mirror
/
GRBL-Advanced
kopia lustrzana https://github.com/Schildkroet/GRBL-Advanced
1
0
Forkuj 0
Kod Zgłoszenia Packages Projekty Wydania Wiki Aktywność

Bugfix corexy #80

pull/89/head
Patrick F 2021-12-20 13:13:29 +01:00
rodzic 26bdac77bc
commit 51a3cae056
3 zmienionych plików z 16 dodań i 18 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

18
grbl/Limits.c
Wyświetl plik

@ -174,7 +174,7 @@ void Limits_GoHome(uint8_t cycle_mask)
step_pin[idx] = Settings_GetStepPinMask(idx);
#ifdef COREXY
if((idx == A_AXIS) || (idx == B_AXIS))
if((idx == A_MOTOR) || (idx == B_MOTOR))
{
step_pin[idx] = (Settings_GetStepPinMask(X_AXIS) | Settings_GetStepPinMask(Y_AXIS));
}
@ -210,13 +210,13 @@ void Limits_GoHome(uint8_t cycle_mask)
if(idx == X_AXIS)
{
int32_t axis_position = system_convert_corexy_to_y_axis_steps(sys_position);
sys_position[A_AXIS] = axis_position;
sys_position[B_AXIS] = -axis_position;
sys_position[A_MOTOR] = axis_position;
sys_position[B_MOTOR] = -axis_position;
}
else if (idx == Y_AXIS)
{
int32_t axis_position = system_convert_corexy_to_x_axis_steps(sys_position);
sys_position[A_AXIS] = sys_position[B_AXIS] = axis_position;
sys_position[A_MOTOR] = sys_position[B_MOTOR] = axis_position;
}
else
{
@ -285,7 +285,7 @@ void Limits_GoHome(uint8_t cycle_mask)
}
else
{
axislock &= ~(step_pin[A_AXIS]|step_pin[B_AXIS]);
axislock &= ~(step_pin[A_MOTOR]|step_pin[B_MOTOR]);
}
#else
axislock &= ~(step_pin[idx]);
@ -393,14 +393,14 @@ void Limits_GoHome(uint8_t cycle_mask)
if(idx == X_AXIS)
{
int32_t off_axis_position = system_convert_corexy_to_y_axis_steps(sys_position);
sys_position[A_AXIS] = set_axis_position + off_axis_position;
sys_position[B_AXIS] = set_axis_position - off_axis_position;
sys_position[A_MOTOR] = set_axis_position + off_axis_position;
sys_position[B_MOTOR] = set_axis_position - off_axis_position;
}
else if(idx == Y_AXIS)
{
int32_t off_axis_position = system_convert_corexy_to_x_axis_steps(sys_position);
sys_position[A_AXIS] = off_axis_position + set_axis_position;
sys_position[B_AXIS] = off_axis_position - set_axis_position;
sys_position[A_MOTOR] = off_axis_position + set_axis_position;
sys_position[B_MOTOR] = off_axis_position - set_axis_position;
}
else
{

14
grbl/Planner.c
Wyświetl plik

@ -124,10 +124,10 @@ uint8_t Planner_BufferLine(float *target, Planner_LineData_t *pl_data)
}
#ifdef COREXY
target_steps[A_AXIS] = lround(target[A_AXIS]*settings.steps_per_mm[A_AXIS]);
target_steps[B_AXIS] = lround(target[B_AXIS]*settings.steps_per_mm[B_AXIS]);
block->steps[A_AXIS] = labs((target_steps[X_AXIS]-position_steps[X_AXIS]) + (target_steps[Y_AXIS]-position_steps[Y_AXIS]));
block->steps[B_AXIS] = labs((target_steps[X_AXIS]-position_steps[X_AXIS]) - (target_steps[Y_AXIS]-position_steps[Y_AXIS]));
target_steps[A_MOTOR] = lround(target[A_MOTOR]*settings.steps_per_mm[A_MOTOR]);
target_steps[B_MOTOR] = lround(target[B_MOTOR]*settings.steps_per_mm[B_MOTOR]);
block->steps[A_MOTOR] = labs((target_steps[X_AXIS]-position_steps[X_AXIS]) + (target_steps[Y_AXIS]-position_steps[Y_AXIS]));
block->steps[B_MOTOR] = labs((target_steps[X_AXIS]-position_steps[X_AXIS]) - (target_steps[Y_AXIS]-position_steps[Y_AXIS]));
#endif
for(idx = 0; idx < N_AXIS; idx++)
@ -136,7 +136,7 @@ uint8_t Planner_BufferLine(float *target, Planner_LineData_t *pl_data)
// Also, compute individual axes distance for move and prep unit vector calculations.
// NOTE: Computes true distance from converted step values.
#ifdef COREXY
if(!(idx == A_AXIS) && !(idx == B_AXIS))
if(!(idx == A_MOTOR) && !(idx == B_MOTOR))
{
target_steps[idx] = lround(target[idx]*settings.steps_per_mm[idx]);
block->steps[idx] = labs(target_steps[idx]-position_steps[idx]);
@ -144,11 +144,11 @@ uint8_t Planner_BufferLine(float *target, Planner_LineData_t *pl_data)
block->step_event_count = max(block->step_event_count, block->steps[idx]);
if(idx == A_AXIS)
if(idx == A_MOTOR)
{
delta_mm = (target_steps[X_AXIS]-position_steps[X_AXIS] + target_steps[Y_AXIS]-position_steps[Y_AXIS])/settings.steps_per_mm[idx];
}
else if(idx == B_AXIS)
else if(idx == B_MOTOR)
{
delta_mm = (target_steps[X_AXIS]-position_steps[X_AXIS] - target_steps[Y_AXIS]+position_steps[Y_AXIS])/settings.steps_per_mm[idx];
}

2
grbl/util.h
Wyświetl plik

@ -90,10 +90,8 @@
// CoreXY motor assignments. DO NOT ALTER.
// NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations.
#ifdef COREXY
#define A_MOTOR X_AXIS // Must be X_AXIS
#define B_MOTOR Y_AXIS // Must be Y_AXIS
#endif
// Conversions