From 51a3cae056e7c46145e3f1557301b8c136ebf3d1 Mon Sep 17 00:00:00 2001
From: Patrick F <robomaniac8@googlemail.com>
Date: Mon, 20 Dec 2021 13:13:29 +0100
Subject: [PATCH] Bugfix corexy #80

---
 grbl/Limits.c  | 18 +++++++++---------
 grbl/Planner.c | 14 +++++++-------
 grbl/util.h    |  2 --
 3 files changed, 16 insertions(+), 18 deletions(-)

diff --git a/grbl/Limits.c b/grbl/Limits.c
index f9e0807..1b3899d 100644
--- a/grbl/Limits.c
+++ b/grbl/Limits.c
@@ -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
             {
diff --git a/grbl/Planner.c b/grbl/Planner.c
index e56777a..a6c4c99 100644
--- a/grbl/Planner.c
+++ b/grbl/Planner.c
@@ -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];
         }
diff --git a/grbl/util.h b/grbl/util.h
index 27a9687..0cf3afb 100644
--- a/grbl/util.h
+++ b/grbl/util.h
@@ -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