diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 8867ec976a07bc25347b655f1f3b86b822180335..17d51f06ffe10aff18d7509e8b9ce1f1cee55061 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -6304,131 +6304,134 @@ inline void gcode_T(uint8_t tmp_extruder) {
SERIAL_CHAR('T');
SERIAL_PROTOCOL_F(tmp_extruder, DEC);
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
+ return;
}
- else {
- target_extruder = tmp_extruder;
- #if EXTRUDERS > 1
- bool make_move = false;
+ float stored_feedrate = feedrate;
+
+ if (code_seen('F')) {
+ float next_feedrate = code_value();
+ if (next_feedrate > 0.0) stored_feedrate = feedrate = next_feedrate;
+ }
+ else {
+ #ifdef XY_TRAVEL_SPEED
+ feedrate = XY_TRAVEL_SPEED;
+ #else
+ feedrate = min(max_feedrate[X_AXIS], max_feedrate[Y_AXIS]);
#endif
+ }
- if (code_seen('F')) {
+ #if EXTRUDERS > 1
+ if (tmp_extruder != active_extruder) {
+ // Save current position to return to after applying extruder offset
+ set_destination_to_current();
+ #if ENABLED(DUAL_X_CARRIAGE)
+ if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
+ (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))) {
+ // Park old head: 1) raise 2) move to park position 3) lower
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
+ current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
+ plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
+ current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
+ plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
+ current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
+ st_synchronize();
+ }
- #if EXTRUDERS > 1
- make_move = true;
- #endif
+ // apply Y & Z extruder offset (x offset is already used in determining home pos)
+ current_position[Y_AXIS] -= extruder_offset[Y_AXIS][active_extruder] - extruder_offset[Y_AXIS][tmp_extruder];
+ current_position[Z_AXIS] -= extruder_offset[Z_AXIS][active_extruder] - extruder_offset[Z_AXIS][tmp_extruder];
+ active_extruder = tmp_extruder;
- float next_feedrate = code_value();
- if (next_feedrate > 0.0) feedrate = next_feedrate;
- }
- #if EXTRUDERS > 1
- if (tmp_extruder != active_extruder) {
- // Save current position to return to after applying extruder offset
- set_destination_to_current();
- #if ENABLED(DUAL_X_CARRIAGE)
- if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
- (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))) {
- // Park old head: 1) raise 2) move to park position 3) lower
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
- current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
- plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
- current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
- plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
- current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
- st_synchronize();
- }
+ // This function resets the max/min values - the current position may be overwritten below.
+ set_axis_is_at_home(X_AXIS);
- // apply Y & Z extruder offset (x offset is already used in determining home pos)
- current_position[Y_AXIS] -= extruder_offset[Y_AXIS][active_extruder] - extruder_offset[Y_AXIS][tmp_extruder];
- current_position[Z_AXIS] -= extruder_offset[Z_AXIS][active_extruder] - extruder_offset[Z_AXIS][tmp_extruder];
- active_extruder = tmp_extruder;
+ if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
+ current_position[X_AXIS] = inactive_extruder_x_pos;
+ inactive_extruder_x_pos = destination[X_AXIS];
+ }
+ else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
+ active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
+ 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;
+ }
+ else {
+ // record raised toolhead position for use by unpark
+ memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
+ raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
+ active_extruder_parked = true;
+ delayed_move_time = 0;
+ }
+ // No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together?
+ #else // !DUAL_X_CARRIAGE
+ #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+ // Offset extruder, make sure to apply the bed level rotation matrix
+ vector_3 tmp_offset_vec = vector_3(extruder_offset[X_AXIS][tmp_extruder],
+ extruder_offset[Y_AXIS][tmp_extruder],
+ 0),
+ act_offset_vec = vector_3(extruder_offset[X_AXIS][active_extruder],
+ extruder_offset[Y_AXIS][active_extruder],
+ 0),
+ offset_vec = tmp_offset_vec - act_offset_vec;
- // 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)) {
+ SERIAL_ECHOLNPGM(">>> gcode_T");
+ tmp_offset_vec.debug("tmp_offset_vec");
+ act_offset_vec.debug("act_offset_vec");
+ offset_vec.debug("offset_vec (BEFORE)");
+ DEBUG_POS("BEFORE rotation", current_position);
+ }
+ #endif
- if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
- current_position[X_AXIS] = inactive_extruder_x_pos;
- inactive_extruder_x_pos = destination[X_AXIS];
- }
- else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
- active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
- if (active_extruder == 0 || 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;
- }
- else {
- // record raised toolhead position for use by unpark
- memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
- raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
- active_extruder_parked = true;
- delayed_move_time = 0;
- }
- #else // !DUAL_X_CARRIAGE
- #if ENABLED(AUTO_BED_LEVELING_FEATURE)
- // Offset extruder, make sure to apply the bed level rotation matrix
- vector_3 tmp_offset_vec = vector_3(extruder_offset[X_AXIS][tmp_extruder],
- extruder_offset[Y_AXIS][tmp_extruder],
- 0),
- act_offset_vec = vector_3(extruder_offset[X_AXIS][active_extruder],
- extruder_offset[Y_AXIS][active_extruder],
- 0),
- offset_vec = tmp_offset_vec - act_offset_vec;
+ offset_vec.apply_rotation(plan_bed_level_matrix.transpose(plan_bed_level_matrix));
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM(">>> gcode_T");
- tmp_offset_vec.debug("tmp_offset_vec");
- act_offset_vec.debug("act_offset_vec");
- offset_vec.debug("offset_vec (BEFORE)");
- DEBUG_POS("BEFORE rotation", current_position);
- }
- #endif
+ current_position[X_AXIS] += offset_vec.x;
+ current_position[Y_AXIS] += offset_vec.y;
+ current_position[Z_AXIS] += offset_vec.z;
- offset_vec.apply_rotation(plan_bed_level_matrix.transpose(plan_bed_level_matrix));
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ offset_vec.debug("offset_vec (AFTER)");
+ DEBUG_POS("AFTER rotation", current_position);
+ SERIAL_ECHOLNPGM("<<< gcode_T");
+ }
+ #endif
- current_position[X_AXIS] += offset_vec.x;
- current_position[Y_AXIS] += offset_vec.y;
- current_position[Z_AXIS] += offset_vec.z;
+ #else // !AUTO_BED_LEVELING_FEATURE
+ // Offset extruder (only by XY)
+ for (int i=X_AXIS; i<=Y_AXIS; i++)
+ current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
+ #endif // !AUTO_BED_LEVELING_FEATURE
+ // Set the new active extruder and position
+ active_extruder = tmp_extruder;
+ #endif // !DUAL_X_CARRIAGE
+ #if ENABLED(DELTA)
+ sync_plan_position_delta();
+ #else
+ sync_plan_position();
+ #endif
+ // Move to the old position
+ if (IsRunning()) prepare_move();
+ } // (tmp_extruder != active_extruder)
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- offset_vec.debug("offset_vec (AFTER)");
- DEBUG_POS("AFTER rotation", current_position);
- SERIAL_ECHOLNPGM("<<< gcode_T");
- }
- #endif
+ #if ENABLED(EXT_SOLENOID)
+ st_synchronize();
+ disable_all_solenoids();
+ enable_solenoid_on_active_extruder();
+ #endif // EXT_SOLENOID
- #else // !AUTO_BED_LEVELING_FEATURE
- // Offset extruder (only by XY)
- for (int i=X_AXIS; i<=Y_AXIS; i++)
- current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
- #endif // !AUTO_BED_LEVELING_FEATURE
- // Set the new active extruder and position
- active_extruder = tmp_extruder;
- #endif // !DUAL_X_CARRIAGE
- #if ENABLED(DELTA)
- sync_plan_position_delta();
- #else
- sync_plan_position();
- #endif
- // Move to the old position if 'F' was in the parameters
- if (make_move && IsRunning()) prepare_move();
- }
+ #endif // EXTRUDERS > 1
- #if ENABLED(EXT_SOLENOID)
- st_synchronize();
- disable_all_solenoids();
- enable_solenoid_on_active_extruder();
- #endif // EXT_SOLENOID
+ feedrate = stored_feedrate;
- #endif // EXTRUDERS > 1
- SERIAL_ECHO_START;
- SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
- SERIAL_PROTOCOLLN((int)active_extruder);
- }
+ SERIAL_ECHO_START;
+ SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
+ SERIAL_PROTOCOLLN((int)active_extruder);
}
/**