From 815c636449e399651ee0751b63ed36f2d28415e0 Mon Sep 17 00:00:00 2001
From: zeleps <39417467+zeleps@users.noreply.github.com>
Date: Fri, 1 Jan 2021 22:54:44 +0200
Subject: [PATCH] Fix PARKING_EXTRUDER homing with solenoid (#20473)
---
Marlin/src/feature/solenoid.cpp | 15 +++++--
Marlin/src/gcode/calibrate/G28.cpp | 6 ++-
Marlin/src/gcode/control/T.cpp | 18 +++------
Marlin/src/module/tool_change.cpp | 64 +++++++++++++++++++++---------
Marlin/src/module/tool_change.h | 3 ++
5 files changed, 71 insertions(+), 35 deletions(-)
diff --git a/Marlin/src/feature/solenoid.cpp b/Marlin/src/feature/solenoid.cpp
index 8646ec872f6..659b6422623 100644
--- a/Marlin/src/feature/solenoid.cpp
+++ b/Marlin/src/feature/solenoid.cpp
@@ -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)
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index e63f60994f8..7c13587a670 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -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
diff --git a/Marlin/src/gcode/control/T.cpp b/Marlin/src/gcode/control/T.cpp
index 592b2b3dcef..3ce284f82e8 100644
--- a/Marlin/src/gcode/control/T.cpp
+++ b/Marlin/src/gcode/control/T.cpp
@@ -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
+ );
}
diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp
index a9819319175..a310442126c 100644
--- a/Marlin/src/module/tool_change.cpp
+++ b/Marlin/src/module/tool_change.cpp
@@ -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
diff --git a/Marlin/src/module/tool_change.h b/Marlin/src/module/tool_change.h
index 0b22f8b6f1c..fc953ddf8a0 100644
--- a/Marlin/src/module/tool_change.h
+++ b/Marlin/src/module/tool_change.h
@@ -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 {