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553 lines
22 KiB
553 lines
22 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "tool_change.h"
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#include "motion.h"
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#include "planner.h"
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#include "stepper.h"
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#include "../Marlin.h"
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#include "../inc/MarlinConfig.h"
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#if ENABLED(PARKING_EXTRUDER) && PARKING_EXTRUDER_SOLENOIDS_DELAY > 0
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#include "../gcode/gcode.h" // for dwell()
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#endif
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#if ENABLED(SWITCHING_EXTRUDER) || ENABLED(SWITCHING_NOZZLE)
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#include "../module/servo.h"
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#endif
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#if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
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#include "../feature/solenoid.h"
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#endif
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#if ENABLED(MK2_MULTIPLEXER)
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#include "../feature/snmm.h"
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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#include "../feature/mixing.h"
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#endif
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#if HAS_LEVELING
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#include "../feature/bedlevel/bedlevel.h"
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#endif
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#if HAS_FANMUX
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#include "../feature/fanmux.h"
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#endif
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#if ENABLED(SWITCHING_EXTRUDER)
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#if EXTRUDERS > 3
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#define REQ_ANGLES 4
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#define _SERVO_NR (e < 2 ? SWITCHING_EXTRUDER_SERVO_NR : SWITCHING_EXTRUDER_E23_SERVO_NR)
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#else
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#define REQ_ANGLES 2
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#define _SERVO_NR SWITCHING_EXTRUDER_SERVO_NR
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#endif
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void move_extruder_servo(const uint8_t e) {
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constexpr int16_t angles[] = SWITCHING_EXTRUDER_SERVO_ANGLES;
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static_assert(COUNT(angles) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles.");
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stepper.synchronize();
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#if EXTRUDERS & 1
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if (e < EXTRUDERS - 1)
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#endif
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{
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MOVE_SERVO(_SERVO_NR, angles[e]);
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safe_delay(500);
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}
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}
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#endif // SWITCHING_EXTRUDER
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#if ENABLED(SWITCHING_NOZZLE)
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void move_nozzle_servo(const uint8_t e) {
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const int16_t angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
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stepper.synchronize();
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MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, angles[e]);
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safe_delay(500);
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}
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#endif // SWITCHING_NOZZLE
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#if ENABLED(PARKING_EXTRUDER)
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void pe_magnet_init() {
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for (uint8_t n = 0; n <= 1; ++n)
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#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
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pe_activate_magnet(n);
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#else
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pe_deactivate_magnet(n);
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#endif
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}
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void pe_set_magnet(const uint8_t extruder_num, const uint8_t state) {
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switch (extruder_num) {
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case 1: OUT_WRITE(SOL1_PIN, state); break;
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default: OUT_WRITE(SOL0_PIN, state); break;
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}
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#if PARKING_EXTRUDER_SOLENOIDS_DELAY > 0
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gcode.dwell(PARKING_EXTRUDER_SOLENOIDS_DELAY);
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#endif
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}
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#endif // PARKING_EXTRUDER
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inline void invalid_extruder_error(const uint8_t e) {
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SERIAL_ECHO_START();
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SERIAL_CHAR('T');
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SERIAL_ECHO_F(e, DEC);
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SERIAL_CHAR(' ');
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SERIAL_ECHOLNPGM(MSG_INVALID_EXTRUDER);
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}
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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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*/
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void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
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#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
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if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
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return invalid_extruder_error(tmp_extruder);
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// T0-Tnnn: Switch virtual tool by changing the mix
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for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
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mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
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#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
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if (tmp_extruder >= EXTRUDERS)
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return invalid_extruder_error(tmp_extruder);
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#if HOTENDS > 1
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const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
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feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
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if (tmp_extruder != active_extruder) {
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if (!no_move && axis_unhomed_error()) {
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no_move = true;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
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#endif
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}
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// Save current position to destination, for use later
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set_destination_from_current();
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#if ENABLED(DUAL_X_CARRIAGE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPGM("Dual X Carriage Mode ");
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switch (dual_x_carriage_mode) {
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case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
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case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
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case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
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}
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}
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#endif
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const float xhome = x_home_pos(active_extruder);
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if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
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&& IsRunning()
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&& (delayed_move_time || current_position[X_AXIS] != xhome)
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) {
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float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
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#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
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NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPAIR("Raise to ", raised_z);
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SERIAL_ECHOLNPAIR("MoveX to ", xhome);
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SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
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}
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#endif
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// Park old head: 1) raise 2) move to park position 3) lower
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for (uint8_t i = 0; i < 3; i++)
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planner.buffer_line(
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i == 0 ? current_position[X_AXIS] : xhome,
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current_position[Y_AXIS],
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i == 2 ? current_position[Z_AXIS] : raised_z,
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current_position[E_AXIS],
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planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
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active_extruder
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);
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stepper.synchronize();
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}
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// Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
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current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
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current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
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// Activate the new extruder ahead of calling set_axis_is_at_home!
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active_extruder = tmp_extruder;
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// This function resets the max/min values - the current position may be overwritten below.
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set_axis_is_at_home(X_AXIS);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
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#endif
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// Only when auto-parking are carriages safe to move
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if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
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switch (dual_x_carriage_mode) {
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case DXC_FULL_CONTROL_MODE:
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// New current position is the position of the activated extruder
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current_position[X_AXIS] = inactive_extruder_x_pos;
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// Save the inactive extruder's position (from the old current_position)
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inactive_extruder_x_pos = destination[X_AXIS];
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break;
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case DXC_AUTO_PARK_MODE:
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// record raised toolhead position for use by unpark
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COPY(raised_parked_position, current_position);
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raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
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#if ENABLED(MAX_SOFTWARE_ENDSTOPS)
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NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
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#endif
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active_extruder_parked = true;
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delayed_move_time = 0;
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break;
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case DXC_DUPLICATION_MODE:
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// If the new extruder is the left one, set it "parked"
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// This triggers the second extruder to move into the duplication position
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active_extruder_parked = (active_extruder == 0);
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if (active_extruder_parked)
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current_position[X_AXIS] = inactive_extruder_x_pos;
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else
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current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
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inactive_extruder_x_pos = destination[X_AXIS];
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extruder_duplication_enabled = false;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
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SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
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}
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#endif
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break;
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}
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
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DEBUG_POS("New extruder (parked)", current_position);
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}
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#endif
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// No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
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#else // !DUAL_X_CARRIAGE
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#if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
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float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
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if (!no_move) {
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const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
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midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + hotend_offset[X_AXIS][active_extruder],
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grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
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+ (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
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/**
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* Steps:
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* 1. Raise Z-Axis to give enough clearance
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* 2. Move to park position of old extruder
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* 3. Disengage magnetic field, wait for delay
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* 4. Move near new extruder
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* 5. Engage magnetic field for new extruder
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* 6. Move to parking incl. offset of new extruder
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* 7. Lower Z-Axis
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*/
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// STEP 1
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("Starting Autopark");
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if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
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#endif
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current_position[Z_AXIS] += z_raise;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
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if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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stepper.synchronize();
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// STEP 2
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current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder);
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if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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stepper.synchronize();
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// STEP 3
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(3) Disengage magnet ");
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#endif
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pe_deactivate_magnet(active_extruder);
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// STEP 4
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
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#endif
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current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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stepper.synchronize();
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// STEP 5
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(5) Engage magnetic field");
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#endif
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#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
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pe_activate_magnet(active_extruder); //just save power for inverted magnets
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#endif
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pe_activate_magnet(tmp_extruder);
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// STEP 6
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current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10));
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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current_position[X_AXIS] = grabpos;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder);
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
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stepper.synchronize();
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// Step 7
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current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("(7) Move midway between hotends");
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if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
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#endif
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
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stepper.synchronize();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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SERIAL_ECHOLNPGM("Autopark done.");
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#endif
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}
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else { // nomove == true
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// Only engage magnetic field for new extruder
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pe_activate_magnet(tmp_extruder);
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#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
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pe_activate_magnet(active_extruder); // Just save power for inverted magnets
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#endif
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}
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current_position[Z_AXIS] -= hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder]; // Apply Zoffset
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
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#endif
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#endif // dualParking extruder
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#if ENABLED(SWITCHING_NOZZLE)
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#define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)
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// <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
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const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
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z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
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// Always raise by some amount (destination copied from current_position earlier)
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current_position[Z_AXIS] += z_raise;
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planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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move_nozzle_servo(tmp_extruder);
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#endif
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/**
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* Set current_position to the position of the new nozzle.
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* Offsets are based on linear distance, so we need to get
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* the resulting position in coordinate space.
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*
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* - With grid or 3-point leveling, offset XYZ by a tilted vector
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* - With mesh leveling, update Z for the new position
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* - Otherwise, just use the raw linear distance
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*
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* Software endstops are altered here too. Consider a case where:
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* E0 at X=0 ... E1 at X=10
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* When we switch to E1 now X=10, but E1 can't move left.
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* To express this we apply the change in XY to the software endstops.
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* E1 can move farther right than E0, so the right limit is extended.
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*
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* Note that we don't adjust the Z software endstops. Why not?
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* Consider a case where Z=0 (here) and switching to E1 makes Z=1
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* because the bed is 1mm lower at the new position. As long as
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* the first nozzle is out of the way, the carriage should be
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* allowed to move 1mm lower. This technically "breaks" the
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* Z software endstop. But this is technically correct (and
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* there is no viable alternative).
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*/
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#if ABL_PLANAR
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// Offset extruder, make sure to apply the bed level rotation matrix
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vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
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hotend_offset[Y_AXIS][tmp_extruder],
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0),
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act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
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hotend_offset[Y_AXIS][active_extruder],
|
|
0),
|
|
offset_vec = tmp_offset_vec - act_offset_vec;
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
|
|
act_offset_vec.debug(PSTR("act_offset_vec"));
|
|
offset_vec.debug(PSTR("offset_vec (BEFORE)"));
|
|
}
|
|
#endif
|
|
|
|
offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
|
|
#endif
|
|
|
|
// Adjustments to the current position
|
|
const float xydiff[2] = { offset_vec.x, offset_vec.y };
|
|
current_position[Z_AXIS] += offset_vec.z;
|
|
|
|
#else // !ABL_PLANAR
|
|
|
|
const float xydiff[2] = {
|
|
hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
|
|
hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
|
|
};
|
|
|
|
#if ENABLED(MESH_BED_LEVELING)
|
|
|
|
if (planner.leveling_active) {
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
|
|
#endif
|
|
float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
|
|
y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
|
|
z1 = current_position[Z_AXIS], z2 = z1;
|
|
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
|
|
planner.apply_leveling(x2, y2, z2);
|
|
current_position[Z_AXIS] += z2 - z1;
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING))
|
|
SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
|
|
#endif
|
|
}
|
|
|
|
#endif // MESH_BED_LEVELING
|
|
|
|
#endif // !HAS_ABL
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) {
|
|
SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
|
|
SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
|
|
SERIAL_ECHOLNPGM(" }");
|
|
}
|
|
#endif
|
|
|
|
// The newly-selected extruder XY is actually at...
|
|
current_position[X_AXIS] += xydiff[X_AXIS];
|
|
current_position[Y_AXIS] += xydiff[Y_AXIS];
|
|
|
|
// Set the new active extruder
|
|
active_extruder = tmp_extruder;
|
|
|
|
#endif // !DUAL_X_CARRIAGE
|
|
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
|
|
#endif
|
|
|
|
// Tell the planner the new "current position"
|
|
SYNC_PLAN_POSITION_KINEMATIC();
|
|
|
|
// Move to the "old position" (move the extruder into place)
|
|
#if ENABLED(SWITCHING_NOZZLE)
|
|
destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
|
|
#endif
|
|
if (!no_move && IsRunning()) {
|
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
|
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
|
|
#endif
|
|
// Move back to the original (or tweaked) position
|
|
do_blocking_move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS]);
|
|
}
|
|
#if ENABLED(SWITCHING_NOZZLE)
|
|
else {
|
|
// Move back down. (Including when the new tool is higher.)
|
|
do_blocking_move_to_z(destination[Z_AXIS], planner.max_feedrate_mm_s[Z_AXIS]);
|
|
}
|
|
#endif
|
|
} // (tmp_extruder != active_extruder)
|
|
|
|
stepper.synchronize();
|
|
|
|
#if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
|
|
disable_all_solenoids();
|
|
enable_solenoid_on_active_extruder();
|
|
#endif // EXT_SOLENOID
|
|
|
|
feedrate_mm_s = old_feedrate_mm_s;
|
|
|
|
#else // HOTENDS <= 1
|
|
|
|
UNUSED(fr_mm_s);
|
|
UNUSED(no_move);
|
|
|
|
#if ENABLED(MK2_MULTIPLEXER)
|
|
if (tmp_extruder >= E_STEPPERS)
|
|
return invalid_extruder_error(tmp_extruder);
|
|
|
|
select_multiplexed_stepper(tmp_extruder);
|
|
#endif
|
|
|
|
// Set the new active extruder
|
|
active_extruder = tmp_extruder;
|
|
|
|
#endif // HOTENDS <= 1
|
|
|
|
#if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
|
|
stepper.synchronize();
|
|
move_extruder_servo(active_extruder);
|
|
#endif
|
|
|
|
#if HAS_FANMUX
|
|
fanmux_switch(active_extruder);
|
|
#endif
|
|
|
|
SERIAL_ECHO_START();
|
|
SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
|
|
|
|
#endif // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
|
|
}
|
|
|