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Fix PARKING_EXTRUDER homing with solenoid (#20473)

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2.0.x
zeleps 4 years ago committed by Scott Lahteine
parent 2c58d0881b
commit 3b4c5f982c
5 changed files with 71 additions and 35 deletions
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15
Marlin/src/feature/solenoid.cpp
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@ -28,22 +28,29 @@
#include "../module/motion.h" // for active_extruder
#if ENABLED(MANUAL_SOLENOID_CONTROL)
#define HAS_SOLENOID(N) HAS_SOLENOID_##N
// PARKING_EXTRUDER options alter the default behavior of solenoids, this ensures compliance of M380-381
#if ENABLED(PARKING_EXTRUDER)
#include "../module/tool_change.h"
#define SOLENOID_MAGNETIZED_STATE (TERN_(PARKING_EXTRUDER_SOLENOIDS_INVERT,!)PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE)
#else
#define HAS_SOLENOID(N) (HAS_SOLENOID_##N && EXTRUDERS > N)
#define SOLENOID_MAGNETIZED_STATE HIGH
#endif
#define HAS_SOLENOID(N) (HAS_SOLENOID_##N && TERN(MANUAL_SOLENOID_CONTROL, true, EXTRUDERS > N))
// Used primarily with MANUAL_SOLENOID_CONTROL
static void set_solenoid(const uint8_t num, const bool active) {
const uint8_t value = active ? HIGH : LOW;
const uint8_t value = active ? SOLENOID_MAGNETIZED_STATE : !SOLENOID_MAGNETIZED_STATE;
switch (num) {
case 0:
OUT_WRITE(SOL0_PIN, value);
TERN_(PARKING_EXTRUDER, if (!active && active_extruder == 0) parking_extruder_set_parked()); // If active extruder's solenoid is disabled, carriage is considered parked
break;
#if HAS_SOLENOID(1)
case 1:
OUT_WRITE(SOL1_PIN, value);
TERN_(PARKING_EXTRUDER, if (!active && active_extruder == 1) parking_extruder_set_parked()); // If active extruder's solenoid is disabled, carriage is considered parked
break;
#endif
#if HAS_SOLENOID(2)

6
Marlin/src/gcode/calibrate/G28.cpp
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@ -290,6 +290,10 @@ void GcodeSuite::G28() {
#if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)
const uint8_t old_tool_index = active_extruder;
#endif
// PARKING_EXTRUDER homing requires different handling of movement / solenoid activation, depending on the side of homing
#if ENABLED(PARKING_EXTRUDER)
const bool pe_final_change_must_unpark = parking_extruder_unpark_after_homing(old_tool_index, X_HOME_DIR + 1 == old_tool_index * 2);
#endif
tool_change(0, true);
#endif
@ -443,7 +447,7 @@ void GcodeSuite::G28() {
// Restore the active tool after homing
#if HAS_MULTI_HOTEND && (DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE))
tool_change(old_tool_index, NONE(PARKING_EXTRUDER, DUAL_X_CARRIAGE)); // Do move if one of these
tool_change(old_tool_index, TERN(PARKING_EXTRUDER, !pe_final_change_must_unpark, DISABLED(DUAL_X_CARRIAGE))); // Do move if one of these
#endif
#if HAS_HOMING_CURRENT

18
Marlin/src/gcode/control/T.cpp
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@ -61,16 +61,10 @@ void GcodeSuite::T(const int8_t tool_index) {
}
#endif
#if EXTRUDERS < 2
tool_change(tool_index);
#else
tool_change(
tool_index,
(tool_index == active_extruder) || parser.boolval('S')
);
#endif
tool_change(tool_index
#if HAS_MULTI_EXTRUDER
, TERN(PARKING_EXTRUDER, false, tool_index == active_extruder) // For PARKING_EXTRUDER motion is decided in tool_change()
|| parser.boolval('S')
#endif
);
}

64
Marlin/src/module/tool_change.cpp
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@ -277,6 +277,28 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
#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_deactivate_solenoid(1 - final_tool);
DEBUG_ECHOLNPAIR("Disengage magnet", (int)(1 - final_tool));
pe_activate_solenoid(final_tool);
DEBUG_ECHOLNPAIR("Engage magnet", (int)final_tool);
extruder_parked = false;
return false;
}
return true;
}
void parking_extruder_set_parked() { extruder_parked = true; }
inline void parking_extruder_tool_change(const uint8_t new_tool, bool no_move) {
if (!no_move) {
@ -304,27 +326,30 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
DEBUG_POS("Start PE Tool-Change", current_position);
current_position.x = parkingposx[active_extruder] + x_offset;
// Don't park the active_extruder unless unparked
if (!extruder_parked) {
current_position.x = parkingposx[active_extruder] + x_offset;
DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
DEBUG_POS("Moving ParkPos", current_position);
DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
DEBUG_POS("Moving ParkPos", current_position);
fast_line_to_current(X_AXIS);
fast_line_to_current(X_AXIS);
// STEP 2
// STEP 2
planner.synchronize();
DEBUG_ECHOLNPGM("(2) Disengage magnet");
pe_deactivate_solenoid(active_extruder);
planner.synchronize();
DEBUG_ECHOLNPGM("(2) Disengage magnet");
pe_deactivate_solenoid(active_extruder);
// STEP 3
// STEP 3
current_position.x += active_extruder ? -10 : 10; // move 10mm away from parked extruder
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);
DEBUG_ECHOLNPGM("(3) Move near new extruder");
DEBUG_POS("Move away from parked extruder", current_position);
fast_line_to_current(X_AXIS);
fast_line_to_current(X_AXIS);
}
// STEP 4
@ -358,13 +383,16 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
planner.synchronize(); // Always sync the final move
DEBUG_POS("PE Tool-Change done.", current_position);
extruder_parked = false;
}
else { // nomove == true
else if (do_solenoid_activation) { // && nomove == true
// Deactivate old extruder solenoid
TERN(PARKING_EXTRUDER_SOLENOIDS_INVERT, pe_activate_solenoid, pe_deactivate_solenoid)(active_extruder);
// Only engage magnetic field for new extruder
pe_activate_solenoid(new_tool);
// Just save power for inverted magnets
TERN_(PARKING_EXTRUDER_SOLENOIDS_INVERT, pe_activate_solenoid(active_extruder));
TERN(PARKING_EXTRUDER_SOLENOIDS_INVERT, pe_deactivate_solenoid, pe_activate_solenoid)(new_tool);
}
do_solenoid_activation = true; // Activate solenoid for subsequent tool_change()
}
#endif // PARKING_EXTRUDER
@ -922,7 +950,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
}
#endif
if (new_tool != old_tool) {
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

3
Marlin/src/module/tool_change.h
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@ -93,6 +93,9 @@
void pe_solenoid_init();
bool parking_extruder_unpark_after_homing(const uint8_t final_tool, bool homed_towards_final_tool);
void parking_extruder_set_parked();
#elif ENABLED(MAGNETIC_PARKING_EXTRUDER)
typedef struct MPESettings {

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