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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
- #include "../inc/MarlinConfigPre.h"
-
- #include "tool_change.h"
-
- #include "probe.h"
- #include "motion.h"
- #include "planner.h"
- #include "temperature.h"
-
- #include "../MarlinCore.h"
-
- #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
- #include "../core/debug_out.h"
-
- #if EXTRUDERS > 1
- toolchange_settings_t toolchange_settings; // Initialized by settings.load()
- #endif
-
- #if ENABLED(SINGLENOZZLE)
- uint16_t singlenozzle_temp[EXTRUDERS];
- #if FAN_COUNT > 0
- uint8_t singlenozzle_fan_speed[EXTRUDERS];
- #endif
- #endif
-
- #if ENABLED(MAGNETIC_PARKING_EXTRUDER) || defined(EVENT_GCODE_AFTER_TOOLCHANGE) || (ENABLED(PARKING_EXTRUDER) && PARKING_EXTRUDER_SOLENOIDS_DELAY > 0)
- #include "../gcode/gcode.h"
- #endif
-
- #if ANY(SWITCHING_EXTRUDER, SWITCHING_NOZZLE, SWITCHING_TOOLHEAD)
- #include "servo.h"
- #endif
-
- #if ENABLED(EXT_SOLENOID) && DISABLED(PARKING_EXTRUDER)
- #include "../feature/solenoid.h"
- #endif
-
- #if ENABLED(MK2_MULTIPLEXER)
- #include "../feature/snmm.h"
- #endif
-
- #if ENABLED(MIXING_EXTRUDER)
- #include "../feature/mixing.h"
- #endif
-
- #if HAS_LEVELING
- #include "../feature/bedlevel/bedlevel.h"
- #endif
-
- #if HAS_FANMUX
- #include "../feature/fanmux.h"
- #endif
-
- #if ENABLED(PRUSA_MMU2)
- #include "../feature/prusa_MMU2/mmu2.h"
- #endif
-
- #if HAS_LCD_MENU
- #include "../lcd/ultralcd.h"
- #endif
-
- #if ENABLED(ADVANCED_PAUSE_FEATURE)
- #include "../feature/pause.h"
- #endif
-
- #if DO_SWITCH_EXTRUDER
-
- #if EXTRUDERS > 3
- #define _SERVO_NR(E) ((E) < 2 ? SWITCHING_EXTRUDER_SERVO_NR : SWITCHING_EXTRUDER_E23_SERVO_NR)
- #else
- #define _SERVO_NR(E) SWITCHING_EXTRUDER_SERVO_NR
- #endif
-
- void move_extruder_servo(const uint8_t e) {
- planner.synchronize();
- #if EXTRUDERS & 1
- if (e < EXTRUDERS - 1)
- #endif
- {
- MOVE_SERVO(_SERVO_NR(e), servo_angles[_SERVO_NR(e)][e]);
- safe_delay(500);
- }
- }
-
- #endif // DO_SWITCH_EXTRUDER
-
- #if ENABLED(SWITCHING_NOZZLE)
-
- #if SWITCHING_NOZZLE_TWO_SERVOS
-
- inline void _move_nozzle_servo(const uint8_t e, const uint8_t angle_index) {
- constexpr int8_t sns_index[2] = { SWITCHING_NOZZLE_SERVO_NR, SWITCHING_NOZZLE_E1_SERVO_NR };
- constexpr int16_t sns_angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
- planner.synchronize();
- MOVE_SERVO(sns_index[e], sns_angles[angle_index]);
- safe_delay(500);
- }
-
- void lower_nozzle(const uint8_t e) { _move_nozzle_servo(e, 0); }
- void raise_nozzle(const uint8_t e) { _move_nozzle_servo(e, 1); }
-
- #else
-
- void move_nozzle_servo(const uint8_t angle_index) {
- planner.synchronize();
- MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, servo_angles[SWITCHING_NOZZLE_SERVO_NR][angle_index]);
- safe_delay(500);
- }
-
- #endif
-
- #endif // SWITCHING_NOZZLE
-
- inline void _line_to_current(const AxisEnum fr_axis, const float fscale=1) {
- line_to_current_position(planner.settings.max_feedrate_mm_s[fr_axis] * fscale);
- }
- inline void slow_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.5f); }
- inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis); }
-
- #if ENABLED(MAGNETIC_PARKING_EXTRUDER)
-
- float parkingposx[2], // M951 R L
- parkinggrabdistance, // M951 I
- parkingslowspeed, // M951 J
- parkinghighspeed, // M951 H
- parkingtraveldistance, // M951 D
- compensationmultiplier;
-
- inline void magnetic_parking_extruder_tool_change(const uint8_t new_tool) {
-
- const float oldx = current_position.x,
- grabpos = mpe_settings.parking_xpos[new_tool] + (new_tool ? mpe_settings.grab_distance : -mpe_settings.grab_distance),
- offsetcompensation = (0
- #if HAS_HOTEND_OFFSET
- + hotend_offset[active_extruder].x * mpe_settings.compensation_factor
- #endif
- );
-
- if (axis_unhomed_error(_BV(X_AXIS))) return;
-
- /**
- * Z Lift and Nozzle Offset shift ar defined in caller method to work equal with any Multi Hotend realization
- *
- * Steps:
- * 1. Move high speed to park position of new extruder
- * 2. Move to couple position of new extruder (this also discouple the old extruder)
- * 3. Move to park position of new extruder
- * 4. Move high speed to approach park position of old extruder
- * 5. Move to park position of old extruder
- * 6. Move to starting position
- */
-
- // STEP 1
-
- current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
-
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOPAIR("(1) Move extruder ", int(new_tool));
- DEBUG_POS(" to new extruder ParkPos", current_position);
- }
-
- planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool);
- planner.synchronize();
-
- // STEP 2
-
- current_position.x = grabpos + offsetcompensation;
-
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOPAIR("(2) Couple extruder ", int(new_tool));
- DEBUG_POS(" to new extruder GrabPos", current_position);
- }
-
- planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool);
- planner.synchronize();
-
- // Delay before moving tool, to allow magnetic coupling
- gcode.dwell(150);
-
- // STEP 3
-
- current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOPAIR("(3) Move extruder ", int(new_tool));
- DEBUG_POS(" back to new extruder ParkPos", current_position);
- }
-
- planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool);
- planner.synchronize();
-
- // STEP 4
-
- current_position.x = mpe_settings.parking_xpos[active_extruder] + (active_extruder == 0 ? MPE_TRAVEL_DISTANCE : -MPE_TRAVEL_DISTANCE) + offsetcompensation;
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOPAIR("(4) Move extruder ", int(new_tool));
- DEBUG_POS(" close to old extruder ParkPos", current_position);
- }
-
- planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool);
- planner.synchronize();
-
- // STEP 5
-
- current_position.x = mpe_settings.parking_xpos[active_extruder] + offsetcompensation;
-
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOPAIR("(5) Park extruder ", int(new_tool));
- DEBUG_POS(" at old extruder ParkPos", current_position);
- }
-
- planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool);
- planner.synchronize();
-
- // STEP 6
-
- current_position.x = oldx;
-
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOPAIR("(6) Move extruder ", int(new_tool));
- DEBUG_POS(" to starting position", current_position);
- }
-
- planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool);
- planner.synchronize();
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Autopark done.");
- }
-
- #elif ENABLED(PARKING_EXTRUDER)
-
- void pe_solenoid_init() {
- for (uint8_t n = 0; n <= 1; ++n)
- #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
- pe_activate_solenoid(n);
- #else
- pe_deactivate_solenoid(n);
- #endif
- }
-
- void pe_set_solenoid(const uint8_t extruder_num, const uint8_t state) {
- switch (extruder_num) {
- case 1: OUT_WRITE(SOL1_PIN, state); break;
- default: OUT_WRITE(SOL0_PIN, state); break;
- }
- #if PARKING_EXTRUDER_SOLENOIDS_DELAY > 0
- gcode.dwell(PARKING_EXTRUDER_SOLENOIDS_DELAY);
- #endif
- }
-
- inline void parking_extruder_tool_change(const uint8_t new_tool, bool no_move) {
- if (!no_move) {
-
- constexpr float parkingposx[] = PARKING_EXTRUDER_PARKING_X;
-
- #if HAS_HOTEND_OFFSET
- const float x_offset = hotend_offset[active_extruder].x;
- #else
- constexpr float x_offset = 0;
- #endif
-
- const float midpos = (parkingposx[0] + parkingposx[1]) * 0.5f + x_offset,
- grabpos = parkingposx[new_tool] + (new_tool ? PARKING_EXTRUDER_GRAB_DISTANCE : -(PARKING_EXTRUDER_GRAB_DISTANCE)) + x_offset;
-
- /**
- * 1. Move to park position of old extruder
- * 2. Disengage magnetic field, wait for delay
- * 3. Move near new extruder
- * 4. Engage magnetic field for new extruder
- * 5. Move to parking incl. offset of new extruder
- * 6. Lower Z-Axis
- */
-
- // STEP 1
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("Start PE Tool-Change", current_position);
-
- current_position.x = parkingposx[active_extruder] + x_offset;
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
- DEBUG_POS("Moving ParkPos", current_position);
- }
- fast_line_to_current(X_AXIS);
-
- // STEP 2
-
- planner.synchronize();
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet");
- pe_deactivate_solenoid(active_extruder);
-
- // STEP 3
-
- current_position.x += active_extruder ? -10 : 10; // move 10mm away from parked extruder
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPGM("(3) Move near new extruder");
- DEBUG_POS("Move away from parked extruder", current_position);
- }
- fast_line_to_current(X_AXIS);
-
- // STEP 4
-
- planner.synchronize();
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field");
- #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
- pe_activate_solenoid(active_extruder); // Just save power for inverted magnets
- #endif
- pe_activate_solenoid(new_tool);
-
- // STEP 5
-
- current_position.x = grabpos + (new_tool ? -10 : 10);
- fast_line_to_current(X_AXIS);
-
- current_position.x = grabpos;
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_POS("(5) Unpark extruder", current_position);
- }
- slow_line_to_current(X_AXIS);
-
- // STEP 6
-
- current_position.x = midpos
- #if HAS_HOTEND_OFFSET
- - hotend_offset[new_tool].x
- #endif
- ;
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_POS("(6) Move midway between hotends", current_position);
- }
- fast_line_to_current(X_AXIS);
- planner.synchronize(); // Always sync the final move
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("PE Tool-Change done.", current_position);
- }
- else { // nomove == true
- // Only engage magnetic field for new extruder
- pe_activate_solenoid(new_tool);
- #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
- pe_activate_solenoid(active_extruder); // Just save power for inverted magnets
- #endif
- }
- }
-
- #endif // PARKING_EXTRUDER
-
- #if ENABLED(SWITCHING_TOOLHEAD)
-
- inline void swt_lock(const bool locked=true) {
- const uint16_t swt_angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
- MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, swt_angles[locked ? 0 : 1]);
- }
-
- void swt_init() { swt_lock(); }
-
- inline void switching_toolhead_tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
- if (no_move) return;
-
- constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS;
- const float placexpos = toolheadposx[active_extruder],
- grabxpos = toolheadposx[new_tool];
-
- /**
- * 1. Move to switch position of current toolhead
- * 2. Unlock tool and drop it in the dock
- * 3. Move to the new toolhead
- * 4. Grab and lock the new toolhead
- */
-
- // 1. Move to switch position of current toolhead
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("Start ST Tool-Change", current_position);
-
- current_position.x = placexpos;
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
- DEBUG_POS("Move X SwitchPos", current_position);
- }
- fast_line_to_current(X_AXIS);
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_POS("Move Y SwitchPos + Security", current_position);
- }
- fast_line_to_current(Y_AXIS);
-
- // 2. Unlock tool and drop it in the dock
-
- planner.synchronize();
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead");
- swt_lock(false);
- safe_delay(500);
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS;
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
- slow_line_to_current(Y_AXIS);
-
- // Wait for move to complete, then another 0.2s
- planner.synchronize();
- safe_delay(200);
-
- current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
- fast_line_to_current(Y_AXIS); // move away from docked toolhead
-
- // 3. Move to the new toolhead
-
- current_position.x = grabxpos;
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
- DEBUG_POS("Move to new toolhead X", current_position);
- }
- fast_line_to_current(X_AXIS);
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_POS("Move Y SwitchPos + Security", current_position);
- }
- fast_line_to_current(Y_AXIS);
-
- // 4. Grab and lock the new toolhead
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS;
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
- DEBUG_POS("Move Y SwitchPos", current_position);
- }
- slow_line_to_current(Y_AXIS);
-
- // Wait for move to finish, pause 0.2s, move servo, pause 0.5s
- planner.synchronize();
- safe_delay(200);
- swt_lock();
- safe_delay(500);
-
- current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
- fast_line_to_current(Y_AXIS); // Move away from docked toolhead
- planner.synchronize(); // Always sync the final move
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("ST Tool-Change done.", current_position);
- }
-
- #elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
-
- inline void magnetic_switching_toolhead_tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
- if (no_move) return;
-
- constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS,
- toolheadclearx[] = SWITCHING_TOOLHEAD_X_SECURITY;
-
- const float placexpos = toolheadposx[active_extruder],
- placexclear = toolheadclearx[active_extruder],
- grabxpos = toolheadposx[new_tool],
- grabxclear = toolheadclearx[new_tool];
-
- /**
- * 1. Move to switch position of current toolhead
- * 2. Release and place toolhead in the dock
- * 3. Move to the new toolhead
- * 4. Grab the new toolhead and move to security position
- */
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("Start MST Tool-Change", current_position);
-
- // 1. Move to switch position current toolhead
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
- DEBUG_POS("Move Y SwitchPos + Security", current_position);
- }
- fast_line_to_current(Y_AXIS);
-
- current_position.x = placexclear;
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_POS("Move X SwitchPos + Security", current_position);
- }
- fast_line_to_current(X_AXIS);
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS;
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_POS("Move Y SwitchPos", current_position);
- }
- fast_line_to_current(Y_AXIS);
-
- current_position.x = placexpos;
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_POS("Move X SwitchPos", current_position);
- }
- line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25f);
-
- // 2. Release and place toolhead in the dock
-
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_ECHOLNPGM("(2) Release and Place Toolhead");
- }
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position);
- line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1f);
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY;
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_POS("Move Y SwitchPos + Security", current_position);
- }
- line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]);
-
- // 3. Move to new toolhead position
-
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
- }
-
- current_position.x = grabxpos;
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
- fast_line_to_current(X_AXIS);
-
- // 4. Grab the new toolhead and move to security position
-
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_ECHOLNPGM("(4) Grab new toolhead, move to security position");
- }
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position);
- line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]);
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS;
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_POS("Move Y SwitchPos", current_position);
- }
- _line_to_current(Y_AXIS, 0.2f);
-
- #if ENABLED(PRIME_BEFORE_REMOVE) && (SWITCHING_TOOLHEAD_PRIME_MM || SWITCHING_TOOLHEAD_RETRACT_MM)
- #if SWITCHING_TOOLHEAD_PRIME_MM
- current_position.e += SWITCHING_TOOLHEAD_PRIME_MM;
- planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_PRIME_FEEDRATE), new_tool);
- #endif
- #if SWITCHING_TOOLHEAD_RETRACT_MM
- current_position.e -= SWITCHING_TOOLHEAD_RETRACT_MM;
- planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_RETRACT_FEEDRATE), new_tool);
- #endif
- #else
- planner.synchronize();
- safe_delay(100); // Give switch time to settle
- #endif
-
- current_position.x = grabxclear;
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X + Security", current_position);
- _line_to_current(X_AXIS, 0.1f);
- planner.synchronize();
- safe_delay(100); // Give switch time to settle
-
- current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
- fast_line_to_current(Y_AXIS); // move away from docked toolhead
- planner.synchronize(); // Always sync last tool-change move
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("MST Tool-Change done.", current_position);
- }
-
- #elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
-
- inline void est_activate_solenoid() { OUT_WRITE(SOL0_PIN, HIGH); }
- inline void est_deactivate_solenoid() { OUT_WRITE(SOL0_PIN, LOW); }
- void est_init() { est_activate_solenoid(); }
-
- inline void em_switching_toolhead_tool_change(const uint8_t new_tool, bool no_move) {
- if (no_move) return;
-
- constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS;
- const float placexpos = toolheadposx[active_extruder],
- grabxpos = toolheadposx[new_tool];
- const xyz_pos_t &hoffs = hotend_offset[active_extruder];
-
- /**
- * 1. Raise Z-Axis to give enough clearance
- * 2. Move to position near active extruder parking
- * 3. Move gently to park position of active extruder
- * 4. Disengage magnetic field, wait for delay
- * 5. Leave extruder and move to position near new extruder parking
- * 6. Move gently to park position of new extruder
- * 7. Engage magnetic field for new extruder parking
- * 8. Unpark extruder
- * 9. Apply Z hotend offset to current position
- */
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("Start EMST Tool-Change", current_position);
-
- // 1. Raise Z-Axis to give enough clearance
-
- current_position.z += SWITCHING_TOOLHEAD_Z_HOP;
- if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis ", current_position);
- fast_line_to_current(Z_AXIS);
-
- // 2. Move to position near active extruder parking
-
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- SERIAL_ECHOLNPAIR("(2) Move near active extruder parking", active_extruder);
- DEBUG_POS("Moving ParkPos", current_position);
- }
- current_position.set(hoffs.x + placexpos,
- hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR);
- fast_line_to_current(X_AXIS);
-
- // 3. Move gently to park position of active extruder
-
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- SERIAL_ECHOLNPAIR("(3) Move gently to park position of active extruder", active_extruder);
- DEBUG_POS("Moving ParkPos", current_position);
- }
-
- current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
- slow_line_to_current(Y_AXIS);
-
- // 4. Disengage magnetic field, wait for delay
-
- planner.synchronize();
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Disengage magnet");
- est_deactivate_solenoid();
-
- // 5. Leave extruder and move to position near new extruder parking
-
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPGM("(5) Move near new extruder parking");
- DEBUG_POS("Moving ParkPos", current_position);
- }
-
- current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
- slow_line_to_current(Y_AXIS);
- current_position.set(hoffs.x + grabxpos,
- hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR);
- fast_line_to_current(X_AXIS);
-
- // 6. Move gently to park position of new extruder
-
- current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
- if (DEBUGGING(LEVELING)) {
- planner.synchronize();
- DEBUG_ECHOLNPGM("(6) Move near new extruder");
- }
- slow_line_to_current(Y_AXIS);
-
- // 7. Engage magnetic field for new extruder parking
-
- planner.synchronize();
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(7) Engage magnetic field");
- est_activate_solenoid();
-
- // 8. Unpark extruder
-
- current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(8) Unpark extruder");
- slow_line_to_current(X_AXIS);
- planner.synchronize(); // Always sync the final move
-
- // 9. Apply Z hotend offset to current position
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("(9) Applying Z-offset", current_position);
- current_position.z += hoffs.z - hotend_offset[new_tool].z;
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("EMST Tool-Change done.", current_position);
- }
-
- #endif // ELECTROMAGNETIC_SWITCHING_TOOLHEAD
-
- #if EXTRUDERS
- inline void invalid_extruder_error(const uint8_t e) {
- SERIAL_ECHO_START();
- SERIAL_CHAR('T'); SERIAL_ECHO(int(e));
- SERIAL_CHAR(' '); SERIAL_ECHOLNPGM(STR_INVALID_EXTRUDER);
- }
- #endif
-
- #if ENABLED(DUAL_X_CARRIAGE)
-
- inline void dualx_tool_change(const uint8_t new_tool, bool &no_move) {
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOPGM("Dual X Carriage Mode ");
- switch (dual_x_carriage_mode) {
- case DXC_FULL_CONTROL_MODE: DEBUG_ECHOLNPGM("FULL_CONTROL"); break;
- case DXC_AUTO_PARK_MODE: DEBUG_ECHOLNPGM("AUTO_PARK"); break;
- case DXC_DUPLICATION_MODE: DEBUG_ECHOLNPGM("DUPLICATION"); break;
- case DXC_MIRRORED_MODE: DEBUG_ECHOLNPGM("MIRRORED"); break;
- }
- }
-
- const float xhome = x_home_pos(active_extruder);
- if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
- && IsRunning() && !no_move
- && (delayed_move_time || current_position.x != xhome)
- ) {
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("MoveX to ", xhome);
-
- // Park old head
- current_position.x = xhome;
- line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS]);
- planner.synchronize();
- }
-
- // Activate the new extruder ahead of calling set_axis_is_at_home!
- active_extruder = new_tool;
-
- // This function resets the max/min values - the current position may be overwritten below.
- set_axis_is_at_home(X_AXIS);
-
- if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
-
- 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;
- // Save the inactive extruder's position (from the old current_position)
- inactive_extruder_x_pos = destination.x;
- break;
- case DXC_AUTO_PARK_MODE:
- // record current raised toolhead position for use by unpark
- raised_parked_position = current_position;
- active_extruder_parked = true;
- delayed_move_time = 0;
- break;
- default:
- break;
- }
-
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
- DEBUG_POS("New extruder (parked)", current_position);
- }
- }
-
- #endif // DUAL_X_CARRIAGE
-
- /**
- * Perform a tool-change, which may result in moving the
- * previous tool out of the way and the new tool into place.
- */
- void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
-
- #if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
- if (new_tool == active_extruder) return;
- #endif
-
- #if ENABLED(MIXING_EXTRUDER)
-
- UNUSED(no_move);
-
- if (new_tool >= MIXING_VIRTUAL_TOOLS)
- return invalid_extruder_error(new_tool);
-
- #if MIXING_VIRTUAL_TOOLS > 1
- // T0-Tnnn: Switch virtual tool by changing the index to the mix
- mixer.T(new_tool);
- #endif
-
- #elif ENABLED(PRUSA_MMU2)
-
- UNUSED(no_move);
-
- mmu2.tool_change(new_tool);
-
- #elif EXTRUDERS == 0
-
- // Nothing to do
- UNUSED(new_tool); UNUSED(no_move);
-
- #elif EXTRUDERS < 2
-
- UNUSED(no_move);
-
- if (new_tool) invalid_extruder_error(new_tool);
- return;
-
- #else // EXTRUDERS > 1
-
- 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())
- return invalid_extruder_error(new_tool);
- #endif
-
- if (new_tool >= EXTRUDERS)
- return invalid_extruder_error(new_tool);
-
- if (!no_move && !all_axes_homed()) {
- no_move = true;
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("No move (not homed)");
- }
-
- #if HAS_LCD_MENU
- if (!no_move) ui.return_to_status();
- #endif
-
- #if ENABLED(DUAL_X_CARRIAGE)
- const bool idex_full_control = dual_x_carriage_mode == DXC_FULL_CONTROL_MODE;
- #else
- constexpr bool idex_full_control = false;
- #endif
-
- const uint8_t old_tool = active_extruder;
- const bool can_move_away = !no_move && !idex_full_control;
-
- #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
- const bool should_swap = can_move_away && toolchange_settings.swap_length;
- #if ENABLED(PREVENT_COLD_EXTRUSION)
- const bool too_cold = !DEBUGGING(DRYRUN) && (thermalManager.targetTooColdToExtrude(old_tool) || thermalManager.targetTooColdToExtrude(new_tool));
- #else
- constexpr bool too_cold = false;
- #endif
- if (should_swap) {
- if (too_cold) {
- SERIAL_ECHO_MSG(STR_ERR_HOTEND_TOO_COLD);
- #if ENABLED(SINGLENOZZLE)
- active_extruder = new_tool;
- return;
- #endif
- }
- else {
- #if ENABLED(ADVANCED_PAUSE_FEATURE)
- do_pause_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed));
- #else
- current_position.e -= toolchange_settings.swap_length / planner.e_factor[old_tool];
- planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.retract_speed), old_tool);
- planner.synchronize();
- #endif
- }
- }
- #endif // TOOLCHANGE_FILAMENT_SWAP
-
- #if HAS_LEVELING && DISABLED(SINGLENOZZLE)
- // Set current position to the physical position
- TEMPORARY_BED_LEVELING_STATE(false);
- #endif
-
- if (new_tool != old_tool) {
-
- #if SWITCHING_NOZZLE_TWO_SERVOS
- raise_nozzle(old_tool);
- #endif
-
- REMEMBER(fr, feedrate_mm_s, XY_PROBE_FEEDRATE_MM_S);
-
- #if HAS_SOFTWARE_ENDSTOPS
- #if HAS_HOTEND_OFFSET
- #define _EXT_ARGS , old_tool, new_tool
- #else
- #define _EXT_ARGS
- #endif
- update_software_endstops(X_AXIS _EXT_ARGS);
- #if DISABLED(DUAL_X_CARRIAGE)
- update_software_endstops(Y_AXIS _EXT_ARGS);
- update_software_endstops(Z_AXIS _EXT_ARGS);
- #endif
- #endif
-
- destination = current_position;
-
- #if DISABLED(SWITCHING_NOZZLE)
- if (can_move_away) {
- // Do a small lift to avoid the workpiece in the move back (below)
- current_position.z += toolchange_settings.z_raise;
- #if HAS_SOFTWARE_ENDSTOPS
- NOMORE(current_position.z, soft_endstop.max.z);
- #endif
- fast_line_to_current(Z_AXIS);
- #if ENABLED(TOOLCHANGE_PARK)
- current_position = toolchange_settings.change_point;
- #endif
- planner.buffer_line(current_position, feedrate_mm_s, old_tool);
- planner.synchronize();
- }
- #endif
-
- #if HAS_HOTEND_OFFSET
- xyz_pos_t diff = hotend_offset[new_tool] - hotend_offset[old_tool];
- #if ENABLED(DUAL_X_CARRIAGE)
- diff.x = 0;
- #endif
- #else
- constexpr xyz_pos_t diff{0};
- #endif
-
- #if ENABLED(DUAL_X_CARRIAGE)
- dualx_tool_change(new_tool, no_move);
- #elif ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
- parking_extruder_tool_change(new_tool, no_move);
- #elif ENABLED(MAGNETIC_PARKING_EXTRUDER) // Magnetic Parking extruder
- magnetic_parking_extruder_tool_change(new_tool);
- #elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
- switching_toolhead_tool_change(new_tool, no_move);
- #elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching Toolhead
- magnetic_switching_toolhead_tool_change(new_tool, no_move);
- #elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching ToolChanger
- em_switching_toolhead_tool_change(new_tool, no_move);
- #elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS // Switching Nozzle (single servo)
- // Raise by a configured distance to avoid workpiece, except with
- // SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
- if (!no_move) {
- #if HAS_SOFTWARE_ENDSTOPS
- const float maxz = _MIN(soft_endstop.max.z, Z_MAX_POS);
- #else
- constexpr float maxz = Z_MAX_POS;
- #endif
-
- // Check if Z has space to compensate at least z_offset, and if not, just abort now
- const float newz = current_position.z + _MAX(-diff.z, 0.0);
- if (newz > maxz) return;
-
- current_position.z = _MIN(newz + toolchange_settings.z_raise, maxz);
- fast_line_to_current(Z_AXIS);
- }
- move_nozzle_servo(new_tool);
- #endif
-
- #if DISABLED(DUAL_X_CARRIAGE)
- active_extruder = new_tool; // Set the new active extruder
- #endif
-
- // The newly-selected extruder XYZ is actually at...
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Offset Tool XYZ by { ", diff.x, ", ", diff.y, ", ", diff.z, " }");
- current_position += diff;
-
- // Tell the planner the new "current position"
- sync_plan_position();
-
- #if ENABLED(DELTA)
- //LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
- const bool safe_to_move = current_position.z < delta_clip_start_height - 1;
- #else
- constexpr bool safe_to_move = true;
- #endif
-
- // Return to position and lower again
- if (safe_to_move && !no_move && IsRunning()) {
-
- #if ENABLED(SINGLENOZZLE)
- #if FAN_COUNT > 0
- singlenozzle_fan_speed[old_tool] = thermalManager.fan_speed[0];
- thermalManager.fan_speed[0] = singlenozzle_fan_speed[new_tool];
- #endif
-
- singlenozzle_temp[old_tool] = thermalManager.temp_hotend[0].target;
- if (singlenozzle_temp[new_tool] && singlenozzle_temp[new_tool] != singlenozzle_temp[old_tool]) {
- thermalManager.setTargetHotend(singlenozzle_temp[new_tool], 0);
- #if HAS_DISPLAY
- thermalManager.set_heating_message(0);
- #endif
- (void)thermalManager.wait_for_hotend(0, false); // Wait for heating or cooling
- }
- #endif
-
- #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
- if (should_swap && !too_cold) {
- #if ENABLED(ADVANCED_PAUSE_FEATURE)
- do_pause_e_move(toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.prime_speed));
- do_pause_e_move(toolchange_settings.extra_prime, ADVANCED_PAUSE_PURGE_FEEDRATE);
- #else
- current_position.e += toolchange_settings.swap_length / planner.e_factor[new_tool];
- planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed), new_tool);
- current_position.e += toolchange_settings.extra_prime / planner.e_factor[new_tool];
- planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed * 0.2f), new_tool);
- #endif
- planner.synchronize();
- planner.set_e_position_mm((destination.e = current_position.e = current_position.e - (TOOLCHANGE_FIL_EXTRA_PRIME)));
- }
- #endif
-
- // Prevent a move outside physical bounds
- #if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
- // If the original position is within tool store area, go to X origin at once
- if (destination.y < SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR) {
- current_position.x = 0;
- planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], new_tool);
- planner.synchronize();
- }
- #else
- apply_motion_limits(destination);
- #endif
-
- // Should the nozzle move back to the old position?
- if (can_move_away) {
- #if ENABLED(TOOLCHANGE_NO_RETURN)
- // Just move back down
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back Z only");
- do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
- #else
- // Move back to the original (or adjusted) position
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
- do_blocking_move_to(destination);
- #endif
- }
- else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back skipped");
-
- #if ENABLED(DUAL_X_CARRIAGE)
- active_extruder_parked = false;
- #endif
- }
- #if ENABLED(SWITCHING_NOZZLE)
- else {
- // Move back down. (Including when the new tool is higher.)
- do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
- }
- #endif
-
- #if ENABLED(PRUSA_MMU2)
- mmu2.tool_change(new_tool);
- #endif
-
- #if SWITCHING_NOZZLE_TWO_SERVOS
- lower_nozzle(new_tool);
- #endif
-
- } // (new_tool != old_tool)
-
- planner.synchronize();
-
- #if ENABLED(EXT_SOLENOID) && DISABLED(PARKING_EXTRUDER)
- disable_all_solenoids();
- enable_solenoid_on_active_extruder();
- #endif
-
- #if ENABLED(MK2_MULTIPLEXER)
- if (new_tool >= E_STEPPERS) return invalid_extruder_error(new_tool);
- select_multiplexed_stepper(new_tool);
- #endif
-
- #if DO_SWITCH_EXTRUDER
- planner.synchronize();
- move_extruder_servo(active_extruder);
- #endif
-
- #if HAS_FANMUX
- fanmux_switch(active_extruder);
- #endif
-
- #ifdef EVENT_GCODE_AFTER_TOOLCHANGE
- if (!no_move)
- gcode.process_subcommands_now_P(PSTR(EVENT_GCODE_AFTER_TOOLCHANGE));
- #endif
-
- SERIAL_ECHO_START();
- SERIAL_ECHOLNPAIR(STR_ACTIVE_EXTRUDER, int(active_extruder));
-
- #endif // EXTRUDERS > 1
- }
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