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Merge pull request MarlinFirmware#5175 from thinkyhead/rc_dualx_homing
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Unpark when using Z_SAFE_HOMING with Dual X
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@thinkyhead
thinkyhead authored Dec 5, 2016
2 parents 82a187a + c47e07d commit 1f3e244
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Showing 2 changed files with 108 additions and 67 deletions.
4 changes: 2 additions & 2 deletions Marlin/Marlin.h
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Original file line number Diff line number Diff line change
Expand Up @@ -294,8 +294,8 @@ void update_software_endstops(AxisEnum axis);
extern float soft_endstop_min[XYZ];
extern float soft_endstop_max[XYZ];

#define LOGICAL_POSITION(POS, AXIS) (POS + home_offset[AXIS] + position_shift[AXIS])
#define RAW_POSITION(POS, AXIS) (POS - home_offset[AXIS] - position_shift[AXIS])
#define LOGICAL_POSITION(POS, AXIS) ((POS) + home_offset[AXIS] + position_shift[AXIS])
#define RAW_POSITION(POS, AXIS) ((POS) - home_offset[AXIS] - position_shift[AXIS])
#define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS)
#define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS)
#define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS)
Expand Down
171 changes: 106 additions & 65 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1312,22 +1312,20 @@ bool get_target_extruder_from_command(int code) {

static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;

static float x_home_pos(int extruder) {
static float x_home_pos(const int extruder) {
if (extruder == 0)
return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
else
/**
* In dual carriage mode the extruder offset provides an override of the
* second X-carriage offset when homed - otherwise X2_HOME_POS is used.
* This allow soft recalibration of the second extruder offset position
* second X-carriage position when homed - otherwise X2_HOME_POS is used.
* This allows soft recalibration of the second extruder home position
* without firmware reflash (through the M218 command).
*/
return (hotend_offset[X_AXIS][1] > 0) ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
return LOGICAL_X_POSITION(hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS);
}

static int x_home_dir(int extruder) {
return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
}
static int x_home_dir(const int extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }

static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
static bool active_extruder_parked = false; // used in mode 1 & 2
Expand All @@ -1351,25 +1349,33 @@ void update_software_endstops(AxisEnum axis) {
float offs = LOGICAL_POSITION(0, axis);

#if ENABLED(DUAL_X_CARRIAGE)
bool did_update = false;
if (axis == X_AXIS) {

// In Dual X mode hotend_offset[X] is T1's home position
float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);

if (active_extruder != 0) {
// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
soft_endstop_max[X_AXIS] = dual_max_x + offs;
return;
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
// In Duplication Mode, T0 can move as far left as X_MIN_POS
// but not so far to the right that T1 would move past the end
soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
return;
}
else {
// In other modes, T0 can move from X_MIN_POS to X_MAX_POS
soft_endstop_min[axis] = base_min_pos(axis) + offs;
soft_endstop_max[axis] = base_max_pos(axis) + offs;
}
}
else
#endif
{
#else
soft_endstop_min[axis] = base_min_pos(axis) + offs;
soft_endstop_max[axis] = base_max_pos(axis) + offs;
}
#endif

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
Expand Down Expand Up @@ -1418,6 +1424,7 @@ static void set_home_offset(AxisEnum axis, float v) {
* current_position to home, because neither X nor Y is at home until
* both are at home. Z can however be homed individually.
*
* Callers must sync the planner position after calling this!
*/
static void set_axis_is_at_home(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
Expand All @@ -1434,12 +1441,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
update_software_endstops(axis);

#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS && (active_extruder != 0 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
if (active_extruder != 0)
current_position[X_AXIS] = x_home_pos(active_extruder);
else
current_position[X_AXIS] = LOGICAL_X_POSITION(base_home_pos(X_AXIS));
update_software_endstops(X_AXIS);
if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
current_position[X_AXIS] = x_home_pos(active_extruder);
return;
}
#endif
Expand Down Expand Up @@ -3252,13 +3255,21 @@ inline void gcode_G4() {
#endif
)
) {

#if HOMING_Z_WITH_PROBE
destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
#endif

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
#endif

// This causes the carriage on Dual X to unpark
#if ENABLED(DUAL_X_CARRIAGE)
active_extruder_parked = false;
#endif

do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
HOMEAXIS(Z);
}
Expand Down Expand Up @@ -3407,20 +3418,31 @@ inline void gcode_G28() {

// Home X
if (home_all_axis || homeX) {

#if ENABLED(DUAL_X_CARRIAGE)
int tmp_extruder = active_extruder;
active_extruder = !active_extruder;

// Always home the 2nd (right) extruder first
active_extruder = 1;
HOMEAXIS(X);

// Remember this extruder's position for later tool change
inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
active_extruder = tmp_extruder;

// Home the 1st (left) extruder
active_extruder = 0;
HOMEAXIS(X);
// reset state used by the different modes

// Consider the active extruder to be parked
memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
delayed_move_time = 0;
active_extruder_parked = true;

#else

HOMEAXIS(X);

#endif

#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
#endif
Expand Down Expand Up @@ -7446,10 +7468,8 @@ inline void invalid_extruder_error(const uint8_t &e) {
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1

if (tmp_extruder >= MIXING_VIRTUAL_TOOLS) {
invalid_extruder_error(tmp_extruder);
return;
}
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++)
Expand All @@ -7459,10 +7479,8 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n

#if HOTENDS > 1

if (tmp_extruder >= EXTRUDERS) {
invalid_extruder_error(tmp_extruder);
return;
}
if (tmp_extruder >= EXTRUDERS)
return invalid_extruder_error(tmp_extruder);

float old_feedrate_mm_s = feedrate_mm_s;

Expand Down Expand Up @@ -7490,32 +7508,40 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
}
#endif

if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
(delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))
const float xhome = x_home_pos(active_extruder);
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
&& IsRunning()
&& (delayed_move_time || current_position[X_AXIS] != xhome)
) {
float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
#if ENABLED(max_software_endstops)
NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Raise to ", current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT); SERIAL_EOL;
SERIAL_ECHOPAIR("MoveX to ", x_home_pos(active_extruder)); SERIAL_EOL;
SERIAL_ECHOPAIR("Lower to ", current_position[Z_AXIS]); SERIAL_EOL;
SERIAL_ECHOLNPAIR("Raise to ", raised_z);
SERIAL_ECHOLNPAIR("MoveX to ", xhome);
SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
}
#endif
// Park old head: 1) raise 2) move to park position 3) lower
for (uint8_t i = 0; i < 3; i++)
planner.buffer_line(
i == 0 ? current_position[X_AXIS] : x_home_pos(active_extruder),
i == 0 ? current_position[X_AXIS] : xhome,
current_position[Y_AXIS],
current_position[Z_AXIS] + (i == 2 ? 0 : TOOLCHANGE_PARK_ZLIFT),
i == 2 ? current_position[Z_AXIS] : raised_z,
current_position[E_AXIS],
planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
active_extruder
);
stepper.synchronize();
}

// apply Y & Z extruder offset (x offset is already used in determining home pos)
// Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];

// Activate the new extruder
active_extruder = tmp_extruder;

// This function resets the max/min values - the current position may be overwritten below.
Expand All @@ -7525,9 +7551,14 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
#endif

// Only when auto-parking are carriages safe to move
if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;

switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
// New current position is the position of the activated extruder
current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
// Save the inactive extruder's position (from the old current_position)
inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
break;
case DXC_AUTO_PARK_MODE:
Expand All @@ -7541,7 +7572,10 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
delayed_move_time = 0;
break;
case DXC_DUPLICATION_MODE:
active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
// If the new extruder is the left one, set it "parked"
// This triggers the second extruder to move into the duplication position
active_extruder_parked = (active_extruder == 0);

if (active_extruder_parked)
current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
else
Expand All @@ -7566,9 +7600,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);

set_destination_to_current();

// Always raise by some amount
// Always raise by some amount (destination copied from current_position earlier)
destination[Z_AXIS] += z_raise;
planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
stepper.synchronize();
Expand Down Expand Up @@ -9223,23 +9255,6 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
break;
case DXC_DUPLICATION_MODE:
if (active_extruder == 0) {
// move duplicate extruder into correct duplication position.
planner.set_position_mm(
LOGICAL_X_POSITION(inactive_extruder_x_pos),
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
);
planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1);
SYNC_PLAN_POSITION_KINEMATIC();
stepper.synchronize();
extruder_duplication_enabled = true;
active_extruder_parked = false;
}
break;
case DXC_AUTO_PARK_MODE:
if (current_position[E_AXIS] == destination[E_AXIS]) {
// This is a travel move (with no extrusion)
Expand All @@ -9252,13 +9267,39 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
return false;
}
}
delayed_move_time = 0;
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
planner.buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], PLANNER_XY_FEEDRATE(), active_extruder);
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
for (uint8_t i = 0; i < 3; i++)
planner.buffer_line(
i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
current_position[E_AXIS],
i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
active_extruder
);
delayed_move_time = 0;
active_extruder_parked = false;
break;
case DXC_DUPLICATION_MODE:
if (active_extruder == 0) {
// move duplicate extruder into correct duplication position.
planner.set_position_mm(
LOGICAL_X_POSITION(inactive_extruder_x_pos),
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
);
planner.buffer_line(
current_position[X_AXIS] + duplicate_extruder_x_offset,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
planner.max_feedrate_mm_s[X_AXIS], 1
);
SYNC_PLAN_POSITION_KINEMATIC();
stepper.synchronize();
extruder_duplication_enabled = true;
active_extruder_parked = false;
}
break;
}
}
return true;
Expand Down Expand Up @@ -9950,7 +9991,7 @@ void kill(const char* lcd_msg) {
disable_all_steppers();

#if HAS_POWER_SWITCH
pinMode(PS_ON_PIN, INPUT);
SET_INPUT(PS_ON_PIN);
#endif

suicide();
Expand Down

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