diff --git a/Marlin/src/feature/bedlevel/bedlevel.cpp b/Marlin/src/feature/bedlevel/bedlevel.cpp
index ec93172cd227dfea332546c2267a3b537f4e354d..ea1284efc003bb3ce84d44027d124c009dca72b3 100644
--- a/Marlin/src/feature/bedlevel/bedlevel.cpp
+++ b/Marlin/src/feature/bedlevel/bedlevel.cpp
@@ -138,30 +138,16 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
void set_z_fade_height(const float zfh, const bool do_report/*=true*/) {
- if (planner.z_fade_height == zfh) return; // do nothing if no change
+ if (planner.z_fade_height == zfh) return;
- const bool level_active = planner.leveling_active;
-
- #if ENABLED(AUTO_BED_LEVELING_UBL)
- if (level_active) set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position
- #endif
+ const bool leveling_was_active = planner.leveling_active;
+ set_bed_leveling_enabled(false);
planner.set_z_fade_height(zfh);
- if (level_active) {
+ if (leveling_was_active) {
const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
- #if ENABLED(AUTO_BED_LEVELING_UBL)
- set_bed_leveling_enabled(true); // turn back on after changing fade height
- #else
- set_current_from_steppers_for_axis(
- #if ABL_PLANAR
- ALL_AXES
- #else
- Z_AXIS
- #endif
- );
- SYNC_PLAN_POSITION_KINEMATIC();
- #endif
+ set_bed_leveling_enabled(true);
if (do_report && memcmp(oldpos, current_position, sizeof(oldpos)))
report_current_position();
}
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 221195c8f007a90ede90db85152cc7a467d34c4d..0416ad6d41f7eb457c0fb16c08af0a73118afbdb 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -179,7 +179,7 @@ void GcodeSuite::G28(const bool always_home_all) {
// Disable the leveling matrix before homing
#if HAS_LEVELING
#if ENABLED(RESTORE_LEVELING_AFTER_G28)
- const bool leveling_state_at_entry = planner.leveling_active;
+ const bool leveling_was_active = planner.leveling_active;
#endif
set_bed_leveling_enabled(false);
#endif
@@ -326,7 +326,7 @@ void GcodeSuite::G28(const bool always_home_all) {
#endif
#if ENABLED(RESTORE_LEVELING_AFTER_G28)
- set_bed_leveling_enabled(leveling_state_at_entry);
+ set_bed_leveling_enabled(leveling_was_active);
#endif
clean_up_after_endstop_or_probe_move();
diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp
index 7b3bf480bdb51e0c1acffb314c465336ef708104..bbed2cafb3a9399a42de83f7d0206085ec81ae06 100644
--- a/Marlin/src/module/tool_change.cpp
+++ b/Marlin/src/module/tool_change.cpp
@@ -115,8 +115,112 @@
#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*/) {
+ if (!no_move) {
+
+ const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
+ midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + hotend_offset[X_AXIS][active_extruder],
+ grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
+ + (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
+ /**
+ * Steps:
+ * 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)
+ SERIAL_ECHOLNPGM("Starting Autopark");
+ if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
+ #endif
+ current_position[Z_AXIS] += PARKING_EXTRUDER_SECURITY_RAISE;
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
+ #endif
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
+ stepper.synchronize();
+
+ // STEP 2
+ current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder);
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
+ #endif
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+ stepper.synchronize();
+
+ // STEP 3
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPGM("(3) Disengage magnet ");
+ #endif
+ pe_deactivate_magnet(active_extruder);
+
+ // STEP 4
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
+ #endif
+ current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
+ #endif
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+ stepper.synchronize();
+
+ // STEP 5
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPGM("(5) Engage magnetic field");
+ #endif
+
+ #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
+ pe_activate_magnet(active_extruder); //just save power for inverted magnets
+ #endif
+ pe_activate_magnet(tmp_extruder);
+
+ // STEP 6
+ current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10));
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+ current_position[X_AXIS] = grabpos;
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder);
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
+ #endif
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
+ stepper.synchronize();
+
+ // Step 7
+ current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPGM("(7) Move midway between hotends");
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
+ #endif
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+ stepper.synchronize();
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPGM("Autopark done.");
+ #endif
+ }
+ else { // nomove == true
+ // Only engage magnetic field for new extruder
+ pe_activate_magnet(tmp_extruder);
+ #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
+ pe_activate_magnet(active_extruder); // Just save power for inverted magnets
+ #endif
+ }
+ 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 // PARKING_EXTRUDER
inline void invalid_extruder_error(const uint8_t e) {
SERIAL_ECHO_START();
@@ -126,19 +230,134 @@ inline void invalid_extruder_error(const uint8_t e) {
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 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
+
+#define DO_SWITCH_EXTRUDER (SWITCHING_EXTRUDER_SERVO_NR != SWITCHING_NOZZLE_SERVO_NR)
+
+/**
+ * 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
@@ -162,331 +381,53 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
// 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 HAS_LEVELING
+ // Set current position to the physical position
+ const bool leveling_was_active = planner.leveling_active;
+ set_bed_leveling_enabled(false);
+ #endif
- #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
+ #if ENABLED(DUAL_X_CARRIAGE)
- // No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
+ dualx_tool_change(tmp_extruder, no_move); // Can modify no_move
#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,
- midpos = (parkingposx[0] + parkingposx[1]) * 0.5 + hotend_offset[X_AXIS][active_extruder],
- grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
- + (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
- /**
- * Steps:
- * 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)
- SERIAL_ECHOLNPGM("Starting Autopark");
- if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
- #endif
- current_position[Z_AXIS] += z_raise;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
- if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
- #endif
- planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
- stepper.synchronize();
-
- // STEP 2
- current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder);
- if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
- #endif
- planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
- stepper.synchronize();
-
- // STEP 3
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- SERIAL_ECHOLNPGM("(3) Disengage magnet ");
- #endif
- pe_deactivate_magnet(active_extruder);
-
- // STEP 4
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
- #endif
- current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
- #endif
- planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
- stepper.synchronize();
-
- // STEP 5
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- SERIAL_ECHOLNPGM("(5) Engage magnetic field");
- #endif
-
- #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
- pe_activate_magnet(active_extruder); //just save power for inverted magnets
- #endif
- pe_activate_magnet(tmp_extruder);
-
- // STEP 6
- current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10));
- planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
- current_position[X_AXIS] = grabpos;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder);
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
- #endif
- planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
- stepper.synchronize();
-
- // Step 7
- current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- SERIAL_ECHOLNPGM("(7) Move midway between hotends");
- if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
- #endif
- planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
- stepper.synchronize();
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- SERIAL_ECHOLNPGM("Autopark done.");
- #endif
- }
- else { // nomove == true
- // Only engage magnetic field for new extruder
- pe_activate_magnet(tmp_extruder);
- #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
- 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
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
- #endif
-
- #endif // dualParking 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)
- // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
- const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
- z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
-
- // Always raise by some amount
- current_position[Z_AXIS] += z_raise;
+ // Always raise by at least 0.3
+ const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
+ current_position[Z_AXIS] += (z_diff > 0.0 ? z_diff : 0.0) + 0.3;
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
move_nozzle_servo(tmp_extruder);
#endif
- /**
- * Set current_position to the position of the new nozzle.
- * Offsets are based on linear distance, so we need to get
- * the resulting position in coordinate space.
- *
- * - With grid or 3-point leveling, offset XYZ by a tilted vector
- * - With mesh leveling, update Z for the new position
- * - Otherwise, just use the raw linear distance
- *
- * Software endstops are altered here too. Consider a case where:
- * E0 at X=0 ... E1 at X=10
- * When we switch to E1 now X=10, but E1 can't move left.
- * To express this we apply the change in XY to the software endstops.
- * E1 can move farther right than E0, so the right limit is extended.
- *
- * Note that we don't adjust the Z software endstops. Why not?
- * Consider a case where Z=0 (here) and switching to E1 makes Z=1
- * because the bed is 1mm lower at the new position. As long as
- * the first nozzle is out of the way, the carriage should be
- * allowed to move 1mm lower. This technically "breaks" the
- * Z software endstop. But this is technically correct (and
- * there is no viable alternative).
- */
- #if ABL_PLANAR
- // Offset extruder, make sure to apply the bed level rotation matrix
- vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
- hotend_offset[Y_AXIS][tmp_extruder],
- 0),
- act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
- 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 HAS_MESH && PLANNER_LEVELING
-
- if (planner.leveling_active) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before: ", 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 // HAS_MESH && PLANNER_LEVELING
-
- #endif // !HAS_ABL
+ const float xdiff = hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
+ ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder];
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
- SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
+ SERIAL_ECHOPAIR("Offset Tool XY by { ", xdiff);
+ SERIAL_ECHOPAIR(", ", ydiff);
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];
+ current_position[X_AXIS] += xdiff;
+ current_position[Y_AXIS] += ydiff;
// 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);
+ #if HAS_LEVELING
+ // Restore leveling to re-establish the logical position
+ set_bed_leveling_enabled(leveling_was_active);
#endif
// Tell the planner the new "current position"
@@ -494,22 +435,20 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#if ENABLED(DELTA)
//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
- // Do a small lift to avoid the workpiece in the move back (below)
const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
- if (safe_to_move && !no_move && IsRunning()) {
- ++current_position[Z_AXIS];
- planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
- }
#else
constexpr bool safe_to_move = true;
#endif
- // 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
+ // Raise, move, and lower again
if (safe_to_move && !no_move && IsRunning()) {
+ // Do a small lift to avoid the workpiece in the move back (below)
+ current_position[Z_AXIS] += 1.0;
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
#endif
@@ -529,7 +468,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
disable_all_solenoids();
enable_solenoid_on_active_extruder();
- #endif // EXT_SOLENOID
+ #endif
feedrate_mm_s = old_feedrate_mm_s;
@@ -550,7 +489,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#endif // HOTENDS <= 1
- #if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
+ #if DO_SWITCH_EXTRUDER
stepper.synchronize();
move_extruder_servo(active_extruder);
#endif