New Continuous Filament Mixer (#12098)

Marlin/src/Marlin.cpp

@@ -905,8 +905,8 @@ void setup() {
     lcd_bootscreen();
   #endif
 
-  #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
+  #if ENABLED(MIXING_EXTRUDER)
-    mixing_tools_init();
+    mixer.init();
   #endif
 
   #if ENABLED(BLTOUCH)

Marlin/src/feature/fwretract.cpp

@@ -142,11 +142,8 @@ void FWRetract::retract(const bool retracting
   set_destination_from_current();
 
   #if ENABLED(RETRACT_SYNC_MIXING)
-    float old_mixing_factor[MIXING_STEPPERS];
+    uint8_t old_mixing_tool = mixer.get_current_v_tool();
-    for (uint8_t i = 0; i < MIXING_STEPPERS; i++) {
+    mixer.T(MIXER_AUTORETRACT_TOOL);
-      old_mixing_factor[i] = mixing_factor[i];
-      mixing_factor[i] = RECIPROCAL(MIXING_STEPPERS);
-    }
   #endif
 
   if (retracting) {
@@ -196,7 +193,7 @@ void FWRetract::retract(const bool retracting
   }
 
   #if ENABLED(RETRACT_SYNC_MIXING)
-    COPY(mixing_factor, old_mixing_factor);               // Restore original mixing factor
+    mixer.T(old_mixing_tool);                             // Restore original mixing tool
   #endif
 
   feedrate_mm_s = old_feedrate_mm_s;                      // Restore original feedrate

Marlin/src/feature/mixing.cpp

@@ -24,81 +24,90 @@
 
 #if ENABLED(MIXING_EXTRUDER)
 
-#if ENABLED(DIRECT_MIXING_IN_G1)
+//#define MIXER_NORMALIZER_DEBUG
-  #include "../gcode/parser.h"
+#ifdef MIXER_NORMALIZER_DEBUG
+  #include "../core/serial.h"
 #endif
 
-float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise <= 1.0. (Array must sum to 1.0.)
+#include "mixing.h"
 
-#if MIXING_VIRTUAL_TOOLS > 1
+Mixer mixer;
 
-  float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
+// Used up to Planner level
+uint_fast8_t  Mixer::selected_v_tool = 0;
+float         Mixer::M163_collector[MIXING_STEPPERS]; // mix proportion. 0.0 = off, otherwise <= COLOR_A_MASK.
+mixer_color_t Mixer::color[NR_MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
 
-  void mixing_tools_init() {
+// Used in Stepper
-    // Virtual Tools 0, 1, 2, 3 = Filament 1, 2, 3, 4, etc.
+int_fast8_t   Mixer::runner = 0;
-    for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS && t < MIXING_STEPPERS; t++)
+mixer_color_t Mixer::s_color[MIXING_STEPPERS];
-      for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
+mixer_accu_t  Mixer::accu[MIXING_STEPPERS] = { 0 };
-        mixing_virtual_tool_mix[t][i] = (t == i) ? 1.0 : 0.0;
 
-    // Remaining virtual tools are 100% filament 1
+void Mixer::normalize(const uint8_t tool_index) {
-    #if MIXING_STEPPERS < MIXING_VIRTUAL_TOOLS
+  float cmax = 0;
-      for (uint8_t t = MIXING_STEPPERS; t < MIXING_VIRTUAL_TOOLS; t++)
+  #ifdef MIXER_NORMALIZER_DEBUG
-        for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
+    float csum = 0;
-          mixing_virtual_tool_mix[t][i] = (i == 0) ? 1.0 : 0.0;
+  #endif
+  MIXER_STEPPER_LOOP(i) {
+    cmax = max(cmax, M163_collector[i]);
+    #ifdef MIXER_NORMALIZER_DEBUG
+      csum += M163_collector[i];
     #endif
-
-    // Initialize mixing to tool 0 color
-    for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
-      mixing_factor[i] = mixing_virtual_tool_mix[0][i];
   }
+  #ifdef MIXER_NORMALIZER_DEBUG
+    SERIAL_ECHOPGM("Mixer: Relation before normalizing: [ ");
+    MIXER_STEPPER_LOOP(i) {
+      SERIAL_ECHO_F(M163_collector[i] / csum, 3);
+      SERIAL_CHAR(' ');
+    }
+    SERIAL_ECHOPGM("]\n");
+  #endif
 
-#endif // MIXING_VIRTUAL_TOOLS > 1
+  // Scale all values so their maximum is COLOR_A_MASK
+  const float inverse_max = RECIPROCAL(cmax);
+  MIXER_STEPPER_LOOP(i)
+    color[tool_index][i] = M163_collector[i] * COLOR_A_MASK * inverse_max;
 
-void normalize_mix() {
+  #ifdef MIXER_NORMALIZER_DEBUG
-  float mix_total = 0.0;
+    csum = 0;
-  for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mix_total += mixing_factor[i];
+    SERIAL_ECHOPGM("Mixer: Normalizing to             : [ ");
-  // Scale all values if they don't add up to ~1.0
+    MIXER_STEPPER_LOOP(i) {
-  if (!NEAR(mix_total, 1.0)) {
+      SERIAL_ECHO(uint16_t(color[tool_index][i]));
-    SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
+      SERIAL_CHAR(' ');
-    const float inverse_sum = RECIPROCAL(mix_total);
+      csum += color[tool_index][i];
-    for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= inverse_sum;
+    }
-  }
+    SERIAL_ECHOLNPGM("]");
+    SERIAL_ECHOPGM("Mixer: Relation after normalizing:  [ ");
+    MIXER_STEPPER_LOOP(i) {
+      SERIAL_ECHO_F(uint16_t(color[tool_index][i]) / csum, 3);
+      SERIAL_CHAR(' ');
+    }
+    SERIAL_ECHOLNPGM("]");
+  #endif
 }
 
-#if ENABLED(DIRECT_MIXING_IN_G1)
+// called at boot
-  // Get mixing parameters from the GCode
+void Mixer::init( void ) {
-  // The total "must" be 1.0 (but it will be normalized)
+  // Virtual Tools 0, 1, 2, 3 = Filament 1, 2, 3, 4, etc.
-  // If no mix factors are given, the old mix is preserved
+  // Every virtual tool gets a pure filament
-  void gcode_get_mix() {
+  for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS && t < MIXING_STEPPERS; t++)
-    const char mixing_codes[] = { 'A', 'B'
+    MIXER_STEPPER_LOOP(i)
-      #if MIXING_STEPPERS > 2
+      color[t][i] = (t == i) ? COLOR_A_MASK : 0;
-        , 'C'
+
-        #if MIXING_STEPPERS > 3
+  // Remaining virtual tools are 100% filament 1
-          , 'D'
+  #if MIXING_STEPPERS < MIXING_VIRTUAL_TOOLS
-          #if MIXING_STEPPERS > 4
+    for (uint8_t t = MIXING_STEPPERS; t < MIXING_VIRTUAL_TOOLS; t++)
-            , 'H'
+      MIXER_STEPPER_LOOP(i)
-            #if MIXING_STEPPERS > 5
+        color[t][i] = (i == 0) ? COLOR_A_MASK : 0;
-              , 'I'
+  #endif
-            #endif // MIXING_STEPPERS > 5
+
-          #endif // MIXING_STEPPERS > 4
+  #if ENABLED(RETRACT_SYNC_MIXING)
-        #endif // MIXING_STEPPERS > 3
+    // AUTORETRACT_TOOL gets the same amount of all filaments
-      #endif // MIXING_STEPPERS > 2
+    MIXER_STEPPER_LOOP(i)
-    };
+      color[MIXER_AUTORETRACT_TOOL][i] = COLOR_A_MASK;
-    byte mix_bits = 0;
+  #endif
-    for (uint8_t i = 0; i < MIXING_STEPPERS; i++) {
+
-      if (parser.seenval(mixing_codes[i])) {
+  ZERO(M163_collector);
-        SBI(mix_bits, i);
+}
-        mixing_factor[i] = MAX(parser.value_float(), 0.0);
-      }
-    }
-    // If any mixing factors were included, clear the rest
-    // If none were included, preserve the last mix
-    if (mix_bits) {
-      for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
-        if (!TEST(mix_bits, i)) mixing_factor[i] = 0.0;
-      normalize_mix();
-    }
-  }
-#endif
 
 #endif // MIXING_EXTRUDER

Marlin/src/feature/mixing.h

@@ -19,23 +19,88 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  *
  */
-
+#pragma once
-#ifndef __MIXING_H__
-#define __MIXING_H__
 
 #include "../inc/MarlinConfig.h"
 
-extern float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise >= 1.0.
+#ifdef __AVR__
-
+  #define MIXER_ACCU_SIGNED
-#if MIXING_VIRTUAL_TOOLS > 1
+  typedef uint8_t mixer_color_t;
-  extern float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
+  typedef int8_t mixer_accu_t;
-  void mixing_tools_init();
+#else
+  typedef uint_fast16_t mixer_color_t;
+  typedef uint_fast16_t mixer_accu_t;
 #endif
 
-void normalize_mix();
+#define COLOR_A_MASK _BV(sizeof(mixer_color_t) * 8 - 1) // 0x80 or 0x8000
+#define COLOR_MASK (COLOR_A_MASK - 1)                   // 0x7F or 0x7FFF
 
-#if ENABLED(DIRECT_MIXING_IN_G1)
+#ifndef MIXING_VIRTUAL_TOOLS
-  void gcode_get_mix();
+  #define MIXING_VIRTUAL_TOOLS 1
 #endif
 
-#endif // __MIXING_H__
+#ifdef RETRACT_SYNC_MIXING
+  #define NR_MIXING_VIRTUAL_TOOLS (MIXING_VIRTUAL_TOOLS + 1)
+  #define MIXER_AUTORETRACT_TOOL MIXING_VIRTUAL_TOOLS
+#else
+  #define NR_MIXING_VIRTUAL_TOOLS (MIXING_VIRTUAL_TOOLS)
+#endif
+
+#define MIXER_STEPPER_LOOP(VAR) \
+  for (uint_fast8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++)
+
+#define MIXER_BLOCK_DEFINITION mixer_color_t b_color[MIXING_STEPPERS]
+#define MIXER_POPULATE_BLOCK() mixer.populate_block(block->b_color)
+#define MIXER_STEPPER_SETUP() mixer.stepper_setup(current_block->b_color)
+
+class Mixer {
+  public:
+
+  static void init(void); // Populate colors at boot time
+
+  // Used up to Planner level
+  static void normalize(const uint8_t tool_index);
+  FORCE_INLINE static uint8_t get_current_v_tool(void) { return selected_v_tool; }
+  FORCE_INLINE static void T(const uint_fast8_t c) { selected_v_tool = c; }
+  FORCE_INLINE static void set_M163_collector(const uint8_t c, const float f) { M163_collector[c] = f; }
+
+  // Used when dealing with blocks
+  FORCE_INLINE static void populate_block(mixer_color_t b_color[]) {
+    uint_fast8_t j = get_current_v_tool();
+    MIXER_STEPPER_LOOP(i) b_color[i] = color[j][i];
+  }
+  FORCE_INLINE static void stepper_setup(mixer_color_t b_color[]) { MIXER_STEPPER_LOOP(i) s_color[i] = b_color[i]; }
+
+  // Used in Stepper
+  FORCE_INLINE static uint8_t get_stepper(void) { return runner; }
+  FORCE_INLINE static uint8_t get_next_stepper(void) {
+    do {
+      if (--runner < 0) runner = MIXING_STEPPERS - 1;
+      accu[runner] += s_color[runner];
+      if (
+        #ifdef MIXER_ACCU_SIGNED
+          accu[runner] < 0
+        #else
+          accu[runner] & COLOR_A_MASK
+        #endif
+      ) {
+        accu[runner] &= COLOR_MASK;
+        return runner;
+      }
+    } while( true );
+  }
+
+  private:
+
+  // Used up to Planner level
+  static uint_fast8_t  selected_v_tool;
+  static float         M163_collector[MIXING_STEPPERS];
+  static mixer_color_t color[NR_MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
+
+  // Used in Stepper
+  static int_fast8_t   runner;
+  static mixer_color_t s_color[MIXING_STEPPERS];
+  static mixer_accu_t  accu[MIXING_STEPPERS];
+};
+
+extern Mixer mixer;

Marlin/src/gcode/calibrate/G33.cpp

@@ -643,7 +643,7 @@ void GcodeSuite::G33() {
 
     if (verbose_level != 0) {                                    // !dry run
 
-      // normalise angles to least squares
+      // Normalize angles to least-squares
       if (_angle_results) {
         float a_sum = 0.0;
         LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];

Marlin/src/gcode/feature/mixing/M163-M165.cpp

@@ -30,7 +30,7 @@
 /**
  * M163: Set a single mix factor for a mixing extruder
  *       This is called "weight" by some systems.
- *       The 'P' values must sum to 1.0 or must be followed by M164 to normalize them.
+ *       Must be followed by M164 to normalize and commit them.
  *
  *   S[index]   The channel index to set
  *   P[float]   The mix value
@@ -38,24 +38,23 @@
 void GcodeSuite::M163() {
   const int mix_index = parser.intval('S');
   if (mix_index < MIXING_STEPPERS)
-    mixing_factor[mix_index] = MAX(parser.floatval('P'), 0.0);
+    mixer.set_M163_collector(mix_index, MAX(parser.floatval('P'), 0.0));
 }
 
 /**
  * M164: Normalize and commit the mix.
- *       If 'S' is given store as a virtual tool. (Requires MIXING_VIRTUAL_TOOLS > 1)
+ *       If 'S' is given store as a virtual tool. Else in T0.
  *
  *   S[index]   The virtual tool to store
  */
 void GcodeSuite::M164() {
-  normalize_mix();
   #if MIXING_VIRTUAL_TOOLS > 1
     const int tool_index = parser.intval('S', -1);
-    if (WITHIN(tool_index, 0, MIXING_VIRTUAL_TOOLS - 1)) {
+  #else
-      for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
+    constexpr int tool_index = 0;
-        mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
-    }
   #endif
+  if (WITHIN(tool_index, 0, MIXING_VIRTUAL_TOOLS - 1))
+    mixer.normalize(tool_index);
 }
 
 #if ENABLED(DIRECT_MIXING_IN_G1)
@@ -63,7 +62,7 @@ void GcodeSuite::M164() {
   /**
    * M165: Set multiple mix factors for a mixing extruder.
    *       Factors that are left out will be set to 0.
-   *       All factors should sum to 1.0, but they will be normalized regardless.
+   *       All factors will be normalized and stored in the current v-tool.
    *
    *   A[factor] Mix factor for extruder stepper 1
    *   B[factor] Mix factor for extruder stepper 2
@@ -72,7 +71,39 @@ void GcodeSuite::M164() {
    *   H[factor] Mix factor for extruder stepper 5
    *   I[factor] Mix factor for extruder stepper 6
    */
-  void GcodeSuite::M165() { gcode_get_mix(); }
+  void GcodeSuite::M165() {
+    // Get mixing parameters from the GCode
+    // The total "must" be 1.0 (but it will be normalized)
+    // If no mix factors are given, the old mix is preserved
+    const char mixing_codes[] = { 'A', 'B'
+      #if MIXING_STEPPERS > 2
+        , 'C'
+        #if MIXING_STEPPERS > 3
+          , 'D'
+          #if MIXING_STEPPERS > 4
+            , 'H'
+            #if MIXING_STEPPERS > 5
+              , 'I'
+            #endif // MIXING_STEPPERS > 5
+          #endif // MIXING_STEPPERS > 4
+        #endif // MIXING_STEPPERS > 3
+      #endif // MIXING_STEPPERS > 2
+    };
+    uint8_t mix_bits = 0;
+    MIXER_STEPPER_LOOP(i) {
+      if (parser.seenval(mixing_codes[i])) {
+        SBI(mix_bits, i);
+        mixer.set_M163_collector(i, MAX(parser.value_float(), 0.0f));
+      }
+    }
+    // If any mixing factors were included, clear the rest
+    // If none were included, preserve the last mix
+    if (mix_bits) {
+      MIXER_STEPPER_LOOP(i)
+        if (!TEST(mix_bits, i)) mixer.set_M163_collector(i, 0.0f);
+      mixer.normalize(mixer.get_current_v_tool());
+    }
+  }
 
 #endif // DIRECT_MIXING_IN_G1
 

Marlin/src/gcode/gcode.cpp

@@ -36,10 +36,6 @@ GcodeSuite gcode;
   #include "../module/printcounter.h"
 #endif
 
-#if ENABLED(DIRECT_MIXING_IN_G1)
-  #include "../feature/mixing.h"
-#endif
-
 #include "../Marlin.h" // for idle() and suspend_auto_report
 
 uint8_t GcodeSuite::target_extruder;
@@ -113,7 +109,7 @@ void GcodeSuite::get_destination_from_command() {
 
   // Get ABCDHI mixing factors
   #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
-    gcode_get_mix();
+    M165();
   #endif
 }
 
@@ -441,9 +437,7 @@ void GcodeSuite::process_parsed_command(
 
       #if ENABLED(MIXING_EXTRUDER)
         case 163: M163(); break;                                  // M163: Set a component weight for mixing extruder
-        #if MIXING_VIRTUAL_TOOLS > 1
+        case 164: M164(); break;                                  // M164: Save current mix as a virtual extruder
-          case 164: M164(); break;                                // M164: Save current mix as a virtual extruder
-        #endif
         #if ENABLED(DIRECT_MIXING_IN_G1)
           case 165: M165(); break;                                // M165: Set multiple mix weights
         #endif

Marlin/src/gcode/gcode.h

@@ -146,8 +146,8 @@
  * M150 - Set Status LED Color as R<red> U<green> B<blue> P<bright>. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, NEOPIXEL_LED, or PCA9632).
  * M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
  * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
- * M164 - Commit the mix (Req. MIXING_EXTRUDER) and optionally save as a virtual tool (Req. MIXING_VIRTUAL_TOOLS > 1)
+ * M164 - Commit the mix (Req. MIXING_EXTRUDER) and optionally save as a virtual tool (Requires MIXING_EXTRUDER)
- * M165 - Set the mix for a mixing extruder wuth parameters ABCDHI. (Requires MIXING_EXTRUDER and DIRECT_MIXING_IN_G1)
+ * M165 - Set the mix for a mixing extruder with parameters ABCDHI. (Requires MIXING_EXTRUDER and DIRECT_MIXING_IN_G1)
  * M190 - Sxxx Wait for bed current temp to reach target temp. ** Waits only when heating! **
  *        Rxxx Wait for bed current temp to reach target temp. ** Waits for heating or cooling. **
  * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
@@ -581,9 +581,7 @@ private:
 
   #if ENABLED(MIXING_EXTRUDER)
     static void M163();
-    #if MIXING_VIRTUAL_TOOLS > 1
+    static void M164();
-      static void M164();
-    #endif
     #if ENABLED(DIRECT_MIXING_IN_G1)
       static void M165();
     #endif

Marlin/src/inc/SanityCheck.h

@@ -705,8 +705,6 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
     #error "Please select either MIXING_EXTRUDER or SWITCHING_EXTRUDER, not both."
   #elif ENABLED(SINGLENOZZLE)
     #error "MIXING_EXTRUDER is incompatible with SINGLENOZZLE."
-  #elif ENABLED(LIN_ADVANCE)
-    #error "MIXING_EXTRUDER is incompatible with LIN_ADVANCE."
   #endif
 #endif
 

Marlin/src/module/planner.cpp

@@ -1749,10 +1749,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   // Bail if this is a zero-length block
   if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return false;
 
-  // For a mixing extruder, get a magnified esteps for each
   #if ENABLED(MIXING_EXTRUDER)
-    for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
+    MIXER_POPULATE_BLOCK();
-      block->mix_steps[i] = mixing_factor[i] * esteps;
   #endif
 
   #if FAN_COUNT > 0
@@ -1765,7 +1763,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   #endif
 
   #if EXTRUDERS > 1
-    block->active_extruder = extruder;
+    block->extruder = extruder;
   #endif
 
   #if ENABLED(AUTO_POWER_CONTROL)
@@ -2066,15 +2064,14 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   // Calculate and limit speed in mm/sec for each axis
   float current_speed[NUM_AXIS], speed_factor = 1.0f; // factor <1 decreases speed
   LOOP_XYZE(i) {
-    #if ENABLED(MIXING_EXTRUDER)
+    #if ENABLED(MIXING_EXTRUDER) && ENABLED(RETRACT_SYNC_MIXING)
+      // In worst case, only one extruder running, no change is needed.
+      // In best case, all extruders run the same amount, we can divide by MIXING_STEPPERS
       float delta_mm_i = 0;
-      if (i == E_AXIS) {
+      if (i == E_AXIS && mixer.get_current_v_tool() == MIXER_AUTORETRACT_TOOL) 
-        for (uint8_t s = 0; s < MIXING_STEPPERS; s++) {
+        delta_mm_i = delta_mm[i] / MIXING_STEPPERS;
-          const float delta_mm_s = mixing_factor[s] * delta_mm[i];
+      else
-          if (ABS(delta_mm_s) > ABS(delta_mm_i)) delta_mm_i = delta_mm_s;
+        delta_mm_i = delta_mm[i];
-        }
-      }
-      else delta_mm_i = delta_mm[i];
     #else
       const float delta_mm_i = delta_mm[i];
     #endif

Marlin/src/module/planner.h

@@ -47,6 +47,10 @@
   #include "../feature/fwretract.h"
 #endif
 
+#if ENABLED(MIXING_EXTRUDER)
+  #include "../feature/mixing.h"
+#endif
+
 enum BlockFlagBit : char {
   // Recalculate trapezoids on entry junction. For optimization.
   BLOCK_BIT_RECALCULATE,
@@ -104,11 +108,11 @@ typedef struct {
   uint32_t step_event_count;                // The number of step events required to complete this block
 
   #if EXTRUDERS > 1
-    uint8_t active_extruder;                // The extruder to move (if E move)
+    uint8_t extruder;                       // The extruder to move (if E move)
   #endif
 
   #if ENABLED(MIXING_EXTRUDER)
-    uint32_t mix_steps[MIXING_STEPPERS];    // Scaled steps[E_AXIS] for the mixing steppers
+    MIXER_BLOCK_DEFINITION;                 // Normalized color for the mixing steppers
   #endif
 
   // Settings for the trapezoid generator

Marlin/src/module/stepper.cpp

@@ -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)
+#if EXTRUDERS > 1 || ENABLED(MIXING_EXTRUDER)
-  int32_t Stepper::delta_error_m[MIXING_STEPPERS];
+  uint8_t Stepper::stepper_extruder;
-  uint32_t Stepper::advance_dividend_m[MIXING_STEPPERS],
+#else
-           Stepper::advance_divisor_m;
+  constexpr uint8_t Stepper::stepper_extruder;
-#elif EXTRUDERS > 1
-  uint8_t Stepper::active_extruder;          // Active 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
+    // Pulse Extruders
-    #if ENABLED(LIN_ADVANCE)
+    // Tick the E axis, correct error term and update position
-      // 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;
+        #if ENABLED(LIN_ADVANCE)
-
-        // 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];
           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;
-        // Tick the counters used for this mix in proper proportion
+        #else // !LIN_ADVANCE && MIXING_EXTRUDER
-        MIXING_STEPPERS_LOOP(j) {
+          // Don't adjust delta_error[E_AXIS] here!
-          // Step mixing steppers (proportionally)
+          // Being positive is the criteria for ending the pulse.
-          delta_error_m[j] += advance_dividend_m[j];
+          E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN);
-          // Step when the counter goes over zero
+        #endif
-          if (delta_error_m[j] >= 0) E_STEP_WRITE(j, !INVERT_E_STEP_PIN);
+      }
-        }
+    #else // !LIN_ADVANCE && !MIXING_EXTRUDER
-
+      #if HAS_E_STEP
-      #else // !MIXING_EXTRUDER
         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[E_AXIS] >= 0) {
-          if (delta_error_m[j] >= 0) {
+          delta_error[E_AXIS] -= advance_divisor;
-            delta_error_m[j] -= advance_divisor_m;
+          E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
-            E_STEP_WRITE(j, 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 = (
+        MIXER_STEPPER_SETUP();
-          #if ENABLED(LIN_ADVANCE)
+      #endif
-            current_block->steps[E_AXIS]
+
-          #else
+      #if EXTRUDERS > 1
-            step_event_count
+        stepper_extruder = current_block->extruder;
-          #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;
       #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)
+          #if DISABLED(MIXING_EXTRUDER)
-          || active_extruder != last_moved_extruder
+            || stepper_extruder != last_moved_extruder
-        #endif
+          #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) {
+        E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN);
-          // 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
-        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) {
+        E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN);
-          if (delta_error_m[j] >= 0) {
-            delta_error_m[j] -= advance_divisor_m;
-            E_STEP_WRITE(j, 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
 }
 
 /**

Marlin/src/module/stepper.h

@@ -150,7 +150,12 @@
 #define ISR_E_STEPPER_CYCLES         ISR_STEPPER_CYCLES
 
 // If linear advance is disabled, then the loop also handles them
-#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER)
+#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER) // ToDo: ???
+  // HELP ME: What is what?
+  // Directions are set up for MIXING_STEPPERS - like before.
+  // Finding the right stepper may last up to MIXING_STEPPERS loops in get_next_stepper().
+  //   These loops are a bit faster than advancing a bresenham counter.
+  // Always only one e-stepper is stepped.
   #define ISR_START_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_START_STEPPER_CYCLES))
   #define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
 #else
@@ -188,7 +193,12 @@
 #if ENABLED(LIN_ADVANCE)
 
   // Estimate the minimum LA loop time
-  #if ENABLED(MIXING_EXTRUDER)
+  #if ENABLED(MIXING_EXTRUDER) // ToDo: ???
+    // HELP ME: What is what?
+    // Directions are set up for MIXING_STEPPERS - like before.
+    // Finding the right stepper may last up to MIXING_STEPPERS loops in get_next_stepper().
+    //   These loops are a bit faster than advancing a bresenham counter.
+    // Always only one e-stepper is stepped.
     #define MIN_ISR_LA_LOOP_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES))
   #else
     #define MIN_ISR_LA_LOOP_CYCLES ISR_STEPPER_CYCLES
@@ -292,17 +302,10 @@ class Stepper {
                     decelerate_after,       // The point from where we need to start decelerating
                     step_event_count;       // The total event count for the current block
 
-    // Mixing extruder mix delta_errors for bresenham tracing
+    #if EXTRUDERS > 1 || ENABLED(MIXING_EXTRUDER)
-    #if ENABLED(MIXING_EXTRUDER)
+      static uint8_t stepper_extruder;
-      static int32_t delta_error_m[MIXING_STEPPERS];
-      static uint32_t advance_dividend_m[MIXING_STEPPERS],
-                      advance_divisor_m;
-      #define MIXING_STEPPERS_LOOP(VAR) \
-        for (uint8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++)
-    #elif EXTRUDERS > 1
-      static uint8_t active_extruder;
     #else
-      static constexpr uint8_t active_extruder = 0;
+      static constexpr uint8_t stepper_extruder = 0;
     #endif
 
     #if ENABLED(S_CURVE_ACCELERATION)

Marlin/src/module/tool_change.cpp

@@ -356,19 +356,6 @@ inline void invalid_extruder_error(const uint8_t e) {
   SERIAL_ECHOLNPGM(MSG_INVALID_EXTRUDER);
 }
 
-#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
-
-  inline void mixing_tool_change(const uint8_t tmp_extruder) {
-    if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
-      return invalid_extruder_error(tmp_extruder);
-
-    // T0-Tnnn: Switch virtual tool by changing the mix
-    for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
-      mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
-  }
-
-#endif // MIXING_EXTRUDER && MIXING_VIRTUAL_TOOLS > 1
-
 #if ENABLED(DUAL_X_CARRIAGE)
 
   inline void dualx_tool_change(const uint8_t tmp_extruder, bool &no_move) {
@@ -467,7 +454,9 @@ inline void invalid_extruder_error(const uint8_t e) {
  * previous tool out of the way and the new tool into place.
  */
 void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
-  planner.synchronize();
+  #if DISABLED(MIXING_EXTRUDER)
+    planner.synchronize();
+  #endif
 
   #if ENABLED(DUAL_X_CARRIAGE)  // Only T0 allowed if the Printer is in DXC_DUPLICATION_MODE or DXC_SCALED_DUPLICATION_MODE
     if (tmp_extruder != 0 && dxc_is_duplicating())
@@ -481,8 +470,12 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
   #endif
 
   #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
-
+    if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
-    mixing_tool_change(tmp_extruder);
+      return invalid_extruder_error(tmp_extruder);
+    // T0-Tnnn: Switch virtual tool by changing the index to the mix
+    mixer.T(uint_fast8_t(tmp_extruder));
+    UNUSED(fr_mm_s);
+    UNUSED(no_move);
 
   #else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1