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Split up tool_change for some setups

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2.0.x
Scott Lahteine 7 years ago
parent a9f94f260a
commit d1734a089a
1 changed files with 230 additions and 215 deletions
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329
Marlin/src/module/tool_change.cpp
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@ -115,162 +115,9 @@
#endif
}
#endif // PARKING_EXTRUDER
inline void parking_extruder_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
constexpr float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
inline void invalid_extruder_error(const uint8_t e) {
SERIAL_ECHO_START();
SERIAL_CHAR('T');
SERIAL_ECHO_F(e, DEC);
SERIAL_CHAR(' ');
SERIAL_ECHOLNPGM(MSG_INVALID_EXTRUDER);
}
/**
* 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) && MIXING_VIRTUAL_TOOLS > 1
if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
return invalid_extruder_error(tmp_extruder);
// T0-Tnnn: Switch virtual tool by changing the mix
for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
if (tmp_extruder >= EXTRUDERS)
return invalid_extruder_error(tmp_extruder);
#if HOTENDS > 1
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 (tmp_extruder != active_extruder) {
if (!no_move && axis_unhomed_error()) {
no_move = true;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
#endif
}
// Save current position to destination, for use later
set_destination_from_current();
#if ENABLED(DUAL_X_CARRIAGE)
#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;
}
}
#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)
) {
float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Raise to ", raised_z);
SERIAL_ECHOLNPAIR("MoveX to ", xhome);
SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
}
#endif
// Park old head: 1) raise 2) move to park position 3) lower
for (uint8_t i = 0; i < 3; i++)
planner.buffer_line(
i == 0 ? current_position[X_AXIS] : xhome,
current_position[Y_AXIS],
i == 2 ? current_position[Z_AXIS] : raised_z,
current_position[E_AXIS],
planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
active_extruder
);
stepper.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
// Only when auto-parking are carriages safe to move
if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
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 raised toolhead position for use by unpark
COPY(raised_parked_position, current_position);
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
active_extruder_parked = true;
delayed_move_time = 0;
break;
case DXC_DUPLICATION_MODE:
// If the new extruder is the left one, set it "parked"
// This triggers the second extruder to move into the duplication position
active_extruder_parked = (active_extruder == 0);
if (active_extruder_parked)
current_position[X_AXIS] = inactive_extruder_x_pos;
else
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
}
#endif
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
// No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
#else // !DUAL_X_CARRIAGE
#if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
if (!no_move) {
const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
@ -368,13 +215,181 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
pe_activate_magnet(active_extruder); // Just save power for inverted magnets
#endif
}
current_position[Z_AXIS] -= hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder]; // Apply Zoffset
current_position[Z_AXIS] += hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
#endif
}
#endif // dualParking extruder
#endif // PARKING_EXTRUDER
inline void invalid_extruder_error(const uint8_t e) {
SERIAL_ECHO_START();
SERIAL_CHAR('T');
SERIAL_ECHO_F(e, DEC);
SERIAL_CHAR(' ');
SERIAL_ECHOLNPGM(MSG_INVALID_EXTRUDER);
}
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
inline void mixing_tool_change(const uint8_t tmp_extruder) {
if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
return invalid_extruder_error(tmp_extruder);
// T0-Tnnn: Switch virtual tool by changing the mix
for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
}
#endif // MIXING_EXTRUDER && MIXING_VIRTUAL_TOOLS > 1
#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;
}
}
#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)
) {
float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Raise to ", raised_z);
SERIAL_ECHOLNPAIR("MoveX to ", xhome);
SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
}
#endif
// Park old head: 1) raise 2) move to park position 3) lower
for (uint8_t i = 0; i < 3; i++)
planner.buffer_line(
i == 0 ? current_position[X_AXIS] : xhome,
current_position[Y_AXIS],
i == 2 ? current_position[Z_AXIS] : raised_z,
current_position[E_AXIS],
planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
active_extruder
);
stepper.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
// Only when auto-parking are carriages safe to move
if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
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 raised toolhead position for use by unpark
COPY(raised_parked_position, current_position);
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
active_extruder_parked = true;
delayed_move_time = 0;
break;
case DXC_DUPLICATION_MODE:
// If the new extruder is the left one, set it "parked"
// This triggers the second extruder to move into the duplication position
active_extruder_parked = (active_extruder == 0);
current_position[X_AXIS] = active_extruder_parked ? inactive_extruder_x_pos : destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
}
#endif
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
// No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
}
#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) && MIXING_VIRTUAL_TOOLS > 1
mixing_tool_change(tmp_extruder);
#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
if (tmp_extruder >= EXTRUDERS)
return invalid_extruder_error(tmp_extruder);
#if HOTENDS > 1
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 (tmp_extruder != active_extruder) {
if (!no_move && axis_unhomed_error()) {
no_move = true;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
#endif
}
// Save current position to destination, for use later
set_destination_from_current();
#if ENABLED(DUAL_X_CARRIAGE)
dualx_tool_change(tmp_extruder, no_move); // Can modify no_move
#else // !DUAL_X_CARRIAGE
#if ENABLED(PARKING_EXTRUDER)
parking_extruder_tool_change(tmp_extruder, no_move);
#endif
#if ENABLED(SWITCHING_NOZZLE)
#define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)

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