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New Continuous Filament Mixer (#12098)

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This commit is contained in:
AnHardt
2018-10-16 10:38:57 +02:00
committed by Scott Lahteine
parent 2d2cd628c6
commit f56968ba0b
14 changed files with 296 additions and 236 deletions
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139
Marlin/src/module/stepper.cpp
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@ -103,6 +103,10 @@
#include <SPI.h>
#endif
#if ENABLED(MIXING_EXTRUDER)
#include "../feature/mixing.h"
#endif
Stepper stepper; // Singleton
// public:
@ -158,12 +162,10 @@ uint32_t Stepper::advance_dividend[XYZE] = { 0 },
Stepper::decelerate_after, // The point from where we need to start decelerating
Stepper::step_event_count; // The total event count for the current block
#if ENABLED(MIXING_EXTRUDER)
int32_t Stepper::delta_error_m[MIXING_STEPPERS];
uint32_t Stepper::advance_dividend_m[MIXING_STEPPERS],
Stepper::advance_divisor_m;
#elif EXTRUDERS > 1
uint8_t Stepper::active_extruder; // Active extruder
#if EXTRUDERS > 1 || ENABLED(MIXING_EXTRUDER)
uint8_t Stepper::stepper_extruder;
#else
constexpr uint8_t Stepper::stepper_extruder;
#endif
#if ENABLED(S_CURVE_ACCELERATION)
@ -301,7 +303,7 @@ int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
#endif
#if DISABLED(MIXING_EXTRUDER)
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(active_extruder, v)
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(stepper_extruder, v)
#endif
void Stepper::wake_up() {
@ -340,21 +342,23 @@ void Stepper::set_directions() {
#if DISABLED(LIN_ADVANCE)
#if ENABLED(MIXING_EXTRUDER)
// Because this is valid for the whole block we don't know
// what e-steppers will step. Likely all. Set all.
if (motor_direction(E_AXIS)) {
MIXING_STEPPERS_LOOP(j) REV_E_DIR(j);
MIXER_STEPPER_LOOP(j) REV_E_DIR(j);
count_direction[E_AXIS] = -1;
}
else {
MIXING_STEPPERS_LOOP(j) NORM_E_DIR(j);
MIXER_STEPPER_LOOP(j) NORM_E_DIR(j);
count_direction[E_AXIS] = 1;
}
#else
if (motor_direction(E_AXIS)) {
REV_E_DIR(active_extruder);
REV_E_DIR(stepper_extruder);
count_direction[E_AXIS] = -1;
}
else {
NORM_E_DIR(active_extruder);
NORM_E_DIR(stepper_extruder);
count_direction[E_AXIS] = 1;
}
#endif
@ -1387,39 +1391,27 @@ void Stepper::stepper_pulse_phase_isr() {
PULSE_START(Z);
#endif
// Pulse E/Mixing extruders
#if ENABLED(LIN_ADVANCE)
// Tick the E axis, correct error term and update position
// Pulse Extruders
// Tick the E axis, correct error term and update position
#if ENABLED(LIN_ADVANCE) || ENABLED(MIXING_EXTRUDER)
delta_error[E_AXIS] += advance_dividend[E_AXIS];
if (delta_error[E_AXIS] >= 0) {
count_position[E_AXIS] += count_direction[E_AXIS];
delta_error[E_AXIS] -= advance_divisor;
// Don't step E here - But remember the number of steps to perform
motor_direction(E_AXIS) ? --LA_steps : ++LA_steps;
}
#else // !LIN_ADVANCE - use linear interpolation for E also
#if ENABLED(MIXING_EXTRUDER)
// Tick the E axis
delta_error[E_AXIS] += advance_dividend[E_AXIS];
if (delta_error[E_AXIS] >= 0) {
count_position[E_AXIS] += count_direction[E_AXIS];
#if ENABLED(LIN_ADVANCE)
delta_error[E_AXIS] -= advance_divisor;
}
// Tick the counters used for this mix in proper proportion
MIXING_STEPPERS_LOOP(j) {
// Step mixing steppers (proportionally)
delta_error_m[j] += advance_dividend_m[j];
// Step when the counter goes over zero
if (delta_error_m[j] >= 0) E_STEP_WRITE(j, !INVERT_E_STEP_PIN);
}
#else // !MIXING_EXTRUDER
// Don't step E here - But remember the number of steps to perform
motor_direction(E_AXIS) ? --LA_steps : ++LA_steps;
#else // !LIN_ADVANCE && MIXING_EXTRUDER
// Don't adjust delta_error[E_AXIS] here!
// Being positive is the criteria for ending the pulse.
E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN);
#endif
}
#else // !LIN_ADVANCE && !MIXING_EXTRUDER
#if HAS_E_STEP
PULSE_START(E);
#endif
#endif // !LIN_ADVANCE
#endif
#if MINIMUM_STEPPER_PULSE
// Just wait for the requested pulse duration
@ -1442,11 +1434,9 @@ void Stepper::stepper_pulse_phase_isr() {
#if DISABLED(LIN_ADVANCE)
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j) {
if (delta_error_m[j] >= 0) {
delta_error_m[j] -= advance_divisor_m;
E_STEP_WRITE(j, INVERT_E_STEP_PIN);
}
if (delta_error[E_AXIS] >= 0) {
delta_error[E_AXIS] -= advance_divisor;
E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
}
#else // !MIXING_EXTRUDER
PULSE_STOP(E);
@ -1717,27 +1707,18 @@ uint32_t Stepper::stepper_block_phase_isr() {
decelerate_after = current_block->decelerate_after << oversampling;
#if ENABLED(MIXING_EXTRUDER)
const uint32_t e_steps = (
#if ENABLED(LIN_ADVANCE)
current_block->steps[E_AXIS]
#else
step_event_count
#endif
);
MIXING_STEPPERS_LOOP(i) {
delta_error_m[i] = -int32_t(e_steps);
advance_dividend_m[i] = current_block->mix_steps[i] << 1;
}
advance_divisor_m = e_steps << 1;
#elif EXTRUDERS > 1
active_extruder = current_block->active_extruder;
MIXER_STEPPER_SETUP();
#endif
#if EXTRUDERS > 1
stepper_extruder = current_block->extruder;
#endif
// Initialize the trapezoid generator from the current block.
#if ENABLED(LIN_ADVANCE)
#if DISABLED(MIXING_EXTRUDER) && E_STEPPERS > 1
// If the now active extruder wasn't in use during the last move, its pressure is most likely gone.
if (active_extruder != last_moved_extruder) LA_current_adv_steps = 0;
if (stepper_extruder != last_moved_extruder) LA_current_adv_steps = 0;
#endif
if ((LA_use_advance_lead = current_block->use_advance_lead)) {
@ -1751,15 +1732,15 @@ uint32_t Stepper::stepper_block_phase_isr() {
#endif
if (current_block->direction_bits != last_direction_bits
#if DISABLED(MIXING_EXTRUDER)
|| active_extruder != last_moved_extruder
#endif
#if DISABLED(MIXING_EXTRUDER)
|| stepper_extruder != last_moved_extruder
#endif
) {
last_direction_bits = current_block->direction_bits;
#if DISABLED(MIXING_EXTRUDER) && EXTRUDERS > 1
last_moved_extruder = active_extruder;
#endif
set_directions();
#if EXTRUDERS > 1
last_moved_extruder = stepper_extruder;
#endif
}
// At this point, we must ensure the movement about to execute isn't
@ -1827,15 +1808,17 @@ uint32_t Stepper::stepper_block_phase_isr() {
interval = LA_ADV_NEVER;
#if ENABLED(MIXING_EXTRUDER)
// We don't know which steppers will be stepped because LA loop follows,
// with potentially multiple steps. Set all.
if (LA_steps >= 0)
MIXING_STEPPERS_LOOP(j) NORM_E_DIR(j);
MIXER_STEPPER_LOOP(j) NORM_E_DIR(j);
else
MIXING_STEPPERS_LOOP(j) REV_E_DIR(j);
MIXER_STEPPER_LOOP(j) REV_E_DIR(j);
#else
if (LA_steps >= 0)
NORM_E_DIR(active_extruder);
NORM_E_DIR(stepper_extruder);
else
REV_E_DIR(active_extruder);
REV_E_DIR(stepper_extruder);
#endif
// Get the timer count and estimate the end of the pulse
@ -1848,14 +1831,9 @@ uint32_t Stepper::stepper_block_phase_isr() {
// Set the STEP pulse ON
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j) {
// Step mixing steppers (proportionally)
delta_error_m[j] += advance_dividend_m[j];
// Step when the counter goes over zero
if (delta_error_m[j] >= 0) E_STEP_WRITE(j, !INVERT_E_STEP_PIN);
}
E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN);
#else
E_STEP_WRITE(active_extruder, !INVERT_E_STEP_PIN);
E_STEP_WRITE(stepper_extruder, !INVERT_E_STEP_PIN);
#endif
// Enforce a minimum duration for STEP pulse ON
@ -1871,14 +1849,9 @@ uint32_t Stepper::stepper_block_phase_isr() {
// Set the STEP pulse OFF
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(j) {
if (delta_error_m[j] >= 0) {
delta_error_m[j] -= advance_divisor_m;
E_STEP_WRITE(j, INVERT_E_STEP_PIN);
}
}
E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
#else
E_STEP_WRITE(active_extruder, INVERT_E_STEP_PIN);
E_STEP_WRITE(stepper_extruder, INVERT_E_STEP_PIN);
#endif
// For minimum pulse time wait before looping
@ -2106,8 +2079,6 @@ void Stepper::init() {
endstops.enable(true); // Start with endstops active. After homing they can be disabled
sei();
set_directions(); // Init directions to last_direction_bits = 0
}
/**