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Implement MIXING_EXTRUDER and SWITCHING_EXTRUDER

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This commit is contained in:
Scott Lahteine
2016-06-28 15:06:56 -07:00
parent 22b4cff423
commit 05da02f0a2
13 changed files with 788 additions and 378 deletions
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207
Marlin/stepper.cpp
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@ -95,13 +95,13 @@ volatile unsigned long Stepper::step_events_completed = 0; // The number of step
volatile unsigned char Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
#if ENABLED(LIN_ADVANCE)
volatile int Stepper::e_steps[EXTRUDERS];
volatile int Stepper::e_steps[E_STEPPERS];
int Stepper::extruder_advance_k = LIN_ADVANCE_K,
Stepper::final_estep_rate,
Stepper::current_estep_rate[EXTRUDERS],
Stepper::current_adv_steps[EXTRUDERS];
Stepper::current_estep_rate[E_STEPPERS],
Stepper::current_adv_steps[E_STEPPERS];
#else
long Stepper::e_steps[EXTRUDERS],
long Stepper::e_steps[E_STEPPERS],
Stepper::final_advance = 0,
Stepper::old_advance = 0,
Stepper::advance_rate,
@ -114,6 +114,10 @@ long Stepper::acceleration_time, Stepper::deceleration_time;
volatile long Stepper::count_position[NUM_AXIS] = { 0 };
volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
#if ENABLED(MIXING_EXTRUDER)
long Stepper::counter_M[MIXING_STEPPERS];
#endif
unsigned short Stepper::acc_step_rate; // needed for deceleration start point
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
unsigned short Stepper::OCR1A_nominal;
@ -179,7 +183,9 @@ volatile long Stepper::endstops_trigsteps[3];
#define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)
#endif
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
#if DISABLED(MIXING_EXTRUDER)
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
#endif
// intRes = longIn1 * longIn2 >> 24
// uses:
@ -322,8 +328,15 @@ void Stepper::isr() {
if (current_block) {
current_block->busy = true;
trapezoid_generator_reset();
counter_X = -(current_block->step_event_count >> 1);
counter_Y = counter_Z = counter_E = counter_X;
// Initialize Bresenham counters to 1/2 the ceiling
counter_X = counter_Y = counter_Z = counter_E = -(current_block->step_event_count >> 1);
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(i)
counter_M[i] = -(current_block->mix_event_count[i] >> 1);
#endif
step_events_completed = 0;
#if ENABLED(Z_LATE_ENABLE)
@ -335,7 +348,7 @@ void Stepper::isr() {
#endif
// #if ENABLED(ADVANCE)
// e_steps[current_block->active_extruder] = 0;
// e_steps[TOOL_E_INDEX] = 0;
// #endif
}
else {
@ -343,7 +356,7 @@ void Stepper::isr() {
}
}
if (current_block != NULL) {
if (current_block) {
// Update endstops state, if enabled
#if HAS_BED_PROBE
@ -363,25 +376,67 @@ void Stepper::isr() {
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
count_position[E_AXIS] += count_direction[E_AXIS];
e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
#if DISABLED(MIXING_EXTRUDER)
// Don't step E here for mixing extruder
count_position[E_AXIS] += count_direction[E_AXIS];
e_steps[TOOL_E_INDEX] += motor_direction(E_AXIS) ? -1 : 1;
#endif
}
#if ENABLED(MIXING_EXTRUDER)
// Step mixing steppers proportionally
long dir = motor_direction(E_AXIS) ? -1 : 1;
MIXING_STEPPERS_LOOP(j) {
counter_m[j] += current_block->steps[E_AXIS];
if (counter_m[j] > 0) {
counter_m[j] -= current_block->mix_event_count[j];
e_steps[j] += dir;
}
}
#endif
if (current_block->use_advance_lead) {
int delta_adv_steps; //Maybe a char would be enough?
delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[current_block->active_extruder]) >> 9) - current_adv_steps[current_block->active_extruder];
e_steps[current_block->active_extruder] += delta_adv_steps;
current_adv_steps[current_block->active_extruder] += delta_adv_steps;
int delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[TOOL_E_INDEX]) >> 9) - current_adv_steps[TOOL_E_INDEX];
#if ENABLED(MIXING_EXTRUDER)
// Mixing extruders apply advance lead proportionally
MIXING_STEPPERS_LOOP(j) {
int steps = delta_adv_steps * current_block->step_event_count / current_block->mix_event_count[j];
e_steps[j] += steps;
current_adv_steps[j] += steps;
}
#else
// For most extruders, advance the single E stepper
e_steps[TOOL_E_INDEX] += delta_adv_steps;
current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
#endif
}
#elif ENABLED(ADVANCE)
// Always count the unified E axis
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
e_steps[current_block->active_extruder] += motor_direction(E_AXIS) ? -1 : 1;
#if DISABLED(MIXING_EXTRUDER)
// Don't step E here for mixing extruder
e_steps[TOOL_E_INDEX] += motor_direction(E_AXIS) ? -1 : 1;
#endif
}
#if ENABLED(MIXING_EXTRUDER)
// Step mixing steppers proportionally
long dir = motor_direction(E_AXIS) ? -1 : 1;
MIXING_STEPPERS_LOOP(j) {
counter_m[j] += current_block->steps[E_AXIS];
if (counter_m[j] > 0) {
counter_m[j] -= current_block->mix_event_count[j];
e_steps[j] += dir;
}
}
#endif // MIXING_EXTRUDER
#endif // ADVANCE or LIN_ADVANCE
#define _COUNTER(AXIS) counter_## AXIS
@ -395,9 +450,22 @@ void Stepper::isr() {
STEP_ADD(X);
STEP_ADD(Y);
STEP_ADD(Z);
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
STEP_ADD(E);
#endif
#if ENABLED(MIXING_EXTRUDER)
// Keep updating the single E axis
counter_E += current_block->steps[E_AXIS];
// Tick the counters used for this mix
MIXING_STEPPERS_LOOP(j) {
// Step mixing steppers (proportionally)
counter_M[j] += current_block->steps[E_AXIS];
// Step when the counter goes over zero
if (counter_M[j] > 0) En_STEP_WRITE(j, !INVERT_E_STEP_PIN);
}
#else // !MIXING_EXTRUDER
STEP_ADD(E);
#endif
#endif // !ADVANCE && !LIN_ADVANCE
#define STEP_IF_COUNTER(AXIS) \
if (_COUNTER(AXIS) > 0) { \
@ -409,17 +477,32 @@ void Stepper::isr() {
STEP_IF_COUNTER(X);
STEP_IF_COUNTER(Y);
STEP_IF_COUNTER(Z);
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
STEP_IF_COUNTER(E);
#endif
#if ENABLED(MIXING_EXTRUDER)
// Always step the single E axis
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
count_position[E_AXIS] += count_direction[E_AXIS];
}
MIXING_STEPPERS_LOOP(j) {
if (counter_M[j] > 0) {
counter_M[j] -= current_block->mix_event_count[j];
En_STEP_WRITE(j, INVERT_E_STEP_PIN);
}
}
#else // !MIXING_EXTRUDER
STEP_IF_COUNTER(E);
#endif
#endif // !ADVANCE && !LIN_ADVANCE
step_events_completed++;
if (step_events_completed >= current_block->step_event_count) break;
}
#if ENABLED(LIN_ADVANCE)
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
// If we have esteps to execute, fire the next ISR "now"
if (e_steps[current_block->active_extruder]) OCR0A = TCNT0 + 2;
if (e_steps[TOOL_E_INDEX]) OCR0A = TCNT0 + 2;
#endif
// Calculate new timer value
@ -440,21 +523,41 @@ void Stepper::isr() {
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead)
current_estep_rate[current_block->active_extruder] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
current_estep_rate[TOOL_E_INDEX] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
if (current_block->use_advance_lead) {
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j)
current_estep_rate[j] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
#else
current_estep_rate[TOOL_E_INDEX] = ((unsigned long)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
#endif
}
#elif ENABLED(ADVANCE)
advance += advance_rate * step_loops;
//NOLESS(advance, current_block->advance);
long advance_whole = advance >> 8,
advance_factor = advance_whole - old_advance;
// Do E steps + advance steps
e_steps[current_block->active_extruder] += ((advance >> 8) - old_advance);
old_advance = advance >> 8;
#if ENABLED(MIXING_EXTRUDER)
// ...for mixing steppers proportionally
MIXING_STEPPERS_LOOP(j)
e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
#else
// ...for the active extruder
e_steps[TOOL_E_INDEX] += advance_factor;
#endif
old_advance = advance_whole;
#endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[current_block->active_extruder]);
eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
#endif
}
else if (step_events_completed > (unsigned long)current_block->decelerate_after) {
@ -474,8 +577,14 @@ void Stepper::isr() {
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead)
current_estep_rate[current_block->active_extruder] = ((unsigned long)step_rate * current_block->e_speed_multiplier8) >> 8;
if (current_block->use_advance_lead) {
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j)
current_estep_rate[j] = ((unsigned long)step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
#else
current_estep_rate[TOOL_E_INDEX] = ((unsigned long)step_rate * current_block->e_speed_multiplier8) >> 8;
#endif
}
#elif ENABLED(ADVANCE)
@ -483,14 +592,22 @@ void Stepper::isr() {
NOLESS(advance, final_advance);
// Do E steps + advance steps
uint32_t advance_whole = advance >> 8;
e_steps[current_block->active_extruder] += advance_whole - old_advance;
long advance_whole = advance >> 8,
advance_factor = advance_whole - old_advance;
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j)
e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
#else
e_steps[TOOL_E_INDEX] += advance_factor;
#endif
old_advance = advance_whole;
#endif // ADVANCE or LIN_ADVANCE
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[current_block->active_extruder]);
eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
#endif
}
else {
@ -498,9 +615,9 @@ void Stepper::isr() {
#if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead)
current_estep_rate[current_block->active_extruder] = final_estep_rate;
current_estep_rate[TOOL_E_INDEX] = final_estep_rate;
eISR_Rate = (OCR1A_nominal >> 2) * step_loops_nominal / abs(e_steps[current_block->active_extruder]);
eISR_Rate = (OCR1A_nominal >> 2) * step_loops_nominal / abs(e_steps[TOOL_E_INDEX]);
#endif
@ -537,7 +654,7 @@ void Stepper::isr() {
E## INDEX ##_DIR_WRITE(INVERT_E## INDEX ##_DIR); \
e_steps[INDEX]++; \
} \
else if (e_steps[INDEX] > 0) { \
else { \
E## INDEX ##_DIR_WRITE(!INVERT_E## INDEX ##_DIR); \
e_steps[INDEX]--; \
} \
@ -547,11 +664,11 @@ void Stepper::isr() {
// Step all E steppers that have steps
for (uint8_t i = 0; i < step_loops; i++) {
STEP_E_ONCE(0);
#if EXTRUDERS > 1
#if E_STEPPERS > 1
STEP_E_ONCE(1);
#if EXTRUDERS > 2
#if E_STEPPERS > 2
STEP_E_ONCE(2);
#if EXTRUDERS > 3
#if E_STEPPERS > 3
STEP_E_ONCE(3);
#endif
#endif
@ -730,18 +847,12 @@ void Stepper::init() {
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
#if ENABLED(LIN_ADVANCE)
for (int i = 0; i < EXTRUDERS; i++) {
e_steps[i] = 0;
for (int i = 0; i < E_STEPPERS; i++) {
e_steps[i] = 0;
#if ENABLED(LIN_ADVANCE)
current_adv_steps[i] = 0;
}
#elif ENABLED(ADVANCE)
for (uint8_t i = 0; i < EXTRUDERS; i++) e_steps[i] = 0;
#endif
#endif
}
#if defined(TCCR0A) && defined(WGM01)
CBI(TCCR0A, WGM01);