From 7ac0b91a4530cee469a9e5d2a77d3ba57d9c4385 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 14 Jul 2016 18:28:41 -0700 Subject: [PATCH 1/2] Collapsible long comment in gcode_T --- Marlin/Marlin_main.cpp | 46 +++++++++++++++++++++--------------------- 1 file changed, 23 insertions(+), 23 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 0cb1a31f3..05ae8f9c6 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -6587,29 +6587,29 @@ inline void gcode_T(uint8_t tmp_extruder) { // No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together? #else // !DUAL_X_CARRIAGE - // - // Set current_position to the position of the new nozzle. - // Offsets are based on linear distance, so we need to get - // the resulting position in coordinate space. - // - // - With grid or 3-point leveling, offset XYZ by a tilted vector - // - With mesh leveling, update Z for the new position - // - Otherwise, just use the raw linear distance - // - // Software endstops are altered here too. Consider a case where: - // E0 at X=0 ... E1 at X=10 - // When we switch to E1 now X=10, but E1 can't move left. - // To express this we apply the change in XY to the software endstops. - // E1 can move farther right than E0, so the right limit is extended. - // - // Note that we don't adjust the Z software endstops. Why not? - // Consider a case where Z=0 (here) and switching to E1 makes Z=1 - // because the bed is 1mm lower at the new position. As long as - // the first nozzle is out of the way, the carriage should be - // allowed to move 1mm lower. This technically "breaks" the - // Z software endstop. But this is technically correct (and - // there is no viable alternative). - // + /** + * Set current_position to the position of the new nozzle. + * Offsets are based on linear distance, so we need to get + * the resulting position in coordinate space. + * + * - With grid or 3-point leveling, offset XYZ by a tilted vector + * - With mesh leveling, update Z for the new position + * - Otherwise, just use the raw linear distance + * + * Software endstops are altered here too. Consider a case where: + * E0 at X=0 ... E1 at X=10 + * When we switch to E1 now X=10, but E1 can't move left. + * To express this we apply the change in XY to the software endstops. + * E1 can move farther right than E0, so the right limit is extended. + * + * Note that we don't adjust the Z software endstops. Why not? + * Consider a case where Z=0 (here) and switching to E1 makes Z=1 + * because the bed is 1mm lower at the new position. As long as + * the first nozzle is out of the way, the carriage should be + * allowed to move 1mm lower. This technically "breaks" the + * Z software endstop. But this is technically correct (and + * there is no viable alternative). + */ #if ENABLED(AUTO_BED_LEVELING_FEATURE) // Offset extruder, make sure to apply the bed level rotation matrix vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder], From 166f19251e252e9775abbda996c1fdd9ef655e9a Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 14 Jul 2016 18:34:08 -0700 Subject: [PATCH 2/2] Add more debugging for leveling - Especially in `gcode_T` - In `update_software_endstops` - Some tweaks to observe --- Marlin/Marlin_main.cpp | 136 ++++++++++++++++++++++++++++++++--------- 1 file changed, 107 insertions(+), 29 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 05ae8f9c6..aeb35ca29 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1435,7 +1435,16 @@ static void update_software_endstops(AxisEnum axis) { sw_endstop_min[axis] = base_min_pos(axis) + offs; sw_endstop_max[axis] = base_max_pos(axis) + offs; } - + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR("For ", axis_codes[axis]); + SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]); + SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]); + SERIAL_ECHOPAIR("\n sw_endstop_min = ", sw_endstop_min[axis]); + SERIAL_ECHOPAIR("\n sw_endstop_max = ", sw_endstop_max[axis]); + SERIAL_EOL; + } + #endif } /** @@ -1524,7 +1533,7 @@ static void set_axis_is_at_home(AxisEnum axis) { current_position[Z_AXIS] -= zprobe_zoffset; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { - SERIAL_ECHOPAIR("> zprobe_zoffset==", zprobe_zoffset); + SERIAL_ECHOPAIR("> zprobe_zoffset = ", zprobe_zoffset); SERIAL_EOL; } #endif @@ -1533,7 +1542,8 @@ static void set_axis_is_at_home(AxisEnum axis) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { - SERIAL_ECHOPAIR("> home_offset[axis]==", home_offset[axis]); + SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]); + SERIAL_ECHOPAIR("] = ", home_offset[axis]); SERIAL_EOL; DEBUG_POS("", current_position); } @@ -1725,7 +1735,7 @@ static void clean_up_after_endstop_or_probe_move() { #endif //HAS_BED_PROBE -#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE +#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE || HOTENDS > 1 static bool axis_unhomed_error(const bool x, const bool y, const bool z) { const bool xx = x && !axis_homed[X_AXIS], yy = y && !axis_homed[Y_AXIS], @@ -6541,11 +6551,37 @@ inline void gcode_T(uint8_t tmp_extruder) { if (tmp_extruder != active_extruder) { bool no_move = code_seen('S') && code_value_bool(); - // Save current position to return to after applying extruder offset - if (!no_move) set_destination_to_current(); + if (!no_move && axis_unhomed_error(true, true, true)) { + SERIAL_ECHOLNPGM("No move on toolchange"); + no_move = true; + } + + // Save current position to destination, for use later + set_destination_to_current(); + #if ENABLED(DUAL_X_CARRIAGE) - if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() && - (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))) { + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPGM("Dual X Carriage Mode "); + switch (dual_x_carriage_mode) { + case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break; + case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break; + case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break; + } + } + #endif + + if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() + && (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder)) + ) { + #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; + } + #endif // Park old head: 1) raise 2) move to park position 3) lower planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT, current_position[E_AXIS], planner.max_feedrate[Z_AXIS], active_extruder); @@ -6564,27 +6600,42 @@ inline void gcode_T(uint8_t tmp_extruder) { // This function resets the max/min values - the current position may be overwritten below. set_axis_is_at_home(X_AXIS); - if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) { - current_position[X_AXIS] = inactive_extruder_x_pos; - inactive_extruder_x_pos = destination[X_AXIS]; - } - else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) { - active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position - if (active_extruder_parked) + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position); + #endif + + switch (dual_x_carriage_mode) { + case DXC_FULL_CONTROL_MODE: current_position[X_AXIS] = inactive_extruder_x_pos; - else - current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset; - inactive_extruder_x_pos = destination[X_AXIS]; - extruder_duplication_enabled = false; + inactive_extruder_x_pos = destination[X_AXIS]; + break; + case DXC_DUPLICATION_MODE: + active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position + if (active_extruder_parked) + current_position[X_AXIS] = inactive_extruder_x_pos; + else + current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset; + inactive_extruder_x_pos = destination[X_AXIS]; + extruder_duplication_enabled = false; + break; + default: + // record raised toolhead position for use by unpark + memcpy(raised_parked_position, current_position, sizeof(raised_parked_position)); + raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT; + active_extruder_parked = true; + delayed_move_time = 0; + break; } - else { - // record raised toolhead position for use by unpark - memcpy(raised_parked_position, current_position, sizeof(raised_parked_position)); - raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT; - active_extruder_parked = true; - delayed_move_time = 0; - } - // No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together? + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no"); + SERIAL_EOL; + DEBUG_POS("New extruder (parked)", current_position); + } + #endif + + // No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together? #else // !DUAL_X_CARRIAGE /** @@ -6648,15 +6699,32 @@ inline void gcode_T(uint8_t tmp_extruder) { #if ENABLED(MESH_BED_LEVELING) if (mbl.active()) { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]); + #endif float xpos = RAW_CURRENT_POSITION(X_AXIS), ypos = RAW_CURRENT_POSITION(Y_AXIS); current_position[Z_AXIS] += mbl.get_z(xpos + xydiff[X_AXIS], ypos + xydiff[Y_AXIS]) - mbl.get_z(xpos, ypos); + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR(" after: ", current_position[Z_AXIS]); + SERIAL_EOL; + } + #endif } #endif // MESH_BED_LEVELING #endif // !AUTO_BED_LEVELING_FEATURE + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]); + SERIAL_ECHOPAIR(", ", xydiff[X_AXIS]); + SERIAL_ECHOLNPGM(" }"); + } + #endif + // The newly-selected extruder XY is actually at... current_position[X_AXIS] += xydiff[X_AXIS]; current_position[Y_AXIS] += xydiff[Y_AXIS]; @@ -6670,16 +6738,26 @@ inline void gcode_T(uint8_t tmp_extruder) { #endif // !DUAL_X_CARRIAGE + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position); + #endif + // Tell the planner the new "current position" SYNC_PLAN_POSITION_KINEMATIC(); // Move to the "old position" (move the extruder into place) - if (!no_move && IsRunning()) prepare_move_to_destination(); + if (!no_move && IsRunning()) { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination); + #endif + prepare_move_to_destination(); + } } // (tmp_extruder != active_extruder) + stepper.synchronize(); + #if ENABLED(EXT_SOLENOID) - stepper.synchronize(); disable_all_solenoids(); enable_solenoid_on_active_extruder(); #endif // EXT_SOLENOID