Fix IDEX layer shift and DIR states (#19756)

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>

Marlin/src/feature/pause.cpp

@@ -223,8 +223,7 @@ bool load_filament(const float &slow_load_length/*=0*/, const float &fast_load_l
   #if ENABLED(DUAL_X_CARRIAGE)
     const int8_t saved_ext        = active_extruder;
     const bool saved_ext_dup_mode = extruder_duplication_enabled;
-    active_extruder = DXC_ext;
+    set_duplication_enabled(false, DXC_ext);
-    extruder_duplication_enabled = false;
   #endif
 
   // Slow Load filament
@@ -245,9 +244,7 @@ bool load_filament(const float &slow_load_length/*=0*/, const float &fast_load_l
   }
 
   #if ENABLED(DUAL_X_CARRIAGE)      // Tie the two extruders movement back together.
-    active_extruder = saved_ext;
+    set_duplication_enabled(saved_ext_dup_mode, saved_ext);
-    extruder_duplication_enabled = saved_ext_dup_mode;
-    stepper.set_directions();
   #endif
 
   #if ENABLED(ADVANCED_PAUSE_CONTINUOUS_PURGE)
@@ -439,17 +436,14 @@ bool pause_print(const float &retract, const xyz_pos_t &park_point, const float
   #if ENABLED(DUAL_X_CARRIAGE)
     const int8_t saved_ext        = active_extruder;
     const bool saved_ext_dup_mode = extruder_duplication_enabled;
-    active_extruder = DXC_ext;
+    set_duplication_enabled(false, DXC_ext);
-    extruder_duplication_enabled = false;
   #endif
 
   if (unload_length)   // Unload the filament
     unload_filament(unload_length, show_lcd, PAUSE_MODE_CHANGE_FILAMENT);
 
   #if ENABLED(DUAL_X_CARRIAGE)
-    active_extruder = saved_ext;
+    set_duplication_enabled(saved_ext_dup_mode, saved_ext);
-    extruder_duplication_enabled = saved_ext_dup_mode;
-    stepper.set_directions();
   #endif
 
   return true;
@@ -495,8 +489,7 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep
   #if ENABLED(DUAL_X_CARRIAGE)
     const int8_t saved_ext        = active_extruder;
     const bool saved_ext_dup_mode = extruder_duplication_enabled;
-    active_extruder = DXC_ext;
+    set_duplication_enabled(false, DXC_ext);
-    extruder_duplication_enabled = false;
   #endif
 
   // Wait for filament insert by user and press button
@@ -550,9 +543,7 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep
     idle_no_sleep();
   }
   #if ENABLED(DUAL_X_CARRIAGE)
-    active_extruder = saved_ext;
+    set_duplication_enabled(saved_ext_dup_mode, saved_ext);
-    extruder_duplication_enabled = saved_ext_dup_mode;
-    stepper.set_directions();
   #endif
 }
 

Marlin/src/feature/pause.h

@@ -89,10 +89,11 @@ bool pause_print(const float &retract, const xyz_pos_t &park_point, const float
 
 void wait_for_confirmation(const bool is_reload=false, const int8_t max_beep_count=0 DXC_PARAMS);
 
-void resume_print(const float &slow_load_length=0, const float &fast_load_length=0, const float &extrude_length=ADVANCED_PAUSE_PURGE_LENGTH, const int8_t max_beep_count=0, int16_t targetTemp=0 DXC_PARAMS);
+void resume_print(const float &slow_load_length=0, const float &fast_load_length=0, const float &extrude_length=ADVANCED_PAUSE_PURGE_LENGTH,
+                    const int8_t max_beep_count=0, int16_t targetTemp=0 DXC_PARAMS);
 
-bool load_filament(const float &slow_load_length=0, const float &fast_load_length=0, const float &extrude_length=0, const int8_t max_beep_count=0, const bool show_lcd=false,
+bool load_filament(const float &slow_load_length=0, const float &fast_load_length=0, const float &extrude_length=0, const int8_t max_beep_count=0,
-                          const bool pause_for_user=false, const PauseMode mode=PAUSE_MODE_PAUSE_PRINT DXC_PARAMS);
+                    const bool show_lcd=false, const bool pause_for_user=false, const PauseMode mode=PAUSE_MODE_PAUSE_PRINT DXC_PARAMS);
 
 bool unload_filament(const float &unload_length, const bool show_lcd=false, const PauseMode mode=PAUSE_MODE_PAUSE_PRINT
   #if BOTH(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER)

Marlin/src/feature/runout.h

@@ -237,7 +237,7 @@ class FilamentSensorBase {
         #if NUM_RUNOUT_SENSORS == 1
           UNUSED(extruder);
         #else
-          if ( !TERN0(DUAL_X_CARRIAGE, dxc_is_duplicating())
+          if ( !TERN0(DUAL_X_CARRIAGE, idex_is_duplicating())
             && !TERN0(MULTI_NOZZLE_DUPLICATION, extruder_duplication_enabled)
           ) return TEST(runout_states, extruder); // A specific extruder ran out
         #endif

Marlin/src/gcode/bedlevel/G35.cpp

@@ -110,9 +110,8 @@ void GcodeSuite::G35() {
     tool_change(0, true);
   #endif
 
-  #if HAS_DUPLICATION_MODE
+  // Disable duplication mode on homing
-    extruder_duplication_enabled = false;
+  TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false));
-  #endif
 
   // Home all before this procedure
   home_all_axes();

Marlin/src/gcode/calibrate/G28.cpp

@@ -134,8 +134,8 @@
 
       if (DEBUGGING(LEVELING)) DEBUG_POS("home_z_safely", destination);
 
-      // This causes the carriage on Dual X to unpark
+      // Free the active extruder for movement
-      TERN_(DUAL_X_CARRIAGE, active_extruder_parked = false);
+      TERN_(DUAL_X_CARRIAGE, idex_set_parked(false));
 
       TERN_(SENSORLESS_HOMING, safe_delay(500)); // Short delay needed to settle
 
@@ -282,7 +282,7 @@ void GcodeSuite::G28() {
     tool_change(0, true);
   #endif
 
-  TERN_(HAS_DUPLICATION_MODE, extruder_duplication_enabled = false);
+  TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false));
 
   remember_feedrate_scaling_off();
 
@@ -342,16 +342,14 @@ void GcodeSuite::G28() {
         homeaxis(X_AXIS);
 
         // Remember this extruder's position for later tool change
-        inactive_extruder_x_pos = current_position.x;
+        inactive_extruder_x = current_position.x;
 
         // Home the 1st (left) extruder
         active_extruder = 0;
         homeaxis(X_AXIS);
 
-        // Consider the active extruder to be parked
+        // Consider the active extruder to be in its "parked" position
-        raised_parked_position = current_position;
+        idex_set_parked();
-        delayed_move_time = 0;
-        active_extruder_parked = true;
 
       #else
 
@@ -392,7 +390,7 @@ void GcodeSuite::G28() {
    */
   #if ENABLED(DUAL_X_CARRIAGE)
 
-    if (dxc_is_duplicating()) {
+    if (idex_is_duplicating()) {
 
       TERN_(IMPROVE_HOMING_RELIABILITY, slow_homing = begin_slow_homing());
 
@@ -401,19 +399,17 @@ void GcodeSuite::G28() {
       homeaxis(X_AXIS);
 
       // Remember this extruder's position for later tool change
-      inactive_extruder_x_pos = current_position.x;
+      inactive_extruder_x = current_position.x;
 
       // Home the 1st (left) extruder
       active_extruder = 0;
       homeaxis(X_AXIS);
 
       // Consider the active extruder to be parked
-      raised_parked_position = current_position;
+      idex_set_parked();
-      delayed_move_time = 0;
+
-      active_extruder_parked = true;
-      extruder_duplication_enabled = IDEX_saved_duplication_state;
       dual_x_carriage_mode = IDEX_saved_mode;
-      stepper.set_directions();
+      set_duplication_enabled(IDEX_saved_duplication_state);
 
       TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(slow_homing));
     }

Marlin/src/gcode/calibrate/G34_M422.cpp

@@ -113,7 +113,7 @@ void GcodeSuite::G34() {
       tool_change(0, true);
     #endif
 
-    TERN_(HAS_DUPLICATION_MODE, extruder_duplication_enabled = false);
+    TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false));
 
     // In BLTOUCH HS mode, the probe travels in a deployed state.
     // Users of G34 might have a badly misaligned bed, so raise Z by the

Marlin/src/gcode/control/M605.cpp

@@ -68,7 +68,7 @@
       const DualXMode previous_mode = dual_x_carriage_mode;
 
       dual_x_carriage_mode = (DualXMode)parser.value_byte();
-      mirrored_duplication_mode = false;
+      idex_set_mirrored_mode(false);
 
       if (dual_x_carriage_mode == DXC_MIRRORED_MODE) {
         if (previous_mode != DXC_DUPLICATION_MODE) {
@@ -77,8 +77,7 @@
           dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
           return;
         }
-        mirrored_duplication_mode = true;
+        idex_set_mirrored_mode(true);
-        stepper.set_directions();
         float x_jog = current_position.x - .1;
         for (uint8_t i = 2; --i;) {
           planner.buffer_line(x_jog, current_position.y, current_position.z, current_position.e, feedrate_mm_s, 0);
@@ -102,10 +101,8 @@
           dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
           break;
       }
-      active_extruder_parked = false;
+      idex_set_parked(false);
-      extruder_duplication_enabled = false;
+      set_duplication_enabled(false);
-      stepper.set_directions();
-      delayed_move_time = 0;
     }
     else if (!parser.seen('W'))  // if no S or W parameter, the DXC mode gets reset to the user's default
       dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
@@ -125,7 +122,7 @@
         if (!active_extruder_parked) DEBUG_ECHOPGM(" NOT ");
         DEBUG_ECHOPGM(" parked.");
         DEBUG_ECHOPAIR("\nactive_extruder_x_pos: ", current_position.x);
-        DEBUG_ECHOPAIR("\ninactive_extruder_x_pos: ", inactive_extruder_x_pos);
+        DEBUG_ECHOPAIR("\ninactive_extruder_x: ", inactive_extruder_x);
         DEBUG_ECHOPAIR("\nextruder_duplication_enabled: ", int(extruder_duplication_enabled));
         DEBUG_ECHOPAIR("\nduplicate_extruder_x_offset: ", duplicate_extruder_x_offset);
         DEBUG_ECHOPAIR("\nduplicate_extruder_temp_offset: ", duplicate_extruder_temp_offset);
@@ -166,7 +163,7 @@
       if (parser.seenval('P')) duplication_e_mask = parser.value_int();   // Set the mask directly
       else if (parser.seenval('E')) duplication_e_mask = pow(2, parser.value_int() + 1) - 1; // Set the mask by E index
       ena = (2 == parser.intval('S', extruder_duplication_enabled ? 2 : 0));
-      extruder_duplication_enabled = ena && (duplication_e_mask >= 3);
+      set_duplication_enabled(ena && (duplication_e_mask >= 3));
     }
     SERIAL_ECHO_START();
     SERIAL_ECHOPGM(STR_DUPLICATION_MODE);

Marlin/src/gcode/feature/pause/M600.cpp

@@ -87,7 +87,7 @@ void GcodeSuite::M600() {
     if (!parser.seen('T')) {  // If no tool index is specified, M600 was (probably) sent in response to filament runout.
                               // In this case, for duplicating modes set DXC_ext to the extruder that ran out.
       #if HAS_FILAMENT_SENSOR && NUM_RUNOUT_SENSORS > 1
-        if (dxc_is_duplicating())
+        if (idex_is_duplicating())
           DXC_ext = (READ(FIL_RUNOUT2_PIN) == FIL_RUNOUT_STATE) ? 1 : 0;
       #else
         DXC_ext = active_extruder;
@@ -108,7 +108,7 @@ void GcodeSuite::M600() {
   #if HAS_MULTI_EXTRUDER
     // Change toolhead if specified
     const uint8_t active_extruder_before_filament_change = active_extruder;
-    if (active_extruder != target_extruder && TERN1(DUAL_X_CARRIAGE, !dxc_is_duplicating()))
+    if (active_extruder != target_extruder && TERN1(DUAL_X_CARRIAGE, !idex_is_duplicating()))
       tool_change(target_extruder, false);
   #endif
 

Marlin/src/gcode/temp/M104_M109.cpp

@@ -94,7 +94,7 @@ void GcodeSuite::M104() {
     thermalManager.setTargetHotend(temp, target_extruder);
 
     #if ENABLED(DUAL_X_CARRIAGE)
-      if (dxc_is_duplicating() && target_extruder == 0)
+      if (idex_is_duplicating() && target_extruder == 0)
         thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
     #endif
 
@@ -172,7 +172,7 @@ void GcodeSuite::M109() {
     thermalManager.setTargetHotend(temp, target_extruder);
 
     #if ENABLED(DUAL_X_CARRIAGE)
-      if (dxc_is_duplicating() && target_extruder == 0)
+      if (idex_is_duplicating() && target_extruder == 0)
         thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
     #endif
 

Marlin/src/libs/L64XX/L64XX_Marlin.cpp

@@ -62,11 +62,11 @@ const uint8_t L64XX_Marlin::index_to_dir[MAX_L64XX] = {
   INVERT_X_DIR, INVERT_Y_DIR, INVERT_Z_DIR
   , (INVERT_X_DIR)                            // X2
     #if ENABLED(X_DUAL_STEPPER_DRIVERS)
-      ^ (INVERT_X2_VS_X_DIR)
+      ^ ENABLED(INVERT_X2_VS_X_DIR)
     #endif
   , (INVERT_Y_DIR)                            // Y2
     #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
-      ^ (INVERT_Y2_VS_Y_DIR)
+      ^ ENABLED(INVERT_Y2_VS_Y_DIR)
     #endif
   , INVERT_Z_DIR, INVERT_Z_DIR, INVERT_Z_DIR  // Z2,Z3,Z4
 

Marlin/src/module/motion.cpp

@@ -569,7 +569,7 @@ void restore_feedrate_and_scaling() {
           soft_endstop.min.x = X2_MIN_POS;
           soft_endstop.max.x = dual_max_x;
         }
-        else if (dxc_is_duplicating()) {
+        else if (idex_is_duplicating()) {
           // In Duplication Mode, T0 can move as far left as X1_MIN_POS
           // but not so far to the right that T1 would move past the end
           soft_endstop.min.x = X1_MIN_POS;
@@ -932,8 +932,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
 #endif // !UBL_SEGMENTED
 
 #if HAS_DUPLICATION_MODE
-  bool extruder_duplication_enabled,
+  bool extruder_duplication_enabled;
-       mirrored_duplication_mode;
   #if ENABLED(MULTI_NOZZLE_DUPLICATION)
     uint8_t duplication_e_mask; // = 0
   #endif
@@ -942,12 +941,13 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
 #if ENABLED(DUAL_X_CARRIAGE)
 
   DualXMode dual_x_carriage_mode         = DEFAULT_DUAL_X_CARRIAGE_MODE;
-  float inactive_extruder_x_pos          = X2_MAX_POS,                    // used in mode 0 & 1
+  float inactive_extruder_x              = X2_MAX_POS,                    // Used in mode 0 & 1
-        duplicate_extruder_x_offset      = DEFAULT_DUPLICATION_X_OFFSET;  // used in mode 2
+        duplicate_extruder_x_offset      = DEFAULT_DUPLICATION_X_OFFSET;  // Used in mode 2
-  xyz_pos_t raised_parked_position;                                       // used in mode 1
+  xyz_pos_t raised_parked_position;                                       // Used in mode 1
-  bool active_extruder_parked            = false;                         // used in mode 1 & 2
+  bool active_extruder_parked            = false;                         // Used in mode 1 & 2
-  millis_t delayed_move_time             = 0;                             // used in mode 1
+  millis_t delayed_move_time             = 0;                             // Used in mode 1
-  int16_t duplicate_extruder_temp_offset = 0;                             // used in mode 2
+  int16_t duplicate_extruder_temp_offset = 0;                             // Used in mode 2
+  bool idex_mirrored_mode                = false;                         // Used in mode 3
 
   float x_home_pos(const uint8_t extruder) {
     if (extruder == 0)
@@ -962,6 +962,23 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
       return hotend_offset[1].x > 0 ? hotend_offset[1].x : X2_HOME_POS;
   }
 
+  void idex_set_mirrored_mode(const bool mirr) {
+    idex_mirrored_mode = mirr;
+    stepper.set_directions();
+  }
+
+  void set_duplication_enabled(const bool dupe, const int8_t tool_index/*=-1*/) {
+    extruder_duplication_enabled = dupe;
+    if (tool_index >= 0) active_extruder = tool_index;
+    stepper.set_directions();
+  }
+
+  void idex_set_parked(const bool park/*=true*/) {
+    delayed_move_time = 0;
+    active_extruder_parked = park;
+    if (park) raised_parked_position = current_position;  // Remember current raised toolhead position for use by unpark
+  }
+
   /**
    * Prepare a linear move in a dual X axis setup
    *
@@ -970,9 +987,10 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
   inline bool dual_x_carriage_unpark() {
     if (active_extruder_parked) {
       switch (dual_x_carriage_mode) {
-        case DXC_FULL_CONTROL_MODE:
+
-          break;
+        case DXC_FULL_CONTROL_MODE: break;
-        case DXC_AUTO_PARK_MODE:
+
+        case DXC_AUTO_PARK_MODE: {
           if (current_position.e == destination.e) {
             // This is a travel move (with no extrusion)
             // Skip it, but keep track of the current position
@@ -984,23 +1002,27 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
               return true;
             }
           }
-          // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
+          //
+          // Un-park the active extruder
+          //
+          const feedRate_t fr_zfast = planner.settings.max_feedrate_mm_s[Z_AXIS];
+          #define CURPOS current_position
+          #define RAISED raised_parked_position
+          //  1. Move to the raised parked XYZ. Presumably the tool is already at XY.
+          if (planner.buffer_line(RAISED.x, RAISED.y, RAISED.z, CURPOS.e, fr_zfast, active_extruder)) {
+            //  2. Move to the current native XY and raised Z. Presumably this is a null move.
+            if (planner.buffer_line(CURPOS.x, CURPOS.y, RAISED.z, CURPOS.e, PLANNER_XY_FEEDRATE(), active_extruder)) {
+              //  3. Lower Z back down
+              line_to_current_position(fr_zfast);
+            }
+          }
+          planner.synchronize(); // paranoia
+          stepper.set_directions();
 
-            #define CUR_X    current_position.x
+          idex_set_parked(false);
-            #define CUR_Y    current_position.y
+          if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("idex_set_parked(false)");
-            #define CUR_Z    current_position.z
+        } break;
-            #define CUR_E    current_position.e
-            #define RAISED_X raised_parked_position.x
-            #define RAISED_Y raised_parked_position.y
-            #define RAISED_Z raised_parked_position.z
 
-            if (  planner.buffer_line(RAISED_X, RAISED_Y, RAISED_Z, CUR_E, planner.settings.max_feedrate_mm_s[Z_AXIS], active_extruder))
-              if (planner.buffer_line(   CUR_X,    CUR_Y, RAISED_Z, CUR_E, PLANNER_XY_FEEDRATE(),             active_extruder))
-                  line_to_current_position(planner.settings.max_feedrate_mm_s[Z_AXIS]);
-          delayed_move_time = 0;
-          active_extruder_parked = false;
-          if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Clear active_extruder_parked");
-          break;
         case DXC_MIRRORED_MODE:
         case DXC_DUPLICATION_MODE:
           if (active_extruder == 0) {
@@ -1008,22 +1030,23 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
             if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
               new_pos.x += duplicate_extruder_x_offset;
             else
-              new_pos.x = inactive_extruder_x_pos;
+              new_pos.x = inactive_extruder_x;
-            // move duplicate extruder into correct duplication position.
+            // Move duplicate extruder into correct duplication position.
-            if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Set planner X", inactive_extruder_x_pos, " ... Line to X", new_pos.x);
+            if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Set planner X", inactive_extruder_x, " ... Line to X", new_pos.x);
-            planner.set_position_mm(inactive_extruder_x_pos, current_position.y, current_position.z, current_position.e);
+            planner.set_position_mm(inactive_extruder_x, current_position.y, current_position.z, current_position.e);
             if (!planner.buffer_line(new_pos, planner.settings.max_feedrate_mm_s[X_AXIS], 1)) break;
+
             planner.synchronize();
             sync_plan_position();
-            extruder_duplication_enabled = true;
+
-            active_extruder_parked = false;
+            set_duplication_enabled(true);
-            if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked");
+            idex_set_parked(false);
+            if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("set_duplication_enabled(true)\nidex_set_parked(false)");
           }
           else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Active extruder not 0");
           break;
       }
     }
-    stepper.set_directions();
     return false;
   }
 

Marlin/src/module/motion.h

@@ -384,8 +384,7 @@ bool homing_needed_error(uint8_t axis_bits=0x07);
  * Duplication mode
  */
 #if HAS_DUPLICATION_MODE
-  extern bool extruder_duplication_enabled,       // Used in Dual X mode 2
+  extern bool extruder_duplication_enabled;       // Used in Dual X mode 2
-              mirrored_duplication_mode;          // Used in Dual X mode 3
   #if ENABLED(MULTI_NOZZLE_DUPLICATION)
     extern uint8_t duplication_e_mask;
   #endif
@@ -404,23 +403,29 @@ bool homing_needed_error(uint8_t axis_bits=0x07);
   };
 
   extern DualXMode dual_x_carriage_mode;
-  extern float inactive_extruder_x_pos,           // Used in mode 0 & 1
+  extern float inactive_extruder_x,               // Used in mode 0 & 1
                duplicate_extruder_x_offset;       // Used in mode 2 & 3
   extern xyz_pos_t raised_parked_position;        // Used in mode 1
   extern bool active_extruder_parked;             // Used in mode 1, 2 & 3
   extern millis_t delayed_move_time;              // Used in mode 1
   extern int16_t duplicate_extruder_temp_offset;  // Used in mode 2 & 3
+  extern bool idex_mirrored_mode;                 // Used in mode 3
 
-  FORCE_INLINE bool dxc_is_duplicating() { return dual_x_carriage_mode >= DXC_DUPLICATION_MODE; }
+  FORCE_INLINE bool idex_is_duplicating() { return dual_x_carriage_mode >= DXC_DUPLICATION_MODE; }
 
   float x_home_pos(const uint8_t extruder);
 
   FORCE_INLINE int x_home_dir(const uint8_t extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
 
+  void set_duplication_enabled(const bool dupe, const int8_t tool_index=-1);
+  void idex_set_mirrored_mode(const bool mirr);
+  void idex_set_parked(const bool park=true);
+
 #else
 
   #if ENABLED(MULTI_NOZZLE_DUPLICATION)
     enum DualXMode : char { DXC_DUPLICATION_MODE = 2 };
+    FORCE_INLINE void set_duplication_enabled(const bool dupe) { extruder_duplication_enabled = dupe; }
   #endif
 
   FORCE_INLINE int x_home_dir(const uint8_t) { return home_dir(X_AXIS); }

Marlin/src/module/stepper.cpp

@@ -348,7 +348,7 @@ xyze_int8_t Stepper::count_direction{0};
   }
 
 #if ENABLED(X_DUAL_STEPPER_DRIVERS)
-  #define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) != INVERT_X2_VS_X_DIR); }while(0)
+  #define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) ^ ENABLED(INVERT_X2_VS_X_DIR)); }while(0)
   #if ENABLED(X_DUAL_ENDSTOPS)
     #define X_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(X,v)
   #else
@@ -356,7 +356,7 @@ xyze_int8_t Stepper::count_direction{0};
   #endif
 #elif ENABLED(DUAL_X_CARRIAGE)
   #define X_APPLY_DIR(v,ALWAYS) do{ \
-    if (extruder_duplication_enabled || ALWAYS) { X_DIR_WRITE(v); X2_DIR_WRITE(mirrored_duplication_mode ? !(v) : v); } \
+    if (extruder_duplication_enabled || ALWAYS) { X_DIR_WRITE(v); X2_DIR_WRITE((v) ^ idex_mirrored_mode); } \
     else if (last_moved_extruder) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \
   }while(0)
   #define X_APPLY_STEP(v,ALWAYS) do{ \
@@ -369,7 +369,7 @@ xyze_int8_t Stepper::count_direction{0};
 #endif
 
 #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
-  #define Y_APPLY_DIR(v,Q) do{ Y_DIR_WRITE(v); Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR); }while(0)
+  #define Y_APPLY_DIR(v,Q) do{ Y_DIR_WRITE(v); Y2_DIR_WRITE((v) ^ ENABLED(INVERT_Y2_VS_Y_DIR)); }while(0)
   #if ENABLED(Y_DUAL_ENDSTOPS)
     #define Y_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Y,v)
   #else
@@ -1605,10 +1605,9 @@ void Stepper::pulse_phase_isr() {
               PAGE_SEGMENT_UPDATE(Z, high >> 4);
               PAGE_SEGMENT_UPDATE(E, high & 0xF);
 
-              if (dm != last_direction_bits) {
+              if (dm != last_direction_bits)
-                last_direction_bits = dm;
+                set_directions(dm);
-                set_directions();
+
-              }
             } break;
 
             default: break;
@@ -2131,9 +2130,7 @@ uint32_t Stepper::block_phase_isr() {
         MIXER_STEPPER_SETUP();
       #endif
 
-      #if HAS_MULTI_EXTRUDER
+      TERN_(HAS_MULTI_EXTRUDER, stepper_extruder = current_block->extruder);
-        stepper_extruder = current_block->extruder;
-      #endif
 
       // Initialize the trapezoid generator from the current block.
       #if ENABLED(LIN_ADVANCE)
@@ -2152,16 +2149,13 @@ uint32_t Stepper::block_phase_isr() {
       #endif
 
       if ( ENABLED(HAS_L64XX)       // Always set direction for L64xx (Also enables the chips)
+        || ENABLED(DUAL_X_CARRIAGE) // TODO: Find out why this fixes "jittery" small circles
         || current_block->direction_bits != last_direction_bits
         || TERN(MIXING_EXTRUDER, false, stepper_extruder != last_moved_extruder)
       ) {
-        last_direction_bits = current_block->direction_bits;
+        TERN_(HAS_MULTI_EXTRUDER, last_moved_extruder = stepper_extruder);
-        #if HAS_MULTI_EXTRUDER
-          last_moved_extruder = stepper_extruder;
-        #endif
-
         TERN_(HAS_L64XX, L64XX_OK_to_power_up = true);
-        set_directions();
+        set_directions(current_block->direction_bits);
       }
 
       #if ENABLED(LASER_POWER_INLINE)
@@ -2583,12 +2577,9 @@ void Stepper::init() {
   #endif
 
   // Init direction bits for first moves
-  last_direction_bits = 0
+  set_directions((INVERT_X_DIR ? _BV(X_AXIS) : 0)
-    | (INVERT_X_DIR ? _BV(X_AXIS) : 0)
                | (INVERT_Y_DIR ? _BV(Y_AXIS) : 0)
-    | (INVERT_Z_DIR ? _BV(Z_AXIS) : 0);
+               | (INVERT_Z_DIR ? _BV(Z_AXIS) : 0));
-
-  set_directions();
 
   #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM
     initialized = true;

Marlin/src/module/stepper.h

@@ -514,9 +514,15 @@ class Stepper {
       static void refresh_motor_power();
     #endif
 
-    // Set direction bits for all steppers
+    // Update direction states for all steppers
     static void set_directions();
 
+    // Set direction bits and update all stepper DIR states
+    static void set_directions(const uint8_t bits) {
+      last_direction_bits = bits;
+      set_directions();
+    }
+
   private:
 
     // Set the current position in steps

Marlin/src/module/tool_change.cpp

@@ -61,6 +61,10 @@
   #include "../gcode/gcode.h"
 #endif
 
+#if ENABLED(DUAL_X_CARRIAGE)
+  #include "stepper.h"
+#endif
+
 #if ANY(SWITCHING_EXTRUDER, SWITCHING_NOZZLE, SWITCHING_TOOLHEAD)
   #include "servo.h"
 #endif
@@ -701,6 +705,13 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
 
 #if ENABLED(DUAL_X_CARRIAGE)
 
+  /**
+   * @brief Dual X Tool Change
+   * @details Change tools, with extra behavior based on current mode
+   *
+   * @param new_tool Tool index to activate
+   * @param no_move Flag indicating no moves should take place
+   */
   inline void dualx_tool_change(const uint8_t new_tool, bool &no_move) {
 
     DEBUG_ECHOPGM("Dual X Carriage Mode ");
@@ -711,17 +722,16 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
       case DXC_MIRRORED_MODE:     DEBUG_ECHOLNPGM("MIRRORED");     break;
     }
 
+    // Get the home position of the currently-active tool
     const float xhome = x_home_pos(active_extruder);
-    if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
+
-        && IsRunning() && !no_move
+    if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE                  // If Auto-Park mode is enabled
-        && (delayed_move_time || current_position.x != xhome)
+        && IsRunning() && !no_move                                  // ...and movement is permitted
+        && (delayed_move_time || current_position.x != xhome)       // ...and delayed_move_time is set OR not "already parked"...
     ) {
-
       DEBUG_ECHOLNPAIR("MoveX to ", xhome);
-
-      // Park old head
       current_position.x = xhome;
-      line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS]);
+      line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS]);   // Park the current head
       planner.synchronize();
     }
 
@@ -736,20 +746,21 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
     switch (dual_x_carriage_mode) {
       case DXC_FULL_CONTROL_MODE:
         // New current position is the position of the activated extruder
-        current_position.x = inactive_extruder_x_pos;
+        current_position.x = inactive_extruder_x;
         // Save the inactive extruder's position (from the old current_position)
-        inactive_extruder_x_pos = destination.x;
+        inactive_extruder_x = destination.x;
+        DEBUG_ECHOLNPAIR("DXC Full Control curr.x=", current_position.x, " dest.x=", destination.x);
         break;
       case DXC_AUTO_PARK_MODE:
-        // record current raised toolhead position for use by unpark
+        idex_set_parked();
-        raised_parked_position = current_position;
-        active_extruder_parked = true;
-        delayed_move_time = 0;
         break;
       default:
         break;
     }
 
+    // Ensure X axis DIR pertains to the correct carriage
+    stepper.set_directions();
+
     DEBUG_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
     DEBUG_POS("New extruder (parked)", current_position);
   }
@@ -875,7 +886,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
     planner.synchronize();
 
     #if ENABLED(DUAL_X_CARRIAGE)  // Only T0 allowed if the Printer is in DXC_DUPLICATION_MODE or DXC_MIRRORED_MODE
-      if (new_tool != 0 && dxc_is_duplicating())
+      if (new_tool != 0 && idex_is_duplicating())
          return invalid_extruder_error(new_tool);
     #endif
 
@@ -1151,7 +1162,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
           }
         #endif
 
-        TERN_(DUAL_X_CARRIAGE, active_extruder_parked = false);
+        TERN_(DUAL_X_CARRIAGE, idex_set_parked(false));
       }
 
       #if ENABLED(SWITCHING_NOZZLE)