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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2019 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 "../Marlin.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) || (ENABLED(PARKING_EXTRUDER) && PARKING_EXTRUDER_SOLENOIDS_DELAY > 0)
- #include "../gcode/gcode.h" // for dwell()
- #endif
-
- #if ENABLED(SWITCHING_EXTRUDER) || ENABLED(SWITCHING_NOZZLE) || ENABLED(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 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][e]);
- safe_delay(500);
- }
-
- #endif
-
- #endif // SWITCHING_NOZZLE
-
- inline void fast_line_to_current(const AxisEnum fr_axis) {
- planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[fr_axis], active_extruder);
- }
-
- #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 tmp_extruder) {
-
- const float oldx = current_position[X_AXIS],
- grabpos = mpe_settings.parking_xpos[tmp_extruder] + (tmp_extruder ? mpe_settings.grab_distance : -mpe_settings.grab_distance),
- offsetcompensation =
- #if HAS_HOTEND_OFFSET
- hotend_offset[X_AXIS][active_extruder] * mpe_settings.compensation_factor
- #else
- 0
- #endif
- ;
-
- if (axis_unhomed_error(true, false, false)) 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_AXIS] = mpe_settings.parking_xpos[tmp_extruder] + offsetcompensation;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("(1) Move extruder ", int(tmp_extruder));
- DEBUG_POS(" to new extruder ParkPos", current_position);
- }
- #endif
-
- planner.buffer_line(current_position, mpe_settings.fast_feedrate, tmp_extruder);
- planner.synchronize();
-
- // STEP 2
-
- current_position[X_AXIS] = grabpos + offsetcompensation;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("(2) Couple extruder ", int(tmp_extruder));
- DEBUG_POS(" to new extruder GrabPos", current_position);
- }
- #endif
-
- planner.buffer_line(current_position, mpe_settings.slow_feedrate, tmp_extruder);
- planner.synchronize();
-
- // Delay before moving tool, to allow magnetic coupling
- gcode.dwell(150);
-
- // STEP 3
-
- current_position[X_AXIS] = mpe_settings.parking_xpos[tmp_extruder] + offsetcompensation;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("(3) Move extruder ", int(tmp_extruder));
- DEBUG_POS(" back to new extruder ParkPos", current_position);
- }
- #endif
-
- planner.buffer_line(current_position, mpe_settings.slow_feedrate, tmp_extruder);
- planner.synchronize();
-
- // STEP 4
-
- current_position[X_AXIS] = mpe_settings.parking_xpos[active_extruder] + (active_extruder == 0 ? MPE_TRAVEL_DISTANCE : -MPE_TRAVEL_DISTANCE) + offsetcompensation;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("(4) Move extruder ", int(tmp_extruder));
- DEBUG_POS(" close to old extruder ParkPos", current_position);
- }
- #endif
-
- planner.buffer_line(current_position, mpe_settings.fast_feedrate, tmp_extruder);
- planner.synchronize();
-
- // STEP 5
-
- current_position[X_AXIS] = mpe_settings.parking_xpos[active_extruder] + offsetcompensation;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("(5) Park extruder ", int(tmp_extruder));
- DEBUG_POS(" at old extruder ParkPos", current_position);
- }
- #endif
-
- planner.buffer_line(current_position, mpe_settings.slow_feedrate, tmp_extruder);
- planner.synchronize();
-
- // STEP 6
-
- current_position[X_AXIS] = oldx;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("(6) Move extruder ", int(tmp_extruder));
- DEBUG_POS(" to starting position", current_position);
- }
- #endif
-
- planner.buffer_line(current_position, mpe_settings.fast_feedrate, tmp_extruder);
- planner.synchronize();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Autopark done.");
- #endif
- }
-
- #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 tmp_extruder, bool no_move) {
- if (!no_move) {
-
- constexpr float parkingposx[] = PARKING_EXTRUDER_PARKING_X;
-
- #if HAS_HOTEND_OFFSET
- const float x_offset = hotend_offset[X_AXIS][active_extruder];
- #else
- constexpr float x_offset = 0;
- #endif
-
- const float midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + x_offset,
- grabpos = parkingposx[tmp_extruder] + (tmp_extruder ? PARKING_EXTRUDER_GRAB_DISTANCE : -(PARKING_EXTRUDER_GRAB_DISTANCE)) + x_offset;
-
- /**
- * 1. Raise Z-Axis to give enough clearance
- * 2. Move to park position of old extruder
- * 3. Disengage magnetic field, wait for delay
- * 4. Move near new extruder
- * 5. Engage magnetic field for new extruder
- * 6. Move to parking incl. offset of new extruder
- * 7. Lower Z-Axis
- */
-
- // STEP 1
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Start Autopark", current_position);
- #endif
-
- current_position[Z_AXIS] += toolchange_settings.z_raise;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
- #endif
-
- fast_line_to_current(Z_AXIS);
- planner.synchronize();
-
- // STEP 2
-
- current_position[X_AXIS] = parkingposx[active_extruder] + x_offset;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPAIR("(2) Park extruder ", int(active_extruder));
- DEBUG_POS("Moving ParkPos", current_position);
- }
- #endif
-
- fast_line_to_current(X_AXIS);
- planner.synchronize();
-
- // STEP 3
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Disengage magnet ");
- #endif
-
- pe_deactivate_solenoid(active_extruder);
-
- // STEP 4
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
- #endif
-
- current_position[X_AXIS] += active_extruder ? -10 : 10; // move 10mm away from parked extruder
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move away from parked extruder", current_position);
- #endif
-
- fast_line_to_current(X_AXIS);
- planner.synchronize();
-
- // STEP 5
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Engage magnetic field");
- #endif
-
- #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
- pe_activate_solenoid(active_extruder); //just save power for inverted magnets
- #endif
-
- pe_activate_solenoid(tmp_extruder);
-
- // STEP 6
-
- current_position[X_AXIS] = grabpos + (tmp_extruder ? -10 : 10);
- fast_line_to_current(X_AXIS);
- current_position[X_AXIS] = grabpos;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Unpark extruder", current_position);
- #endif
- planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS] * 0.5, active_extruder);
- planner.synchronize();
-
- // STEP 7
-
- current_position[X_AXIS] = midpos
- #if HAS_HOTEND_OFFSET
- - hotend_offset[X_AXIS][tmp_extruder]
- #endif
- ;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("(7) Move midway between hotends", current_position);
- #endif
-
- fast_line_to_current(X_AXIS);
- planner.synchronize();
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- SERIAL_ECHOLNPGM("Autopark done.");
- #endif
- }
- else { // nomove == true
- // Only engage magnetic field for new extruder
- pe_activate_solenoid(tmp_extruder);
- #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
- pe_activate_solenoid(active_extruder); // Just save power for inverted magnets
- #endif
- }
-
- #if HAS_HOTEND_OFFSET
- current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
- #endif
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
- #endif
- }
-
- #endif // PARKING_EXTRUDER
-
- #if ENABLED(SWITCHING_TOOLHEAD)
-
- inline void switching_toolhead_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
- if (no_move) return;
-
- constexpr uint16_t angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
-
- const float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS,
- placexpos = toolheadposx[active_extruder],
- grabxpos = toolheadposx[tmp_extruder];
-
- /**
- * 1. Raise Z to give enough clearance
- * 2. Move to switch position of current toolhead
- * 3. Unlock tool and drop it in the dock
- * 4. Move to the new toolhead
- * 5. Grab and lock the new toolhead
- * 6. Apply the z-offset of the new toolhead
- */
-
- // 1. Raise Z to give enough clearance
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Starting Toolhead change", current_position);
- #endif
-
- current_position[Z_AXIS] += toolchange_settings.z_raise;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis", current_position);
- #endif
-
- fast_line_to_current(Z_AXIS);
- planner.synchronize();
-
- // 2. Move to switch position of current toolhead
-
- current_position[X_AXIS] = placexpos;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPAIR("(2) Place old tool ", int(active_extruder));
- DEBUG_POS("Move X SwitchPos", current_position);
- }
- #endif
-
- fast_line_to_current(X_AXIS);
- planner.synchronize();
-
- current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
- #endif
-
- fast_line_to_current(Y_AXIS);
- planner.synchronize();
-
- // 3. Unlock tool and drop it in the dock
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(3) Unlock and Place Toolhead");
- #endif
-
- MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[1]);
- safe_delay(500);
-
- current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
- #endif
-
- planner.buffer_line(current_position,(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5), active_extruder);
- planner.synchronize();
- safe_delay(200);
- current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
- #endif
-
- fast_line_to_current(Y_AXIS); // move away from docked toolhead
- planner.synchronize();
-
- // 4. Move to the new toolhead
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(4) Move to new toolhead position");
- #endif
-
- current_position[X_AXIS] = grabxpos;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
- #endif
-
- fast_line_to_current(X_AXIS);
- planner.synchronize();
- current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS - SWITCHING_TOOLHEAD_Y_SECURITY;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Security", current_position);
- #endif
-
- fast_line_to_current(Y_AXIS);
- planner.synchronize();
-
- // 5. Grab and lock the new toolhead
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("(5) Grab and lock new toolhead ");
- #endif
-
- current_position[Y_AXIS] = SWITCHING_TOOLHEAD_Y_POS;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
- #endif
-
- planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.5, active_extruder);
- planner.synchronize();
-
- safe_delay(200);
- MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, angles[0]);
- safe_delay(500);
-
- current_position[Y_AXIS] -= SWITCHING_TOOLHEAD_Y_CLEAR;
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
- #endif
-
- fast_line_to_current(Y_AXIS); // move away from docked toolhead
- planner.synchronize();
-
- // 6. Apply the z-offset of the new toolhead
-
- #if HAS_HOTEND_OFFSET
- current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
- #endif
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("(6) Apply Z offset", current_position);
- #endif
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Toolhead change done.");
- #endif
- }
-
- #endif // SWITCHING_TOOLHEAD
-
- inline void invalid_extruder_error(const uint8_t e) {
- SERIAL_ECHO_START();
- SERIAL_CHAR('T'); SERIAL_ECHO(int(e));
- SERIAL_CHAR(' '); SERIAL_ECHOLNPGM(MSG_INVALID_EXTRUDER);
- }
-
- #if ENABLED(DUAL_X_CARRIAGE)
-
- inline void dualx_tool_change(const uint8_t tmp_extruder, bool &no_move) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPGM("Dual X Carriage Mode ");
- switch (dual_x_carriage_mode) {
- case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
- case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
- case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
- case DXC_SCALED_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_SCALED_DUPLICATION_MODE"); break;
- }
- }
- #endif
-
- const float xhome = x_home_pos(active_extruder);
- if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
- && IsRunning()
- && (delayed_move_time || current_position[X_AXIS] != xhome) && ! no_move
- ) {
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("MoveX to ", xhome);
- #endif
- // Park old head
- planner.buffer_line(xhome, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.settings.max_feedrate_mm_s[X_AXIS], active_extruder);
- planner.synchronize();
- }
-
- // Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
- current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
- current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
-
- // Activate the new extruder ahead of calling set_axis_is_at_home!
- active_extruder = tmp_extruder;
-
- // This function resets the max/min values - the current position may be overwritten below.
- set_axis_is_at_home(X_AXIS);
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
- #endif
-
- switch (dual_x_carriage_mode) {
- case DXC_FULL_CONTROL_MODE:
- // New current position is the position of the activated extruder
- current_position[X_AXIS] = inactive_extruder_x_pos;
- // Save the inactive extruder's position (from the old current_position)
- inactive_extruder_x_pos = destination[X_AXIS];
- break;
- case DXC_AUTO_PARK_MODE:
- // record current raised toolhead position for use by unpark
- COPY(raised_parked_position, current_position);
- active_extruder_parked = true;
- delayed_move_time = 0;
- break;
- default:
- break;
- }
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
- DEBUG_POS("New extruder (parked)", current_position);
- }
- #endif
- }
-
- #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 tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
- #if ENABLED(MIXING_EXTRUDER)
-
- UNUSED(fr_mm_s); UNUSED(no_move);
-
- if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
- return invalid_extruder_error(tmp_extruder);
-
- #if MIXING_VIRTUAL_TOOLS > 1
- // T0-Tnnn: Switch virtual tool by changing the index to the mix
- mixer.T(tmp_extruder);
- #endif
-
- #elif ENABLED(PRUSA_MMU2)
-
- UNUSED(fr_mm_s); UNUSED(no_move);
-
- mmu2.toolChange(tmp_extruder);
-
- #elif EXTRUDERS < 2
-
- UNUSED(fr_mm_s); UNUSED(no_move);
-
- if (tmp_extruder) invalid_extruder_error(tmp_extruder);
- return;
-
- #else // EXTRUDERS > 1
-
- planner.synchronize();
-
- #if ENABLED(DUAL_X_CARRIAGE) // Only T0 allowed if the Printer is in DXC_DUPLICATION_MODE or DXC_SCALED_DUPLICATION_MODE
- if (tmp_extruder != 0 && dxc_is_duplicating())
- return invalid_extruder_error(tmp_extruder);
- #endif
-
- #if HAS_LEVELING
- // Set current position to the physical position
- const bool leveling_was_active = planner.leveling_active;
- set_bed_leveling_enabled(false);
- #endif
-
- if (tmp_extruder >= EXTRUDERS)
- return invalid_extruder_error(tmp_extruder);
-
- if (!no_move && !all_axes_homed()) {
- no_move = true;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
- #endif
- }
-
- #if HAS_LCD_MENU
- ui.return_to_status();
- #endif
-
- #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
- const bool should_swap = !no_move && toolchange_settings.swap_length;
- #if ENABLED(PREVENT_COLD_EXTRUSION)
- const bool too_cold = !DEBUGGING(DRYRUN) && (thermalManager.targetTooColdToExtrude(active_extruder) || thermalManager.targetTooColdToExtrude(tmp_extruder));
- #else
- constexpr bool too_cold = false;
- #endif
- if (should_swap) {
- if (too_cold) {
- SERIAL_ECHO_MSG(MSG_ERR_HOTEND_TOO_COLD);
- #if ENABLED(SINGLENOZZLE)
- active_extruder = tmp_extruder;
- 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_AXIS] -= toolchange_settings.swap_length / planner.e_factor[active_extruder];
- planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.retract_speed), active_extruder);
- #endif
- }
- }
- #endif // TOOLCHANGE_FILAMENT_SWAP
-
- if (tmp_extruder != active_extruder) {
-
- #if SWITCHING_NOZZLE_TWO_SERVOS
- raise_nozzle(active_extruder);
- #endif
-
- const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
- feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
-
- #if ENABLED(DUAL_X_CARRIAGE)
-
- #if HAS_SOFTWARE_ENDSTOPS
- // Update the X software endstops early
- active_extruder = tmp_extruder;
- update_software_endstops(X_AXIS);
- active_extruder = !tmp_extruder;
- const float minx = soft_endstop_min[X_AXIS], maxx = soft_endstop_max[X_AXIS];
- #else
- // No software endstops? Use the configured limits
- const float minx = tmp_extruder ? X2_MIN_POS : X1_MIN_POS,
- maxx = tmp_extruder ? X2_MAX_POS : X1_MAX_POS;
- #endif
-
- // Don't move the new extruder out of bounds
- if (!WITHIN(current_position[X_AXIS], minx, maxx)) no_move = true;
-
- #endif
-
- set_destination_from_current();
-
- if (!no_move) {
- #if DISABLED(SWITCHING_NOZZLE)
- // Do a small lift to avoid the workpiece in the move back (below)
- #if ENABLED(TOOLCHANGE_PARK)
- current_position[X_AXIS] = toolchange_settings.change_point.x;
- current_position[Y_AXIS] = toolchange_settings.change_point.y;
- #endif
- current_position[Z_AXIS] += toolchange_settings.z_raise;
- #if HAS_SOFTWARE_ENDSTOPS
- NOMORE(current_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
- #endif
- planner.buffer_line(current_position, feedrate_mm_s, active_extruder);
- #endif
- planner.synchronize();
- }
-
- #if HOTENDS > 1
- #if ENABLED(DUAL_X_CARRIAGE)
- constexpr float xdiff = 0;
- #else
- const float xdiff = hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder];
- #endif
- const float ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder],
- zdiff = hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder];
- #else
- constexpr float xdiff = 0, ydiff = 0, zdiff = 0;
- #endif
-
- #if ENABLED(DUAL_X_CARRIAGE)
- dualx_tool_change(tmp_extruder, no_move);
- #elif ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
- parking_extruder_tool_change(tmp_extruder, no_move);
- #elif ENABLED(MAGNETIC_PARKING_EXTRUDER) // Magnetic Parking extruder
- magnetic_parking_extruder_tool_change(tmp_extruder);
- #elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
- switching_toolhead_tool_change(tmp_extruder, fr_mm_s, no_move);
- #elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS
- // Raise by a configured distance to avoid workpiece, except with
- // SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
- current_position[Z_AXIS] += MAX(-zdiff, 0.0) + toolchange_settings.z_raise;
- #if HAS_SOFTWARE_ENDSTOPS
- NOMORE(current_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
- #endif
- if (!no_move) fast_line_to_current(Z_AXIS);
- move_nozzle_servo(tmp_extruder);
- #endif
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING))
- SERIAL_ECHOLNPAIR("Offset Tool XY by { ", xdiff, ", ", ydiff, ", ", zdiff, " }");
- #endif
-
- // The newly-selected extruder XY is actually at...
- current_position[X_AXIS] += xdiff;
- current_position[Y_AXIS] += ydiff;
- current_position[Z_AXIS] += zdiff;
-
- // Set the new active extruder if not already done in tool specific function above
- active_extruder = tmp_extruder;
-
- // 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_AXIS] < 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(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
- #endif
-
- #if ENABLED(SINGLENOZZLE)
- #if FAN_COUNT > 0
- singlenozzle_fan_speed[active_extruder] = thermalManager.fan_speed[0];
- thermalManager.fan_speed[0] = singlenozzle_fan_speed[tmp_extruder];
- #endif
-
- singlenozzle_temp[active_extruder] = thermalManager.target_temperature[0];
- if (singlenozzle_temp[tmp_extruder] && singlenozzle_temp[tmp_extruder] != singlenozzle_temp[active_extruder]) {
- thermalManager.setTargetHotend(singlenozzle_temp[tmp_extruder], 0);
- #if ENABLED(ULTRA_LCD) || ENABLED(EXTENSIBLE_UI)
- thermalManager.set_heating_message(0);
- #endif
- (void)thermalManager.wait_for_hotend(0, false); // Wait for heating or cooling
- }
- active_extruder = tmp_extruder;
- #endif
-
- #if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
- if (should_swap && !too_cold) {
- #if ENABLED(ADVANCED_PAUSE_FEATURE)
- do_pause_e_move(toolchange_settings.swap_length + TOOLCHANGE_FIL_EXTRA_PRIME, toolchange_settings.prime_speed);
- #else
- current_position[E_AXIS] += (toolchange_settings.swap_length + TOOLCHANGE_FIL_EXTRA_PRIME) / planner.e_factor[tmp_extruder];
- planner.buffer_line(current_position, toolchange_settings.prime_speed, tmp_extruder);
- #endif
- planner.synchronize();
-
- #if TOOLCHANGE_FIL_EXTRA_PRIME
- planner.set_e_position_mm((destination[E_AXIS] = current_position[E_AXIS] = current_position[E_AXIS] - (TOOLCHANGE_FIL_EXTRA_PRIME)));
- #endif
- }
- #endif
-
- // Prevent a move outside physical bounds
- clamp_to_software_endstops(destination);
-
- // Move back to the original (or tweaked) position
- do_blocking_move_to(destination);
-
- #if ENABLED(DUAL_X_CARRIAGE)
- active_extruder_parked = false;
- #endif
- feedrate_mm_s = old_feedrate_mm_s;
- }
- #if ENABLED(SWITCHING_NOZZLE)
- else {
- // Move back down. (Including when the new tool is higher.)
- do_blocking_move_to_z(destination[Z_AXIS], planner.settings.max_feedrate_mm_s[Z_AXIS]);
- }
- #endif
-
- #if ENABLED(PRUSA_MMU2)
- mmu2.toolChange(tmp_extruder);
- #endif
-
- #if SWITCHING_NOZZLE_TWO_SERVOS
- lower_nozzle(active_extruder);
- #endif
-
- #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) && ADVANCED_PAUSE_RESUME_PRIME != 0
- if (should_swap && !too_cold) {
- const float resume_eaxis = current_position[E_AXIS];
- #if ENABLED(ADVANCED_PAUSE_FEATURE)
- do_pause_e_move(toolchange_settings.swap_length, toolchange_settings.prime_speed);
- #else
- current_position[E_AXIS] += (ADVANCED_PAUSE_RESUME_PRIME) / planner.e_factor[active_extruder];
- planner.buffer_line(current_position, ADVANCED_PAUSE_PURGE_FEEDRATE, active_extruder);
- #endif
- planner.synchronize();
- planner.set_e_position_mm((destination[E_AXIS] = current_position[E_AXIS] = resume_eaxis));
- }
- #endif
-
- } // (tmp_extruder != active_extruder)
-
- planner.synchronize();
-
- #if ENABLED(EXT_SOLENOID) && DISABLED(PARKING_EXTRUDER)
- disable_all_solenoids();
- enable_solenoid_on_active_extruder();
- #endif
-
- #if HAS_SOFTWARE_ENDSTOPS && ENABLED(DUAL_X_CARRIAGE)
- update_software_endstops(X_AXIS);
- #endif
-
- #if ENABLED(MK2_MULTIPLEXER)
- if (tmp_extruder >= E_STEPPERS) return invalid_extruder_error(tmp_extruder);
- select_multiplexed_stepper(tmp_extruder);
- #endif
-
- #if DO_SWITCH_EXTRUDER
- planner.synchronize();
- move_extruder_servo(active_extruder);
- #endif
-
- #if HAS_FANMUX
- fanmux_switch(active_extruder);
- #endif
-
- #if HAS_LEVELING
- // Restore leveling to re-establish the logical position
- set_bed_leveling_enabled(leveling_was_active);
- #endif
-
- SERIAL_ECHO_START();
- SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, int(active_extruder));
-
- #endif // EXTRUDERS > 1
- }
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