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Added logging related to gcode_T #4308

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merged 2 commits into from
Jul 15, 2016
Merged

Added logging related to gcode_T #4308

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7ac0b91
Collapsible long comment in gcode_T
thinkyhead Jul 15, 2016
166f192
Add more debugging for leveling
thinkyhead Jul 15, 2016
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182 changes: 130 additions & 52 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
}

/**
Expand Down Expand Up @@ -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
Expand All @@ -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);
}
Expand Down Expand Up @@ -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],
Expand Down Expand Up @@ -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);
Expand All @@ -6564,52 +6600,67 @@ 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;
}
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;
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;
}
// 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

//
// 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],
Expand Down Expand Up @@ -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];
Expand All @@ -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
Expand Down