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🐛 INVERT_*_DIR for FT_MOTION (#25637)

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This commit is contained in:
Scott Lahteine
2023-04-05 11:58:24 -05:00
committed by GitHub
parent e687490f41
commit 4aec74f246
4 changed files with 150 additions and 171 deletions
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36
Marlin/src/module/motion.cpp
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@@ -1952,72 +1952,72 @@ void prepare_line_to_destination() {
case X_AXIS:
phasePerUStep = PHASE_PER_MICROSTEP(X);
phaseCurrent = stepperX.get_microstep_counter();
effectorBackoutDir = -X_HOME_DIR;
stepperBackoutDir = IF_DISABLED(INVERT_X_DIR, -)effectorBackoutDir;
effectorBackoutDir = -(X_HOME_DIR);
stepperBackoutDir = TERN_(INVERT_X_DIR, -)(-effectorBackoutDir);
break;
#endif
#ifdef Y_MICROSTEPS
case Y_AXIS:
phasePerUStep = PHASE_PER_MICROSTEP(Y);
phaseCurrent = stepperY.get_microstep_counter();
effectorBackoutDir = -Y_HOME_DIR;
stepperBackoutDir = IF_DISABLED(INVERT_Y_DIR, -)effectorBackoutDir;
effectorBackoutDir = -(Y_HOME_DIR);
stepperBackoutDir = TERN_(INVERT_Y_DIR, -)(-effectorBackoutDir);
break;
#endif
#ifdef Z_MICROSTEPS
case Z_AXIS:
phasePerUStep = PHASE_PER_MICROSTEP(Z);
phaseCurrent = stepperZ.get_microstep_counter();
effectorBackoutDir = -Z_HOME_DIR;
stepperBackoutDir = IF_DISABLED(INVERT_Z_DIR, -)effectorBackoutDir;
effectorBackoutDir = -(Z_HOME_DIR);
stepperBackoutDir = TERN_(INVERT_Z_DIR, -)(-effectorBackoutDir);
break;
#endif
#ifdef I_MICROSTEPS
case I_AXIS:
phasePerUStep = PHASE_PER_MICROSTEP(I);
phaseCurrent = stepperI.get_microstep_counter();
effectorBackoutDir = -I_HOME_DIR;
stepperBackoutDir = IF_DISABLED(INVERT_I_DIR, -)effectorBackoutDir;
effectorBackoutDir = -(I_HOME_DIR);
stepperBackoutDir = TERN_(INVERT_I_DIR, -)(-effectorBackoutDir);
break;
#endif
#ifdef J_MICROSTEPS
case J_AXIS:
phasePerUStep = PHASE_PER_MICROSTEP(J);
phaseCurrent = stepperJ.get_microstep_counter();
effectorBackoutDir = -J_HOME_DIR;
stepperBackoutDir = IF_DISABLED(INVERT_J_DIR, -)effectorBackoutDir;
effectorBackoutDir = -(J_HOME_DIR);
stepperBackoutDir = TERN_(INVERT_J_DIR, -)(-effectorBackoutDir);
break;
#endif
#ifdef K_MICROSTEPS
case K_AXIS:
phasePerUStep = PHASE_PER_MICROSTEP(K);
phaseCurrent = stepperK.get_microstep_counter();
effectorBackoutDir = -K_HOME_DIR;
stepperBackoutDir = IF_DISABLED(INVERT_K_DIR, -)effectorBackoutDir;
effectorBackoutDir = -(K_HOME_DIR);
stepperBackoutDir = TERN_(INVERT_K_DIR, -)(-effectorBackoutDir);
break;
#endif
#ifdef U_MICROSTEPS
case U_AXIS:
phasePerUStep = PHASE_PER_MICROSTEP(U);
phaseCurrent = stepperU.get_microstep_counter();
effectorBackoutDir = -U_HOME_DIR;
stepperBackoutDir = IF_DISABLED(INVERT_U_DIR, -)effectorBackoutDir;
effectorBackoutDir = -(U_HOME_DIR);
stepperBackoutDir = TERN_(INVERT_U_DIR, -)(-effectorBackoutDir);
break;
#endif
#ifdef V_MICROSTEPS
case V_AXIS:
phasePerUStep = PHASE_PER_MICROSTEP(V);
phaseCurrent = stepperV.get_microstep_counter();
effectorBackoutDir = -V_HOME_DIR;
stepperBackoutDir = IF_DISABLED(INVERT_V_DIR, -)effectorBackoutDir;
effectorBackoutDir = -(V_HOME_DIR);
stepperBackoutDir = TERN_(INVERT_V_DIR, -)(-effectorBackoutDir);
break;
#endif
#ifdef W_MICROSTEPS
case W_AXIS:
phasePerUStep = PHASE_PER_MICROSTEP(W);
phaseCurrent = stepperW.get_microstep_counter();
effectorBackoutDir = -W_HOME_DIR;
stepperBackoutDir = IF_DISABLED(INVERT_W_DIR, -)effectorBackoutDir;
effectorBackoutDir = -(W_HOME_DIR);
stepperBackoutDir = TERN_(INVERT_W_DIR, -)(-effectorBackoutDir);
break;
#endif
default: return;