !defined COREXY //NOT COREXY
+ WRITE(X_DIR_PIN,!INVERT_X_DIR);
+ #endif
+
count_direction[X_AXIS]=1;
CHECK_ENDSTOPS
{
}
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
- WRITE(Y_DIR_PIN,INVERT_Y_DIR);
+ #if !defined COREXY //NOT COREXY
+ WRITE(Y_DIR_PIN,INVERT_Y_DIR);
+ #endif
count_direction[Y_AXIS]=-1;
CHECK_ENDSTOPS
{
}
}
else { // +direction
- WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
+ #if !defined COREXY //NOT COREXY
+ WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
+ #endif
count_direction[Y_AXIS]=1;
CHECK_ENDSTOPS
{
#endif
}
}
-
+
+
+ #ifdef COREXY //coreXY kinematics defined
+ if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) == 0)){ //+X is major axis
+ WRITE(X_DIR_PIN, !INVERT_X_DIR);
+ WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
+ }
+ if((current_block->steps_x >= current_block->steps_y)&&((out_bits & (1<<X_AXIS)) != 0)){ //-X is major axis
+ WRITE(X_DIR_PIN, INVERT_X_DIR);
+ WRITE(Y_DIR_PIN, INVERT_Y_DIR);
+ }
+ if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) == 0)){ //+Y is major axis
+ WRITE(X_DIR_PIN, !INVERT_X_DIR);
+ WRITE(Y_DIR_PIN, INVERT_Y_DIR);
+ }
+ if((current_block->steps_y > current_block->steps_x)&&((out_bits & (1<<Y_AXIS)) != 0)){ //-Y is major axis
+ WRITE(X_DIR_PIN, INVERT_X_DIR);
+ WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
+ }
+ #endif //coreXY
+
+
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
count_direction[Z_AXIS]=-1;
}
}
#endif //ADVANCE
-
- counter_x += current_block->steps_x;
- if (counter_x > 0) {
- WRITE(X_STEP_PIN, HIGH);
- counter_x -= current_block->step_event_count;
- WRITE(X_STEP_PIN, LOW);
- count_position[X_AXIS]+=count_direction[X_AXIS];
- }
- counter_y += current_block->steps_y;
- if (counter_y > 0) {
- WRITE(Y_STEP_PIN, HIGH);
- counter_y -= current_block->step_event_count;
- WRITE(Y_STEP_PIN, LOW);
- count_position[Y_AXIS]+=count_direction[Y_AXIS];
- }
+ #if !defined COREXY
+ counter_x += current_block->steps_x;
+ if (counter_x > 0) {
+ WRITE(X_STEP_PIN, HIGH);
+ counter_x -= current_block->step_event_count;
+ WRITE(X_STEP_PIN, LOW);
+ count_position[X_AXIS]+=count_direction[X_AXIS];
+ }
+
+ counter_y += current_block->steps_y;
+ if (counter_y > 0) {
+ WRITE(Y_STEP_PIN, HIGH);
+ WRITE(Y_STEP_PIN, LOW);
+
+ }
+ #endif
+
+ #ifdef COREXY
+ counter_x += current_block->steps_x;
+ counter_y += current_block->steps_y;
+
+ if ((counter_x > 0)&&!(counter_y>0)){ //X step only
+ WRITE(X_STEP_PIN, HIGH);
+ WRITE(Y_STEP_PIN, HIGH);
+ counter_x -= current_block->step_event_count;
+ WRITE(X_STEP_PIN, LOW);
+ WRITE(Y_STEP_PIN, LOW);
+ count_position[X_AXIS]+=count_direction[X_AXIS];
+ }
+
+ if (!(counter_x > 0)&&(counter_y>0)){ //Y step only
+ WRITE(X_STEP_PIN, HIGH);
+ WRITE(Y_STEP_PIN, HIGH);
+ counter_y -= current_block->step_event_count;
+ WRITE(X_STEP_PIN, LOW);
+ WRITE(Y_STEP_PIN, LOW);
+ count_position[Y_AXIS]+=count_direction[Y_AXIS];
+ }
+
+ if ((counter_x > 0)&&(counter_y>0)){ //step in both axes
+ if (((out_bits & (1<<X_AXIS)) == 0)^((out_bits & (1<<Y_AXIS)) == 0)){ //X and Y in different directions
+ WRITE(Y_STEP_PIN, HIGH);
+ counter_x -= current_block->step_event_count;
+ WRITE(Y_STEP_PIN, LOW);
+ step_wait();
+ count_position[X_AXIS]+=count_direction[X_AXIS];
+ count_position[Y_AXIS]+=count_direction[Y_AXIS];
+ WRITE(Y_STEP_PIN, HIGH);
+ counter_y -= current_block->step_event_count;
+ WRITE(Y_STEP_PIN, LOW);
+ }
+ else{ //X and Y in same direction
+ WRITE(X_STEP_PIN, HIGH);
+ counter_x -= current_block->step_event_count;
+ WRITE(X_STEP_PIN, LOW) ;
+ step_wait();
+ count_position[X_AXIS]+=count_direction[X_AXIS];
+ count_position[Y_AXIS]+=count_direction[Y_AXIS];
+ WRITE(X_STEP_PIN, HIGH);
+ counter_y -= current_block->step_event_count;
+ WRITE(X_STEP_PIN, LOW);
+ }
+ }
+ #endif //corexy
+
counter_z += current_block->steps_z;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, HIGH);