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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 <https://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_TOOL_CHANGE
- //#define DEBUG_TOOLCHANGE_FILAMENT_SWAP
-
- #define DEBUG_OUT ENABLED(DEBUG_TOOL_CHANGE)
- #include "../core/debug_out.h"
-
- #if HAS_MULTI_EXTRUDER
- toolchange_settings_t toolchange_settings; // Initialized by settings.load()
- #endif
-
- #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE)
- migration_settings_t migration = migration_defaults;
- #endif
-
- #if ENABLED(TOOLCHANGE_FS_INIT_BEFORE_SWAP)
- Flags<EXTRUDERS> toolchange_extruder_ready;
- #endif
-
- #if EITHER(MAGNETIC_PARKING_EXTRUDER, TOOL_SENSOR) \
- || defined(EVENT_GCODE_TOOLCHANGE_T0) || defined(EVENT_GCODE_TOOLCHANGE_T1) || defined(EVENT_GCODE_AFTER_TOOLCHANGE) \
- || (ENABLED(PARKING_EXTRUDER) && PARKING_EXTRUDER_SOLENOIDS_DELAY > 0)
- #include "../gcode/gcode.h"
- #endif
-
- #if ENABLED(TOOL_SENSOR)
- #include "../lcd/marlinui.h"
- #endif
-
- #if ENABLED(DUAL_X_CARRIAGE)
- #include "stepper.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(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 HAS_PRUSA_MMU1
- #include "../feature/mmu/mmu.h"
- #elif HAS_PRUSA_MMU2
- #include "../feature/mmu/mmu2.h"
- #endif
-
- #if HAS_MARLINUI_MENU
- #include "../lcd/marlinui.h"
- #endif
-
- #if ENABLED(ADVANCED_PAUSE_FEATURE)
- #include "../feature/pause.h"
- #endif
-
- #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
- #include "../gcode/gcode.h"
- #if TOOLCHANGE_FS_WIPE_RETRACT <= 0
- #undef TOOLCHANGE_FS_WIPE_RETRACT
- #define TOOLCHANGE_FS_WIPE_RETRACT 0
- #endif
- #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();
- constexpr bool evenExtruders = !(EXTRUDERS & 1);
- if (evenExtruders || e < EXTRUDERS - 1) {
- servo[_SERVO_NR(e)].move(servo_angles[_SERVO_NR(e)][e & 1]);
- 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();
- servo[sns_index[e]].move(sns_angles[angle_index]);
- safe_delay(SWITCHING_NOZZLE_SERVO_DWELL);
- }
-
- 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();
- servo[SWITCHING_NOZZLE_SERVO_NR].move(servo_angles[SWITCHING_NOZZLE_SERVO_NR][angle_index]);
- safe_delay(SWITCHING_NOZZLE_SERVO_DWELL);
- }
-
- #endif
-
- #endif // SWITCHING_NOZZLE
-
- // Move to position routines
- 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);
- }
- void slow_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.2f); }
- void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.5f); }
-
- #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 = TERN0(HAS_HOTEND_OFFSET, hotend_offset[active_extruder].x * mpe_settings.compensation_factor);
-
- if (homing_needed_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;
-
- DEBUG_ECHOPGM("(1) Move extruder ", 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;
-
- DEBUG_ECHOPGM("(2) Couple extruder ", 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;
-
- DEBUG_ECHOPGM("(3) Move extruder ", 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;
-
- DEBUG_ECHOPGM("(4) Move extruder ", 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;
-
- DEBUG_ECHOPGM("(5) Park extruder ", 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;
-
- DEBUG_ECHOPGM("(6) Move extruder ", new_tool);
- DEBUG_POS(" to starting position", current_position);
-
- planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool);
- planner.synchronize();
-
- DEBUG_ECHOLNPGM("Autopark done.");
- }
-
- #elif ENABLED(PARKING_EXTRUDER)
-
- void pe_solenoid_init() {
- LOOP_LE_N(n, 1) pe_solenoid_set_pin_state(n, !PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE);
- }
-
- void pe_solenoid_set_pin_state(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
- }
-
- bool extruder_parked = true, do_solenoid_activation = true;
-
- // Modifies tool_change() behavior based on homing side
- bool parking_extruder_unpark_after_homing(const uint8_t final_tool, bool homed_towards_final_tool) {
- do_solenoid_activation = false; // Tell parking_extruder_tool_change to skip solenoid activation
-
- if (!extruder_parked) return false; // nothing to do
-
- if (homed_towards_final_tool) {
- pe_solenoid_magnet_off(1 - final_tool);
- DEBUG_ECHOLNPGM("Disengage magnet", 1 - final_tool);
- pe_solenoid_magnet_on(final_tool);
- DEBUG_ECHOLNPGM("Engage magnet", final_tool);
- parking_extruder_set_parked(false);
- return false;
- }
-
- return true;
- }
-
- 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
-
- DEBUG_POS("Start PE Tool-Change", current_position);
-
- // Don't park the active_extruder unless unparked
- if (!extruder_parked) {
- current_position.x = parkingposx[active_extruder] + x_offset;
-
- DEBUG_ECHOLNPGM("(1) Park extruder ", active_extruder);
- DEBUG_POS("Moving ParkPos", current_position);
-
- fast_line_to_current(X_AXIS);
-
- // STEP 2
-
- planner.synchronize();
- DEBUG_ECHOLNPGM("(2) Disengage magnet");
- pe_solenoid_magnet_off(active_extruder);
-
- // STEP 3
-
- current_position.x += active_extruder ? -10 : 10; // move 10mm away from parked extruder
-
- 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();
- DEBUG_ECHOLNPGM("(4) Engage magnetic field");
-
- // Just save power for inverted magnets
- TERN_(PARKING_EXTRUDER_SOLENOIDS_INVERT, pe_solenoid_magnet_on(active_extruder));
- pe_solenoid_magnet_on(new_tool);
-
- // STEP 5
-
- current_position.x = grabpos + (new_tool ? -10 : 10);
- fast_line_to_current(X_AXIS);
-
- current_position.x = grabpos;
-
- DEBUG_SYNCHRONIZE();
- DEBUG_POS("(5) Unpark extruder", current_position);
-
- slow_line_to_current(X_AXIS);
-
- // STEP 6
-
- current_position.x = DIFF_TERN(HAS_HOTEND_OFFSET, midpos, hotend_offset[new_tool].x);
-
- DEBUG_SYNCHRONIZE();
- DEBUG_POS("(6) Move midway between hotends", current_position);
-
- fast_line_to_current(X_AXIS);
- planner.synchronize(); // Always sync the final move
-
- DEBUG_POS("PE Tool-Change done.", current_position);
- parking_extruder_set_parked(false);
- }
- else if (do_solenoid_activation) {
- // Deactivate current extruder solenoid
- pe_solenoid_set_pin_state(active_extruder, !PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE);
- // Engage new extruder magnetic field
- pe_solenoid_set_pin_state(new_tool, PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE);
- }
-
- do_solenoid_activation = true; // Activate solenoid for subsequent tool_change()
- }
-
- #endif // PARKING_EXTRUDER
-
- #if ENABLED(TOOL_SENSOR)
-
- bool tool_sensor_disabled; // = false
-
- // Return a bitmask of tool sensor states
- inline uint8_t poll_tool_sensor_pins() {
- return (0
- #if PIN_EXISTS(TOOL_SENSOR1)
- | (READ(TOOL_SENSOR1_PIN) << 0)
- #endif
- #if PIN_EXISTS(TOOL_SENSOR2)
- | (READ(TOOL_SENSOR2_PIN) << 1)
- #endif
- #if PIN_EXISTS(TOOL_SENSOR3)
- | (READ(TOOL_SENSOR3_PIN) << 2)
- #endif
- #if PIN_EXISTS(TOOL_SENSOR4)
- | (READ(TOOL_SENSOR4_PIN) << 3)
- #endif
- #if PIN_EXISTS(TOOL_SENSOR5)
- | (READ(TOOL_SENSOR5_PIN) << 4)
- #endif
- #if PIN_EXISTS(TOOL_SENSOR6)
- | (READ(TOOL_SENSOR6_PIN) << 5)
- #endif
- #if PIN_EXISTS(TOOL_SENSOR7)
- | (READ(TOOL_SENSOR7_PIN) << 6)
- #endif
- #if PIN_EXISTS(TOOL_SENSOR8)
- | (READ(TOOL_SENSOR8_PIN) << 7)
- #endif
- );
- }
-
- uint8_t check_tool_sensor_stats(const uint8_t tool_index, const bool kill_on_error/*=false*/, const bool disable/*=false*/) {
- static uint8_t sensor_tries; // = 0
- for (;;) {
- if (poll_tool_sensor_pins() == _BV(tool_index)) {
- sensor_tries = 0;
- return tool_index;
- }
- else if (kill_on_error && (!tool_sensor_disabled || disable)) {
- sensor_tries++;
- if (sensor_tries > 10) kill(F("Tool Sensor error"));
- safe_delay(5);
- }
- else {
- sensor_tries++;
- if (sensor_tries > 10) return -1;
- safe_delay(5);
- }
- }
- }
-
-
- #endif // TOOL_SENSOR
-
- #if ENABLED(SWITCHING_TOOLHEAD)
-
- inline void switching_toolhead_lock(const bool locked) {
- #ifdef SWITCHING_TOOLHEAD_SERVO_ANGLES
- const uint16_t swt_angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
- servo[SWITCHING_TOOLHEAD_SERVO_NR].move(swt_angles[locked ? 0 : 1]);
- #elif PIN_EXISTS(SWT_SOLENOID)
- OUT_WRITE(SWT_SOLENOID_PIN, locked);
- gcode.dwell(10);
- #else
- #error "No toolhead locking mechanism configured."
- #endif
- }
-
- void swt_init() {
- switching_toolhead_lock(true);
-
- #if ENABLED(TOOL_SENSOR)
- // Init tool sensors
- #if PIN_EXISTS(TOOL_SENSOR1)
- SET_INPUT_PULLUP(TOOL_SENSOR1_PIN);
- #endif
- #if PIN_EXISTS(TOOL_SENSOR2)
- SET_INPUT_PULLUP(TOOL_SENSOR2_PIN);
- #endif
- #if PIN_EXISTS(TOOL_SENSOR3)
- SET_INPUT_PULLUP(TOOL_SENSOR3_PIN);
- #endif
- #if PIN_EXISTS(TOOL_SENSOR4)
- SET_INPUT_PULLUP(TOOL_SENSOR4_PIN);
- #endif
- #if PIN_EXISTS(TOOL_SENSOR5)
- SET_INPUT_PULLUP(TOOL_SENSOR5_PIN);
- #endif
- #if PIN_EXISTS(TOOL_SENSOR6)
- SET_INPUT_PULLUP(TOOL_SENSOR6_PIN);
- #endif
- #if PIN_EXISTS(TOOL_SENSOR7)
- SET_INPUT_PULLUP(TOOL_SENSOR7_PIN);
- #endif
- #if PIN_EXISTS(TOOL_SENSOR8)
- SET_INPUT_PULLUP(TOOL_SENSOR8_PIN);
- #endif
-
- if (check_tool_sensor_stats(0)) {
- LCD_MESSAGE_F("TC error");
- switching_toolhead_lock(false);
- while (check_tool_sensor_stats(0)) { /* nada */ }
- switching_toolhead_lock(true);
- }
- LCD_MESSAGE_F("TC Success");
- #endif // TOOL_SENSOR
- }
-
- 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];
-
- (void)check_tool_sensor_stats(active_extruder, true);
-
- /**
- * 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
-
- DEBUG_POS("Start ST Tool-Change", current_position);
-
- current_position.x = placexpos;
-
- DEBUG_ECHOLNPGM("(1) Place old tool ", 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);
-
- DEBUG_SYNCHRONIZE();
- DEBUG_POS("Move Y SwitchPos + Security", current_position);
-
- slow_line_to_current(Y_AXIS);
-
- // 2. Unlock tool and drop it in the dock
- TERN_(TOOL_SENSOR, tool_sensor_disabled = true);
-
- planner.synchronize();
- DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead");
- switching_toolhead_lock(false);
- safe_delay(500);
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS;
- 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;
- DEBUG_POS("Move back Y clear", current_position);
- slow_line_to_current(Y_AXIS); // move away from docked toolhead
-
- (void)check_tool_sensor_stats(active_extruder);
-
- // 3. Move to the new toolhead
-
- current_position.x = grabxpos;
-
- DEBUG_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);
-
- DEBUG_SYNCHRONIZE();
- DEBUG_POS("Move Y SwitchPos + Security", current_position);
-
- slow_line_to_current(Y_AXIS);
-
- // 4. Grab and lock the new toolhead
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS;
-
- DEBUG_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);
-
- (void)check_tool_sensor_stats(new_tool, true, true);
-
- switching_toolhead_lock(true);
- safe_delay(500);
-
- current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
- DEBUG_POS("Move back Y clear", current_position);
- slow_line_to_current(Y_AXIS); // Move away from docked toolhead
- planner.synchronize(); // Always sync the final move
-
- (void)check_tool_sensor_stats(new_tool, true, true);
-
- 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
- */
-
- 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;
-
- SERIAL_ECHOLNPGM("(1) Place old tool ", active_extruder);
- DEBUG_POS("Move Y SwitchPos + Security", current_position);
-
- fast_line_to_current(Y_AXIS);
-
- current_position.x = placexclear;
-
- DEBUG_SYNCHRONIZE();
- DEBUG_POS("Move X SwitchPos + Security", current_position);
-
- fast_line_to_current(X_AXIS);
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS;
-
- DEBUG_SYNCHRONIZE();
- DEBUG_POS("Move Y SwitchPos", current_position);
-
- fast_line_to_current(Y_AXIS);
-
- current_position.x = placexpos;
-
- DEBUG_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
-
- DEBUG_SYNCHRONIZE();
- DEBUG_ECHOLNPGM("(2) Release and Place Toolhead");
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
- 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;
-
- DEBUG_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
-
- DEBUG_SYNCHRONIZE();
- DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
-
- current_position.x = grabxpos;
- 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
-
- DEBUG_SYNCHRONIZE();
- DEBUG_ECHOLNPGM("(4) Grab new toolhead, move to security position");
-
- current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
- 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;
-
- DEBUG_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;
- 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;
- 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
-
- 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
- */
-
- DEBUG_POS("Start EMST Tool-Change", current_position);
-
- // 1. Raise Z-Axis to give enough clearance
-
- current_position.z += SWITCHING_TOOLHEAD_Z_HOP;
- DEBUG_POS("(1) Raise Z-Axis ", current_position);
- fast_line_to_current(Z_AXIS);
-
- // 2. Move to position near active extruder parking
-
- DEBUG_SYNCHRONIZE();
- DEBUG_ECHOLNPGM("(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
-
- DEBUG_SYNCHRONIZE();
- SERIAL_ECHOLNPGM("(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();
- DEBUG_ECHOLNPGM("(4) Disengage magnet");
- est_deactivate_solenoid();
-
- // 5. Leave extruder and move to position near new extruder parking
-
- 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
-
- DEBUG_SYNCHRONIZE();
- DEBUG_ECHOLNPGM("(7) Engage magnetic field");
- est_activate_solenoid();
-
- // 8. Unpark extruder
-
- current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
- 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
-
- DEBUG_POS("(9) Applying Z-offset", current_position);
- current_position.z += hoffs.z - hotend_offset[new_tool].z;
-
- DEBUG_POS("EMST Tool-Change done.", current_position);
- }
-
- #endif // ELECTROMAGNETIC_SWITCHING_TOOLHEAD
-
- #if HAS_EXTRUDERS
- inline void invalid_extruder_error(const uint8_t e) {
- SERIAL_ECHO_START();
- SERIAL_CHAR('T'); SERIAL_ECHO(e);
- SERIAL_CHAR(' '); SERIAL_ECHOLNPGM(STR_INVALID_EXTRUDER);
- }
- #endif
-
- #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 ");
- 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;
- }
-
- // 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 // If Auto-Park mode is enabled
- && 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_ECHOLNPGM("MoveX to ", xhome);
- current_position.x = xhome;
- line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS]); // Park the current head
- 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);
-
- 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;
- // Save the inactive extruder's position (from the old current_position)
- inactive_extruder_x = destination.x;
- DEBUG_ECHOLNPGM("DXC Full Control curr.x=", current_position.x, " dest.x=", destination.x);
- break;
- case DXC_AUTO_PARK_MODE:
- idex_set_parked();
- break;
- default:
- break;
- }
-
- // Ensure X axis DIR pertains to the correct carriage
- stepper.set_directions();
-
- DEBUG_ECHOLNPGM("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
- DEBUG_POS("New extruder (parked)", current_position);
- }
-
- #endif // DUAL_X_CARRIAGE
-
- /**
- * Prime active tool using TOOLCHANGE_FILAMENT_SWAP settings
- */
- #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
-
- #ifdef DEBUG_TOOLCHANGE_FILAMENT_SWAP
- #define FS_DEBUG(V...) SERIAL_ECHOLNPGM("DEBUG: " V)
- #else
- #define FS_DEBUG(...) NOOP
- #endif
-
- // Define any variables required
- static Flags<EXTRUDERS> extruder_was_primed; // Extruders primed status
-
- #if ENABLED(TOOLCHANGE_FS_PRIME_FIRST_USED)
- bool enable_first_prime; // As set by M217 V
- #endif
-
- // Cool down with fan
- inline void filament_swap_cooling() {
- #if HAS_FAN && TOOLCHANGE_FS_FAN >= 0
- thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = toolchange_settings.fan_speed;
- gcode.dwell(SEC_TO_MS(toolchange_settings.fan_time));
- thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = FAN_OFF_PWM;
- #endif
- }
-
- /**
- * Check if too cold to move the specified tool
- *
- * Returns TRUE if too cold to move (also echos message: STR_ERR_HOTEND_TOO_COLD)
- * Returns FALSE if able to move.
- */
- bool too_cold(uint8_t toolID){
- if (TERN0(PREVENT_COLD_EXTRUSION, !DEBUGGING(DRYRUN) && thermalManager.targetTooColdToExtrude(toolID))) {
- SERIAL_ECHO_MSG(STR_ERR_HOTEND_TOO_COLD);
- return true;
- }
- return false;
- }
-
- /**
- * Cutting recovery -- Recover from cutting retraction that occurs at the end of nozzle priming
- *
- * If the active_extruder is up to temp (!too_cold):
- * Extrude filament distance = toolchange_settings.extra_resume + toolchange_settings.wipe_retract
- * current_position.e = e;
- * sync_plan_position_e();
- */
- void extruder_cutting_recover(const_float_t e) {
- if (!too_cold(active_extruder)) {
- const float dist = toolchange_settings.extra_resume + toolchange_settings.wipe_retract;
- FS_DEBUG("Performing Cutting Recover | Distance: ", dist, " | Speed: ", MMM_TO_MMS(toolchange_settings.unretract_speed), "mm/s");
- unscaled_e_move(dist, MMM_TO_MMS(toolchange_settings.unretract_speed));
- planner.synchronize();
- FS_DEBUG("Set position to: ", e);
- current_position.e = e;
- sync_plan_position_e(); // Resume new E Position
- }
- }
-
- /**
- * Prime the currently selected extruder (Filament loading only)
- *
- * If too_cold(toolID) returns TRUE -> returns without moving extruder.
- * Extruders filament = swap_length + extra prime, then performs cutting retraction if enabled.
- * If cooling fan is enabled, calls filament_swap_cooling();
- */
- void extruder_prime() {
-
- if (too_cold(active_extruder)) {
- FS_DEBUG("Priming Aborted - Nozzle Too Cold!");
- return; // Extruder too cold to prime
- }
-
- float fr = toolchange_settings.unretract_speed; // Set default speed for unretract
-
- #if ENABLED(TOOLCHANGE_FS_SLOW_FIRST_PRIME)
- /**
- * Perform first unretract movement at the slower Prime_Speed to avoid breakage on first prime
- */
- static Flags<EXTRUDERS> extruder_did_first_prime; // Extruders first priming status
- if (!extruder_did_first_prime[active_extruder]) {
- extruder_did_first_prime.set(active_extruder); // Log first prime complete
- // new nozzle - prime at user-specified speed.
- FS_DEBUG("First time priming T", active_extruder, ", reducing speed from ", MMM_TO_MMS(fr), " to ", MMM_TO_MMS(toolchange_settings.prime_speed), "mm/s");
- fr = toolchange_settings.prime_speed;
- unscaled_e_move(0, MMM_TO_MMS(fr)); // Init planner with 0 length move
- }
- #endif
-
- //Calculate and perform the priming distance
- if (toolchange_settings.extra_prime >= 0) {
- // Positive extra_prime value
- // - Return filament at speed (fr) then extra_prime at prime speed
- FS_DEBUG("Loading Filament for T", active_extruder, " | Distance: ", toolchange_settings.swap_length, " | Speed: ", MMM_TO_MMS(fr), "mm/s");
- unscaled_e_move(toolchange_settings.swap_length, MMM_TO_MMS(fr)); // Prime (Unretract) filament by extruding equal to Swap Length (Unretract)
-
- if (toolchange_settings.extra_prime > 0) {
- FS_DEBUG("Performing Extra Priming for T", active_extruder, " | Distance: ", toolchange_settings.extra_prime, " | Speed: ", MMM_TO_MMS(toolchange_settings.prime_speed), "mm/s");
- unscaled_e_move(toolchange_settings.extra_prime, MMM_TO_MMS(toolchange_settings.prime_speed)); // Extra Prime Distance
- }
- }
- else {
- // Negative extra_prime value
- // - Unretract distance (swap length) is reduced by the value of extra_prime
- const float eswap = toolchange_settings.swap_length + toolchange_settings.extra_prime;
- FS_DEBUG("Negative ExtraPrime value - Swap Return Length has been reduced from ", toolchange_settings.swap_length, " to ", eswap);
- FS_DEBUG("Loading Filament for T", active_extruder, " | Distance: ", eswap, " | Speed: ", MMM_TO_MMS(fr), "mm/s");
- unscaled_e_move(eswap, MMM_TO_MMS(fr));
- }
-
- extruder_was_primed.set(active_extruder); // Log that this extruder has been primed
-
- // Cutting retraction
- #if TOOLCHANGE_FS_WIPE_RETRACT
- FS_DEBUG("Performing Cutting Retraction | Distance: ", -toolchange_settings.wipe_retract, " | Speed: ", MMM_TO_MMS(toolchange_settings.retract_speed), "mm/s");
- unscaled_e_move(-toolchange_settings.wipe_retract, MMM_TO_MMS(toolchange_settings.retract_speed));
- #endif
-
- // Cool down with fan
- filament_swap_cooling();
-
- }
-
- /**
- * Sequence to Prime the currently selected extruder
- * Raise Z, move the ToolChange_Park if enabled, prime the extruder, move back.
- */
- void tool_change_prime() {
-
- FS_DEBUG(">>> tool_change_prime()");
-
- if (!too_cold(active_extruder)) {
- destination = current_position; // Remember the old position
-
- const bool ok = TERN1(TOOLCHANGE_PARK, all_axes_homed() && toolchange_settings.enable_park);
-
- #if HAS_FAN && TOOLCHANGE_FS_FAN >= 0
- // Store and stop fan. Restored on any exit.
- REMEMBER(fan, thermalManager.fan_speed[TOOLCHANGE_FS_FAN], 0);
- #endif
-
- // Z raise
- if (ok) {
- // Do a small lift to avoid the workpiece in the move back (below)
- current_position.z += toolchange_settings.z_raise;
- TERN_(HAS_SOFTWARE_ENDSTOPS, NOMORE(current_position.z, soft_endstop.max.z));
- fast_line_to_current(Z_AXIS);
- planner.synchronize();
- }
-
- // Park
- #if ENABLED(TOOLCHANGE_PARK)
- if (ok) {
- IF_DISABLED(TOOLCHANGE_PARK_Y_ONLY, current_position.x = toolchange_settings.change_point.x);
- IF_DISABLED(TOOLCHANGE_PARK_X_ONLY, current_position.y = toolchange_settings.change_point.y);
- #if NONE(TOOLCHANGE_PARK_X_ONLY, TOOLCHANGE_PARK_Y_ONLY)
- SECONDARY_AXIS_CODE(
- current_position.i = toolchange_settings.change_point.i,
- current_position.j = toolchange_settings.change_point.j,
- current_position.k = toolchange_settings.change_point.k,
- current_position.u = toolchange_settings.change_point.u,
- current_position.v = toolchange_settings.change_point.v,
- current_position.w = toolchange_settings.change_point.w
- );
- #endif
- planner.buffer_line(current_position, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE), active_extruder);
- planner.synchronize();
- }
- #endif
-
- extruder_prime();
-
- // Move back
- #if ENABLED(TOOLCHANGE_PARK)
- if (ok) {
- #if ENABLED(TOOLCHANGE_NO_RETURN)
- const float temp = destination.z;
- destination = current_position;
- destination.z = temp;
- #endif
- prepare_internal_move_to_destination(TERN(TOOLCHANGE_NO_RETURN, planner.settings.max_feedrate_mm_s[Z_AXIS], MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE)));
- }
- #endif
-
- extruder_cutting_recover(destination.e); // Cutting recover
- }
-
- FS_DEBUG("<<< tool_change_prime");
-
- }
-
- #endif // TOOLCHANGE_FILAMENT_SWAP
-
- /**
- * 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 (TERN0(MAGNETIC_SWITCHING_TOOLHEAD, new_tool == active_extruder))
- return;
-
- #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 HAS_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;
-
- #elif HAS_MULTI_EXTRUDER
-
- 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 && idex_is_duplicating())
- return invalid_extruder_error(new_tool);
- #endif
-
- if (new_tool >= EXTRUDERS)
- return invalid_extruder_error(new_tool);
-
- if (!no_move && homing_needed()) {
- no_move = true;
- DEBUG_ECHOLNPGM("No move (not homed)");
- }
-
- TERN_(HAS_MARLINUI_MENU, if (!no_move) ui.update());
-
- #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 HAS_LEVELING
- // Set current position to the physical position
- TEMPORARY_BED_LEVELING_STATE(false);
- #endif
-
- // First tool priming. To prime again, reboot the machine. -- Should only occur for first T0 after powerup!
- #if ENABLED(TOOLCHANGE_FS_PRIME_FIRST_USED)
- if (enable_first_prime && old_tool == 0 && new_tool == 0 && !extruder_was_primed[0]) {
- tool_change_prime();
- TERN_(TOOLCHANGE_FS_INIT_BEFORE_SWAP, toolchange_extruder_ready.set(old_tool)); // Primed and initialized
- }
- #endif
-
- if (new_tool != old_tool || TERN0(PARKING_EXTRUDER, extruder_parked)) { // PARKING_EXTRUDER may need to attach old_tool when homing
- destination = current_position;
-
- #if BOTH(TOOLCHANGE_FILAMENT_SWAP, HAS_FAN) && TOOLCHANGE_FS_FAN >= 0
- // Store and stop fan. Restored on any exit.
- REMEMBER(fan, thermalManager.fan_speed[TOOLCHANGE_FS_FAN], 0);
- #endif
-
- // Z raise before retraction
- #if ENABLED(TOOLCHANGE_ZRAISE_BEFORE_RETRACT) && DISABLED(SWITCHING_NOZZLE)
- if (can_move_away && TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park)) {
- // Do a small lift to avoid the workpiece in the move back (below)
- current_position.z += toolchange_settings.z_raise;
- TERN_(HAS_SOFTWARE_ENDSTOPS, NOMORE(current_position.z, soft_endstop.max.z));
- fast_line_to_current(Z_AXIS);
- planner.synchronize();
- }
- #endif
-
- // Unload / Retract
- #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
- const bool should_swap = can_move_away && toolchange_settings.swap_length;
- if (should_swap) {
- if (too_cold(old_tool)) {
- // If SingleNozzle setup is too cold, unable to perform tool_change.
- if (ENABLED(SINGLENOZZLE)) { active_extruder = new_tool; return; }
- }
- else if (extruder_was_primed[old_tool]) {
- // Retract the old extruder if it was previously primed
- // To-Do: Should SingleNozzle always retract?
- FS_DEBUG("Retracting Filament for T", old_tool, ". | Distance: ", toolchange_settings.swap_length, " | Speed: ", MMM_TO_MMS(toolchange_settings.retract_speed), "mm/s");
- unscaled_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed));
- }
- }
- #endif
-
- TERN_(SWITCHING_NOZZLE_TWO_SERVOS, raise_nozzle(old_tool));
-
- 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
-
- #if DISABLED(TOOLCHANGE_ZRAISE_BEFORE_RETRACT) && DISABLED(SWITCHING_NOZZLE)
- if (can_move_away && TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park)) {
- // Do a small lift to avoid the workpiece in the move back (below)
- current_position.z += toolchange_settings.z_raise;
- TERN_(HAS_SOFTWARE_ENDSTOPS, NOMORE(current_position.z, soft_endstop.max.z));
- fast_line_to_current(Z_AXIS);
- }
- #endif
-
- // Toolchange park
- #if ENABLED(TOOLCHANGE_PARK) && DISABLED(SWITCHING_NOZZLE)
- if (can_move_away && toolchange_settings.enable_park) {
- IF_DISABLED(TOOLCHANGE_PARK_Y_ONLY, current_position.x = toolchange_settings.change_point.x);
- IF_DISABLED(TOOLCHANGE_PARK_X_ONLY, current_position.y = toolchange_settings.change_point.y);
- #if NONE(TOOLCHANGE_PARK_X_ONLY, TOOLCHANGE_PARK_Y_ONLY)
- SECONDARY_AXIS_CODE(
- current_position.i = toolchange_settings.change_point.i,
- current_position.j = toolchange_settings.change_point.j,
- current_position.k = toolchange_settings.change_point.k,
- current_position.u = toolchange_settings.change_point.u,
- current_position.v = toolchange_settings.change_point.v,
- current_position.w = toolchange_settings.change_point.w
- );
- #endif
- planner.buffer_line(current_position, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE), old_tool);
- planner.synchronize();
- }
- #endif
-
- #if HAS_HOTEND_OFFSET
- xyz_pos_t diff = hotend_offset[new_tool] - hotend_offset[old_tool];
- TERN_(DUAL_X_CARRIAGE, diff.x = 0);
- #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) {
- const float newz = current_position.z + _MAX(-diff.z, 0.0);
-
- // Check if Z has space to compensate at least z_offset, and if not, just abort now
- const float maxz = _MIN(TERN(HAS_SOFTWARE_ENDSTOPS, soft_endstop.max.z, Z_MAX_POS), Z_MAX_POS);
- 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
-
- TERN_(TOOL_SENSOR, tool_sensor_disabled = false);
-
- (void)check_tool_sensor_stats(active_extruder, true);
-
- // The newly-selected extruder XYZ is actually at...
- DEBUG_ECHOLNPGM("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_NUM_AXES(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
- const bool should_move = safe_to_move && !no_move && IsRunning();
- if (should_move) {
-
- #if EITHER(SINGLENOZZLE_STANDBY_TEMP, SINGLENOZZLE_STANDBY_FAN)
- thermalManager.singlenozzle_change(old_tool, new_tool);
- #endif
-
- #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
- if (should_swap && !too_cold(active_extruder))
- extruder_prime(); // Prime selected Extruder
- #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 = X_MIN_POS;
- 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
- DEBUG_ECHOLNPGM("Move back Z only");
-
- if (TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park))
- do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
-
- #else
- // Move back to the original (or adjusted) position
- DEBUG_POS("Move back", destination);
-
- #if ENABLED(TOOLCHANGE_PARK)
- if (toolchange_settings.enable_park) do_blocking_move_to_xy_z(destination, destination.z, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE));
- #else
- do_blocking_move_to_xy(destination, planner.settings.max_feedrate_mm_s[X_AXIS]);
- do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
- #endif
-
- #endif
- }
-
- else DEBUG_ECHOLNPGM("Move back skipped");
-
- #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
- if (should_swap && !too_cold(active_extruder)) {
- extruder_cutting_recover(0); // New extruder primed and set to 0
-
- // Restart Fan
- #if HAS_FAN && TOOLCHANGE_FS_FAN >= 0
- RESTORE(fan);
- #endif
- }
- #endif
-
- TERN_(DUAL_X_CARRIAGE, idex_set_parked(false));
- }
-
- #if ENABLED(SWITCHING_NOZZLE)
- // Move back down. (Including when the new tool is higher.)
- if (!should_move)
- do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
- #endif
-
- TERN_(SWITCHING_NOZZLE_TWO_SERVOS, lower_nozzle(new_tool));
-
- } // (new_tool != old_tool)
-
- planner.synchronize();
-
- #if ENABLED(EXT_SOLENOID) && DISABLED(PARKING_EXTRUDER)
- disable_all_solenoids();
- enable_solenoid(active_extruder);
- #endif
-
- #if HAS_PRUSA_MMU1
- 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
-
- TERN_(HAS_FANMUX, fanmux_switch(active_extruder));
-
- if (ENABLED(EVENT_GCODE_TOOLCHANGE_ALWAYS_RUN) || !no_move) {
- #ifdef EVENT_GCODE_TOOLCHANGE_T0
- if (new_tool == 0)
- gcode.process_subcommands_now(F(EVENT_GCODE_TOOLCHANGE_T0));
- #endif
-
- #ifdef EVENT_GCODE_TOOLCHANGE_T1
- if (new_tool == 1)
- gcode.process_subcommands_now(F(EVENT_GCODE_TOOLCHANGE_T1));
- #endif
-
- #ifdef EVENT_GCODE_AFTER_TOOLCHANGE
- if (TERN1(DUAL_X_CARRIAGE, dual_x_carriage_mode == DXC_AUTO_PARK_MODE))
- gcode.process_subcommands_now(F(EVENT_GCODE_AFTER_TOOLCHANGE));
- #endif
- }
-
- SERIAL_ECHOLNPGM(STR_ACTIVE_EXTRUDER, active_extruder);
-
- #endif // HAS_MULTI_EXTRUDER
- }
-
- #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE)
-
- #define DEBUG_OUT ENABLED(DEBUG_TOOLCHANGE_MIGRATION_FEATURE)
- #include "../core/debug_out.h"
-
- bool extruder_migration() {
-
- #if ENABLED(PREVENT_COLD_EXTRUSION)
- if (thermalManager.targetTooColdToExtrude(active_extruder)) {
- DEBUG_ECHOLNPGM("Migration Source Too Cold");
- return false;
- }
- #endif
-
- // No auto-migration or specified target?
- if (!migration.target && active_extruder >= migration.last) {
- DEBUG_ECHO_MSG("No Migration Target");
- DEBUG_ECHO_MSG("Target: ", migration.target, " Last: ", migration.last, " Active: ", active_extruder);
- migration.automode = false;
- return false;
- }
-
- // Migrate to a target or the next extruder
-
- uint8_t migration_extruder = active_extruder;
-
- if (migration.target) {
- DEBUG_ECHOLNPGM("Migration using fixed target");
- // Specified target ok?
- const int16_t t = migration.target - 1;
- if (t != active_extruder) migration_extruder = t;
- }
- else if (migration.automode && migration_extruder < migration.last && migration_extruder < EXTRUDERS - 1)
- migration_extruder++;
-
- if (migration_extruder == active_extruder) {
- DEBUG_ECHOLNPGM("Migration source matches active");
- return false;
- }
-
- // Migration begins
- DEBUG_ECHOLNPGM("Beginning migration");
-
- migration.in_progress = true; // Prevent runout script
- planner.synchronize();
-
- // Remember position before migration
- const float resume_current_e = current_position.e;
-
- // Migrate the flow
- planner.set_flow(migration_extruder, planner.flow_percentage[active_extruder]);
-
- // Migrate the retracted state
- #if ENABLED(FWRETRACT)
- fwretract.retracted.set(migration_extruder, fwretract.retracted[active_extruder]);
- #endif
-
- // Migrate the temperature to the new hotend
- #if HAS_MULTI_HOTEND
- thermalManager.setTargetHotend(thermalManager.degTargetHotend(active_extruder), migration_extruder);
- TERN_(AUTOTEMP, planner.autotemp_update());
- thermalManager.set_heating_message(0);
- thermalManager.wait_for_hotend(active_extruder);
- #endif
-
- // Migrate Linear Advance K factor to the new extruder
- TERN_(LIN_ADVANCE, planner.extruder_advance_K[active_extruder] = planner.extruder_advance_K[migration_extruder]);
-
- // Perform the tool change
- tool_change(migration_extruder);
-
- // Retract if previously retracted
- #if ENABLED(FWRETRACT)
- if (fwretract.retracted[active_extruder])
- unscaled_e_move(-fwretract.settings.retract_length, fwretract.settings.retract_feedrate_mm_s);
- #endif
-
- // If no available extruder
- if (EXTRUDERS < 2 || active_extruder >= EXTRUDERS - 2 || active_extruder == migration.last)
- migration.automode = false;
-
- migration.in_progress = false;
-
- current_position.e = resume_current_e;
-
- planner.synchronize();
- planner.set_e_position_mm(current_position.e); // New extruder primed and ready
- DEBUG_ECHOLNPGM("Migration Complete");
- return true;
- }
-
- #endif // TOOLCHANGE_MIGRATION_FEATURE
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