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Fix IDEX layer shift and DIR states (#19756)

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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
nb-rapidia
2020-10-16 14:59:55 -07:00
committed by GitHub
parent aa901ac4a2
commit 418b3e5ee2
15 changed files with 152 additions and 132 deletions
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93
Marlin/src/module/motion.cpp
View File

@ -569,7 +569,7 @@ void restore_feedrate_and_scaling() {
soft_endstop.min.x = X2_MIN_POS;
soft_endstop.max.x = dual_max_x;
}
else if (dxc_is_duplicating()) {
else if (idex_is_duplicating()) {
// In Duplication Mode, T0 can move as far left as X1_MIN_POS
// but not so far to the right that T1 would move past the end
soft_endstop.min.x = X1_MIN_POS;
@ -932,8 +932,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
#endif // !UBL_SEGMENTED
#if HAS_DUPLICATION_MODE
bool extruder_duplication_enabled,
mirrored_duplication_mode;
bool extruder_duplication_enabled;
#if ENABLED(MULTI_NOZZLE_DUPLICATION)
uint8_t duplication_e_mask; // = 0
#endif
@ -942,12 +941,13 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
#if ENABLED(DUAL_X_CARRIAGE)
DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
float inactive_extruder_x_pos = X2_MAX_POS, // used in mode 0 & 1
duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
xyz_pos_t raised_parked_position; // used in mode 1
bool active_extruder_parked = false; // used in mode 1 & 2
millis_t delayed_move_time = 0; // used in mode 1
int16_t duplicate_extruder_temp_offset = 0; // used in mode 2
float inactive_extruder_x = X2_MAX_POS, // Used in mode 0 & 1
duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // Used in mode 2
xyz_pos_t raised_parked_position; // Used in mode 1
bool active_extruder_parked = false; // Used in mode 1 & 2
millis_t delayed_move_time = 0; // Used in mode 1
int16_t duplicate_extruder_temp_offset = 0; // Used in mode 2
bool idex_mirrored_mode = false; // Used in mode 3
float x_home_pos(const uint8_t extruder) {
if (extruder == 0)
@ -962,6 +962,23 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
return hotend_offset[1].x > 0 ? hotend_offset[1].x : X2_HOME_POS;
}
void idex_set_mirrored_mode(const bool mirr) {
idex_mirrored_mode = mirr;
stepper.set_directions();
}
void set_duplication_enabled(const bool dupe, const int8_t tool_index/*=-1*/) {
extruder_duplication_enabled = dupe;
if (tool_index >= 0) active_extruder = tool_index;
stepper.set_directions();
}
void idex_set_parked(const bool park/*=true*/) {
delayed_move_time = 0;
active_extruder_parked = park;
if (park) raised_parked_position = current_position; // Remember current raised toolhead position for use by unpark
}
/**
* Prepare a linear move in a dual X axis setup
*
@ -970,9 +987,10 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
inline bool dual_x_carriage_unpark() {
if (active_extruder_parked) {
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
break;
case DXC_AUTO_PARK_MODE:
case DXC_FULL_CONTROL_MODE: break;
case DXC_AUTO_PARK_MODE: {
if (current_position.e == destination.e) {
// This is a travel move (with no extrusion)
// Skip it, but keep track of the current position
@ -984,23 +1002,27 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
return true;
}
}
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
//
// Un-park the active extruder
//
const feedRate_t fr_zfast = planner.settings.max_feedrate_mm_s[Z_AXIS];
#define CURPOS current_position
#define RAISED raised_parked_position
// 1. Move to the raised parked XYZ. Presumably the tool is already at XY.
if (planner.buffer_line(RAISED.x, RAISED.y, RAISED.z, CURPOS.e, fr_zfast, active_extruder)) {
// 2. Move to the current native XY and raised Z. Presumably this is a null move.
if (planner.buffer_line(CURPOS.x, CURPOS.y, RAISED.z, CURPOS.e, PLANNER_XY_FEEDRATE(), active_extruder)) {
// 3. Lower Z back down
line_to_current_position(fr_zfast);
}
}
planner.synchronize(); // paranoia
stepper.set_directions();
#define CUR_X current_position.x
#define CUR_Y current_position.y
#define CUR_Z current_position.z
#define CUR_E current_position.e
#define RAISED_X raised_parked_position.x
#define RAISED_Y raised_parked_position.y
#define RAISED_Z raised_parked_position.z
idex_set_parked(false);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("idex_set_parked(false)");
} break;
if ( planner.buffer_line(RAISED_X, RAISED_Y, RAISED_Z, CUR_E, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder))
if (planner.buffer_line( CUR_X, CUR_Y, RAISED_Z, CUR_E, PLANNER_XY_FEEDRATE(), active_extruder))
line_to_current_position(planner.settings.max_feedrate_mm_s[Z_AXIS]);
delayed_move_time = 0;
active_extruder_parked = false;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Clear active_extruder_parked");
break;
case DXC_MIRRORED_MODE:
case DXC_DUPLICATION_MODE:
if (active_extruder == 0) {
@ -1008,22 +1030,23 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
new_pos.x += duplicate_extruder_x_offset;
else
new_pos.x = inactive_extruder_x_pos;
// move duplicate extruder into correct duplication position.
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Set planner X", inactive_extruder_x_pos, " ... Line to X", new_pos.x);
planner.set_position_mm(inactive_extruder_x_pos, current_position.y, current_position.z, current_position.e);
new_pos.x = inactive_extruder_x;
// Move duplicate extruder into correct duplication position.
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Set planner X", inactive_extruder_x, " ... Line to X", new_pos.x);
planner.set_position_mm(inactive_extruder_x, current_position.y, current_position.z, current_position.e);
if (!planner.buffer_line(new_pos, planner.settings.max_feedrate_mm_s[X_AXIS], 1)) break;
planner.synchronize();
sync_plan_position();
extruder_duplication_enabled = true;
active_extruder_parked = false;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked");
set_duplication_enabled(true);
idex_set_parked(false);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("set_duplication_enabled(true)\nidex_set_parked(false)");
}
else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Active extruder not 0");
break;
}
}
stepper.set_directions();
return false;
}

13
Marlin/src/module/motion.h
View File

@ -384,8 +384,7 @@ bool homing_needed_error(uint8_t axis_bits=0x07);
* Duplication mode
*/
#if HAS_DUPLICATION_MODE
extern bool extruder_duplication_enabled, // Used in Dual X mode 2
mirrored_duplication_mode; // Used in Dual X mode 3
extern bool extruder_duplication_enabled; // Used in Dual X mode 2
#if ENABLED(MULTI_NOZZLE_DUPLICATION)
extern uint8_t duplication_e_mask;
#endif
@ -404,23 +403,29 @@ bool homing_needed_error(uint8_t axis_bits=0x07);
};
extern DualXMode dual_x_carriage_mode;
extern float inactive_extruder_x_pos, // Used in mode 0 & 1
extern float inactive_extruder_x, // Used in mode 0 & 1
duplicate_extruder_x_offset; // Used in mode 2 & 3
extern xyz_pos_t raised_parked_position; // Used in mode 1
extern bool active_extruder_parked; // Used in mode 1, 2 & 3
extern millis_t delayed_move_time; // Used in mode 1
extern int16_t duplicate_extruder_temp_offset; // Used in mode 2 & 3
extern bool idex_mirrored_mode; // Used in mode 3
FORCE_INLINE bool dxc_is_duplicating() { return dual_x_carriage_mode >= DXC_DUPLICATION_MODE; }
FORCE_INLINE bool idex_is_duplicating() { return dual_x_carriage_mode >= DXC_DUPLICATION_MODE; }
float x_home_pos(const uint8_t extruder);
FORCE_INLINE int x_home_dir(const uint8_t extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
void set_duplication_enabled(const bool dupe, const int8_t tool_index=-1);
void idex_set_mirrored_mode(const bool mirr);
void idex_set_parked(const bool park=true);
#else
#if ENABLED(MULTI_NOZZLE_DUPLICATION)
enum DualXMode : char { DXC_DUPLICATION_MODE = 2 };
FORCE_INLINE void set_duplication_enabled(const bool dupe) { extruder_duplication_enabled = dupe; }
#endif
FORCE_INLINE int x_home_dir(const uint8_t) { return home_dir(X_AXIS); }

37
Marlin/src/module/stepper.cpp
View File

@ -348,7 +348,7 @@ xyze_int8_t Stepper::count_direction{0};
}
#if ENABLED(X_DUAL_STEPPER_DRIVERS)
#define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) != INVERT_X2_VS_X_DIR); }while(0)
#define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) ^ ENABLED(INVERT_X2_VS_X_DIR)); }while(0)
#if ENABLED(X_DUAL_ENDSTOPS)
#define X_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(X,v)
#else
@ -356,7 +356,7 @@ xyze_int8_t Stepper::count_direction{0};
#endif
#elif ENABLED(DUAL_X_CARRIAGE)
#define X_APPLY_DIR(v,ALWAYS) do{ \
if (extruder_duplication_enabled || ALWAYS) { X_DIR_WRITE(v); X2_DIR_WRITE(mirrored_duplication_mode ? !(v) : v); } \
if (extruder_duplication_enabled || ALWAYS) { X_DIR_WRITE(v); X2_DIR_WRITE((v) ^ idex_mirrored_mode); } \
else if (last_moved_extruder) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
}while(0)
#define X_APPLY_STEP(v,ALWAYS) do{ \
@ -369,7 +369,7 @@ xyze_int8_t Stepper::count_direction{0};
#endif
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
#define Y_APPLY_DIR(v,Q) do{ Y_DIR_WRITE(v); Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR); }while(0)
#define Y_APPLY_DIR(v,Q) do{ Y_DIR_WRITE(v); Y2_DIR_WRITE((v) ^ ENABLED(INVERT_Y2_VS_Y_DIR)); }while(0)
#if ENABLED(Y_DUAL_ENDSTOPS)
#define Y_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Y,v)
#else
@ -1605,10 +1605,9 @@ void Stepper::pulse_phase_isr() {
PAGE_SEGMENT_UPDATE(Z, high >> 4);
PAGE_SEGMENT_UPDATE(E, high & 0xF);
if (dm != last_direction_bits) {
last_direction_bits = dm;
set_directions();
}
if (dm != last_direction_bits)
set_directions(dm);
} break;
default: break;
@ -2131,9 +2130,7 @@ uint32_t Stepper::block_phase_isr() {
MIXER_STEPPER_SETUP();
#endif
#if HAS_MULTI_EXTRUDER
stepper_extruder = current_block->extruder;
#endif
TERN_(HAS_MULTI_EXTRUDER, stepper_extruder = current_block->extruder);
// Initialize the trapezoid generator from the current block.
#if ENABLED(LIN_ADVANCE)
@ -2151,17 +2148,14 @@ uint32_t Stepper::block_phase_isr() {
else LA_isr_rate = LA_ADV_NEVER;
#endif
if ( ENABLED(HAS_L64XX) // Always set direction for L64xx (Also enables the chips)
if ( ENABLED(HAS_L64XX) // Always set direction for L64xx (Also enables the chips)
|| ENABLED(DUAL_X_CARRIAGE) // TODO: Find out why this fixes "jittery" small circles
|| current_block->direction_bits != last_direction_bits
|| TERN(MIXING_EXTRUDER, false, stepper_extruder != last_moved_extruder)
) {
last_direction_bits = current_block->direction_bits;
#if HAS_MULTI_EXTRUDER
last_moved_extruder = stepper_extruder;
#endif
TERN_(HAS_MULTI_EXTRUDER, last_moved_extruder = stepper_extruder);
TERN_(HAS_L64XX, L64XX_OK_to_power_up = true);
set_directions();
set_directions(current_block->direction_bits);
}
#if ENABLED(LASER_POWER_INLINE)
@ -2583,12 +2577,9 @@ void Stepper::init() {
#endif
// Init direction bits for first moves
last_direction_bits = 0
| (INVERT_X_DIR ? _BV(X_AXIS) : 0)
| (INVERT_Y_DIR ? _BV(Y_AXIS) : 0)
| (INVERT_Z_DIR ? _BV(Z_AXIS) : 0);
set_directions();
set_directions((INVERT_X_DIR ? _BV(X_AXIS) : 0)
| (INVERT_Y_DIR ? _BV(Y_AXIS) : 0)
| (INVERT_Z_DIR ? _BV(Z_AXIS) : 0));
#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
initialized = true;

8
Marlin/src/module/stepper.h
View File

@ -514,9 +514,15 @@ class Stepper {
static void refresh_motor_power();
#endif
// Set direction bits for all steppers
// Update direction states for all steppers
static void set_directions();
// Set direction bits and update all stepper DIR states
static void set_directions(const uint8_t bits) {
last_direction_bits = bits;
set_directions();
}
private:
// Set the current position in steps

41
Marlin/src/module/tool_change.cpp
View File

@ -61,6 +61,10 @@
#include "../gcode/gcode.h"
#endif
#if ENABLED(DUAL_X_CARRIAGE)
#include "stepper.h"
#endif
#if ANY(SWITCHING_EXTRUDER, SWITCHING_NOZZLE, SWITCHING_TOOLHEAD)
#include "servo.h"
#endif
@ -701,6 +705,13 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
#if ENABLED(DUAL_X_CARRIAGE)
/**
* @brief Dual X Tool Change
* @details Change tools, with extra behavior based on current mode
*
* @param new_tool Tool index to activate
* @param no_move Flag indicating no moves should take place
*/
inline void dualx_tool_change(const uint8_t new_tool, bool &no_move) {
DEBUG_ECHOPGM("Dual X Carriage Mode ");
@ -711,17 +722,16 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
case DXC_MIRRORED_MODE: DEBUG_ECHOLNPGM("MIRRORED"); break;
}
// Get the home position of the currently-active tool
const float xhome = x_home_pos(active_extruder);
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
&& IsRunning() && !no_move
&& (delayed_move_time || current_position.x != xhome)
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE // If Auto-Park mode is enabled
&& IsRunning() && !no_move // ...and movement is permitted
&& (delayed_move_time || current_position.x != xhome) // ...and delayed_move_time is set OR not "already parked"...
) {
DEBUG_ECHOLNPAIR("MoveX to ", xhome);
// Park old head
current_position.x = xhome;
line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS]);
line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS]); // Park the current head
planner.synchronize();
}
@ -736,20 +746,21 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
// New current position is the position of the activated extruder
current_position.x = inactive_extruder_x_pos;
current_position.x = inactive_extruder_x;
// Save the inactive extruder's position (from the old current_position)
inactive_extruder_x_pos = destination.x;
inactive_extruder_x = destination.x;
DEBUG_ECHOLNPAIR("DXC Full Control curr.x=", current_position.x, " dest.x=", destination.x);
break;
case DXC_AUTO_PARK_MODE:
// record current raised toolhead position for use by unpark
raised_parked_position = current_position;
active_extruder_parked = true;
delayed_move_time = 0;
idex_set_parked();
break;
default:
break;
}
// Ensure X axis DIR pertains to the correct carriage
stepper.set_directions();
DEBUG_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
DEBUG_POS("New extruder (parked)", current_position);
}
@ -875,7 +886,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
planner.synchronize();
#if ENABLED(DUAL_X_CARRIAGE) // Only T0 allowed if the Printer is in DXC_DUPLICATION_MODE or DXC_MIRRORED_MODE
if (new_tool != 0 && dxc_is_duplicating())
if (new_tool != 0 && idex_is_duplicating())
return invalid_extruder_error(new_tool);
#endif
@ -1151,7 +1162,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
}
#endif
TERN_(DUAL_X_CARRIAGE, active_extruder_parked = false);
TERN_(DUAL_X_CARRIAGE, idex_set_parked(false));
}
#if ENABLED(SWITCHING_NOZZLE)