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@ -38,6 +38,15 @@
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toolchange_settings_t toolchange_settings; // Initialized by settings.load()
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#endif
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#if ENABLED(TOOLCHANGE_MIGRATION_FEATURE)
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migration_settings_t migration = migration_defaults;
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bool enable_first_prime;
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#endif
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#if ENABLED(TOOLCHANGE_FS_INIT_BEFORE_SWAP)
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bool toolchange_extruder_ready[EXTRUDERS];
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#endif
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#if ENABLED(SINGLENOZZLE)
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uint16_t singlenozzle_temp[EXTRUDERS];
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#if FAN_COUNT > 0
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@ -85,6 +94,14 @@
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#include "../feature/pause.h"
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#endif
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#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
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#include "../gcode/gcode.h"
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#if TOOLCHANGE_FS_WIPE_RETRACT <= 0
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#undef TOOLCHANGE_FS_WIPE_RETRACT
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#define TOOLCHANGE_FS_WIPE_RETRACT 0
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#endif
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#endif
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#if DO_SWITCH_EXTRUDER
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#if EXTRUDERS > 3
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@ -759,6 +776,77 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
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#endif // DUAL_X_CARRIAGE
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/**
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* Prime active tool using TOOLCHANGE_FILAMENT_SWAP settings
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*/
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#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
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void tool_change_prime() {
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if (toolchange_settings.extra_prime > 0
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&& TERN(PREVENT_COLD_EXTRUSION, !thermalManager.targetTooColdToExtrude(active_extruder), 1)
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) {
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destination = current_position; // Remember the old position
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const bool ok = TERN1(TOOLCHANGE_PARK, all_axes_homed() && toolchange_settings.enable_park);
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// Z raise
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if (ok) {
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// Do a small lift to avoid the workpiece in the move back (below)
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current_position.z += toolchange_settings.z_raise;
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#if HAS_SOFTWARE_ENDSTOPS
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NOMORE(current_position.z, soft_endstop.max.z);
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#endif
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fast_line_to_current(Z_AXIS);
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planner.synchronize();
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}
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// Park
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#if ENABLED(TOOLCHANGE_PARK)
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if (ok) {
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TERN(TOOLCHANGE_PARK_Y_ONLY,,current_position.x = toolchange_settings.change_point.x);
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TERN(TOOLCHANGE_PARK_X_ONLY,,current_position.y = toolchange_settings.change_point.y);
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planner.buffer_line(current_position, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE), active_extruder);
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planner.synchronize();
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}
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#endif
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// Prime (All distances are added and slowed down to ensure secure priming in all circumstances)
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unscaled_e_move(toolchange_settings.swap_length + toolchange_settings.extra_prime, MMM_TO_MMS(toolchange_settings.prime_speed));
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// Cutting retraction
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#if TOOLCHANGE_FS_WIPE_RETRACT
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unscaled_e_move(-(TOOLCHANGE_FS_WIPE_RETRACT), MMM_TO_MMS(toolchange_settings.retract_speed));
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#endif
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// Cool down with fan
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#if TOOLCHANGE_FS_FAN >= 0 && FAN_COUNT > 0
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const int16_t fansp = thermalManager.fan_speed[TOOLCHANGE_FS_FAN];
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thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = toolchange_settings.fan_speed;
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safe_delay(toolchange_settings.fan_time * 1000);
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thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = fansp;
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#endif
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// Move back
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#if ENABLED(TOOLCHANGE_PARK)
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if (ok) {
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#if ENABLED(TOOLCHANGE_NO_RETURN)
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do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
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#else
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do_blocking_move_to(destination, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE));
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#endif
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}
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#endif
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// Cutting recover
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unscaled_e_move(toolchange_settings.extra_resume + TOOLCHANGE_FS_WIPE_RETRACT, MMM_TO_MMS(toolchange_settings.unretract_speed));
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planner.synchronize();
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current_position.e = destination.e;
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sync_plan_position_e(); // Resume at the old E position
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}
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}
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#endif
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/**
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* Perform a tool-change, which may result in moving the
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* previous tool out of the way and the new tool into place.
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@ -826,39 +914,52 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
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const uint8_t old_tool = active_extruder;
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const bool can_move_away = !no_move && !idex_full_control;
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#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
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const bool should_swap = can_move_away && toolchange_settings.swap_length;
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#if ENABLED(PREVENT_COLD_EXTRUSION)
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const bool too_cold = !DEBUGGING(DRYRUN) && (thermalManager.targetTooColdToExtrude(old_tool) || thermalManager.targetTooColdToExtrude(new_tool));
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#else
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constexpr bool too_cold = false;
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#endif
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if (should_swap) {
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if (too_cold) {
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SERIAL_ECHO_MSG(STR_ERR_HOTEND_TOO_COLD);
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#if ENABLED(SINGLENOZZLE)
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active_extruder = new_tool;
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return;
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#endif
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}
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else {
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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unscaled_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed));
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#else
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current_position.e -= toolchange_settings.swap_length / planner.e_factor[old_tool];
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planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.retract_speed), old_tool);
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planner.synchronize();
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#endif
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}
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}
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#endif // TOOLCHANGE_FILAMENT_SWAP
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#if HAS_LEVELING && DISABLED(SINGLENOZZLE)
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// Set current position to the physical position
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TEMPORARY_BED_LEVELING_STATE(false);
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#endif
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// First tool priming. To prime again, reboot the machine.
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#if BOTH(TOOLCHANGE_FILAMENT_SWAP, TOOLCHANGE_FS_PRIME_FIRST_USED)
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static bool first_tool_is_primed = false;
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if (new_tool == old_tool && !first_tool_is_primed && enable_first_prime) {
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tool_change_prime();
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first_tool_is_primed = true;
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toolchange_extruder_ready[old_tool] = true; // Primed and initialized
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}
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#endif
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if (new_tool != old_tool) {
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destination = current_position;
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// Z raise before retraction
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#if ENABLED(TOOLCHANGE_ZRAISE_BEFORE_RETRACT) && DISABLED(SWITCHING_NOZZLE)
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if (can_move_away && TERN1(toolchange_settings.enable_park)) {
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// Do a small lift to avoid the workpiece in the move back (below)
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current_position.z += toolchange_settings.z_raise;
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#if HAS_SOFTWARE_ENDSTOPS
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NOMORE(current_position.z, soft_endstop.max.z);
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#endif
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fast_line_to_current(Z_AXIS);
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planner.synchronize();
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}
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#endif
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// Unload / Retract
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#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
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const bool should_swap = can_move_away && toolchange_settings.swap_length;
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too_cold = TERN0(PREVENT_COLD_EXTRUSION,
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!DEBUGGING(DRYRUN) && (thermalManager.targetTooColdToExtrude(old_tool) || thermalManager.targetTooColdToExtrude(new_tool))
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);
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if (should_swap) {
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if (too_cold) {
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SERIAL_ECHO_MSG(STR_ERR_HOTEND_TOO_COLD);
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if (ENABLED(SINGLENOZZLE)) { active_extruder = new_tool; return; }
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}
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else
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unscaled_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed));
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}
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#endif
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TERN_(SWITCHING_NOZZLE_TWO_SERVOS, raise_nozzle(old_tool));
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@ -877,18 +978,23 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
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#endif
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#endif
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destination = current_position;
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#if DISABLED(SWITCHING_NOZZLE)
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if (can_move_away) {
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#if DISABLED(TOOLCHANGE_ZRAISE_BEFORE_RETRACT) && DISABLED(SWITCHING_NOZZLE)
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if (can_move_away && TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park)) {
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// Do a small lift to avoid the workpiece in the move back (below)
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current_position.z += toolchange_settings.z_raise;
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#if HAS_SOFTWARE_ENDSTOPS
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NOMORE(current_position.z, soft_endstop.max.z);
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#endif
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fast_line_to_current(Z_AXIS);
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TERN_(TOOLCHANGE_PARK, current_position = toolchange_settings.change_point);
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planner.buffer_line(current_position, feedrate_mm_s, old_tool);
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}
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#endif
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// Toolchange park
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#if ENABLED(TOOLCHANGE_PARK) && DISABLED(SWITCHING_NOZZLE)
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if (can_move_away && toolchange_settings.enable_park) {
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TERN(TOOLCHANGE_PARK_Y_ONLY,,current_position.x = toolchange_settings.change_point.x);
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TERN(TOOLCHANGE_PARK_X_ONLY,,current_position.y = toolchange_settings.change_point.y);
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planner.buffer_line(current_position, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE), old_tool);
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planner.synchronize();
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}
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#endif
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@ -932,9 +1038,8 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
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move_nozzle_servo(new_tool);
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#endif
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#if DISABLED(DUAL_X_CARRIAGE)
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active_extruder = new_tool; // Set the new active extruder
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#endif
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// Set the new active extruder
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if (DISABLED(DUAL_X_CARRIAGE)) active_extruder = new_tool;
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// The newly-selected extruder XYZ is actually at...
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Offset Tool XYZ by { ", diff.x, ", ", diff.y, ", ", diff.z, " }");
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@ -951,7 +1056,8 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
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#endif
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// Return to position and lower again
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if (safe_to_move && !no_move && IsRunning()) {
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const bool should_move = safe_to_move && !no_move && IsRunning();
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if (should_move) {
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#if ENABLED(SINGLENOZZLE)
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#if FAN_COUNT > 0
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@ -969,17 +1075,35 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
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#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
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if (should_swap && !too_cold) {
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#if ENABLED(ADVANCED_PAUSE_FEATURE)
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unscaled_e_move(toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.prime_speed));
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unscaled_e_move(toolchange_settings.extra_prime, ADVANCED_PAUSE_PURGE_FEEDRATE);
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#else
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current_position.e += toolchange_settings.swap_length / planner.e_factor[new_tool];
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planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed), new_tool);
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current_position.e += toolchange_settings.extra_prime / planner.e_factor[new_tool];
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planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed * 0.2f), new_tool);
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float fr = toolchange_settings.unretract_speed;
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#if ENABLED(TOOLCHANGE_FS_INIT_BEFORE_SWAP)
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if (!toolchange_extruder_ready[new_tool]) {
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toolchange_extruder_ready[new_tool] = true;
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fr = toolchange_settings.prime_speed; // Next move is a prime
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unscaled_e_move(0, MMM_TO_MMS(fr)); // Init planner with 0 length move
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}
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#endif
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// Unretract (or Prime)
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unscaled_e_move(toolchange_settings.swap_length, MMM_TO_MMS(fr));
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// Extra Prime
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unscaled_e_move(toolchange_settings.extra_prime, MMM_TO_MMS(toolchange_settings.prime_speed));
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// Cutting retraction
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#if TOOLCHANGE_FS_WIPE_RETRACT
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unscaled_e_move(-(TOOLCHANGE_FS_WIPE_RETRACT), MMM_TO_MMS(toolchange_settings.retract_speed));
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#endif
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// Cool down with fan
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#if TOOLCHANGE_FS_FAN >= 0 && FAN_COUNT > 0
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const int16_t fansp = thermalManager.fan_speed[TOOLCHANGE_FS_FAN];
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thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = toolchange_settings.fan_speed;
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safe_delay(toolchange_settings.fan_time * 1000);
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thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = fansp;
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#endif
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planner.synchronize();
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planner.set_e_position_mm((destination.e = current_position.e = current_position.e - (TOOLCHANGE_FIL_EXTRA_PRIME)));
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}
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#endif
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@ -1000,22 +1124,43 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
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#if ENABLED(TOOLCHANGE_NO_RETURN)
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// Just move back down
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back Z only");
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#if ENABLED(TOOLCHANGE_PARK)
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if (toolchange_settings.enable_park)
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#endif
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do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
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#else
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// Move back to the original (or adjusted) position
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
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do_blocking_move_to(destination);
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#if ENABLED(TOOLCHANGE_PARK)
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if (toolchange_settings.enable_park) do_blocking_move_to_xy_z(destination, destination.z, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE));
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#else
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do_blocking_move_to_xy(destination);
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#endif
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#endif
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}
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else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back skipped");
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#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
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if (should_swap && !too_cold) {
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// Cutting recover
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unscaled_e_move(toolchange_settings.extra_resume + TOOLCHANGE_FS_WIPE_RETRACT, MMM_TO_MMS(toolchange_settings.unretract_speed));
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current_position.e = 0;
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sync_plan_position_e(); // New extruder primed and set to 0
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}
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#endif
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TERN_(DUAL_X_CARRIAGE, active_extruder_parked = false);
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}
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#if ENABLED(SWITCHING_NOZZLE)
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else {
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// Move back down. (Including when the new tool is higher.)
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// Move back down. (Including when the new tool is higher.)
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if (!should_move)
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do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
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}
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#endif
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TERN_(PRUSA_MMU2, mmu2.tool_change(new_tool));
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@ -1053,3 +1198,79 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
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#endif // EXTRUDERS > 1
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}
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#if ENABLED(TOOLCHANGE_MIGRATION_FEATURE)
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void extruder_migration() {
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#if ENABLED(PREVENT_COLD_EXTRUSION)
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if (thermalManager.targetTooColdToExtrude(active_extruder)) return;
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#endif
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// No auto-migration or specified target?
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if (!migration.target && active_extruder >= migration.last) {
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migration.automode = false;
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return;
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}
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// Migrate to a target or the next extruder
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uint8_t migration_extruder = active_extruder;
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if (migration.target) {
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// Specified target ok?
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const int16_t t = migration.target - 1;
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if (t != active_extruder) migration_extruder = t;
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}
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else if (migration.automode && migration_extruder < migration.last && migration_extruder < EXTRUDERS - 1)
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migration_extruder++;
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if (migration_extruder == active_extruder) return;
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// Migration begins
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migration.in_progress = true; // Prevent runout script
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planner.synchronize();
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// Remember position before migration
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const float resume_current_e = current_position.e;
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// Migrate the flow
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planner.set_flow(migration_extruder, planner.flow_percentage[active_extruder]);
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// Migrate the retracted state
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#if ENABLED(FWRETRACT)
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fwretract.retracted[migration_extruder] = fwretract.retracted[active_extruder];
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#endif
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// Migrate the temperature to the new hotend
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#if HOTENDS > 1
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thermalManager.setTargetHotend(thermalManager.degTargetHotend(active_extruder), migration_extruder);
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#if HAS_DISPLAY
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thermalManager.set_heating_message(0);
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#endif
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thermalManager.wait_for_hotend(active_extruder);
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#endif
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// Perform the tool change
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tool_change(migration_extruder);
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// Retract if previously retracted
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#if ENABLED(FWRETRACT)
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if (fwretract.retracted[active_extruder])
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unscaled_e_move(-fwretract.settings.retract_length, fwretract.settings.retract_feedrate_mm_s);
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#endif
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// If no available extruder
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if (EXTRUDERS < 2 || active_extruder >= EXTRUDERS - 2 || active_extruder == migration.last)
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migration.automode = false;
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migration.in_progress = false;
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current_position.e = resume_current_e;
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planner.synchronize();
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planner.set_e_position_mm(current_position.e); // New extruder primed and ready
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}
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#endif // TOOLCHANGE_MIGRATION_FEATURE
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studiodyne
5 years ago
committed by
GitHub