/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfigPre.h"
#include "tool_change.h"
#include "probe.h"
#include "motion.h"
#include "planner.h"
#include "temperature.h"
#include "../MarlinCore.h"
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
#if EXTRUDERS > 1
toolchange_settings_t toolchange_settings; // Initialized by settings.load()
#endif
#if ENABLED(TOOLCHANGE_MIGRATION_FEATURE)
migration_settings_t migration = migration_defaults;
bool enable_first_prime;
#endif
#if ENABLED(TOOLCHANGE_FS_INIT_BEFORE_SWAP)
bool toolchange_extruder_ready[EXTRUDERS];
#endif
#if ENABLED(SINGLENOZZLE)
uint16_t singlenozzle_temp[EXTRUDERS];
#if FAN_COUNT > 0
uint8_t singlenozzle_fan_speed[EXTRUDERS];
#endif
#endif
#if ENABLED(MAGNETIC_PARKING_EXTRUDER) || defined(EVENT_GCODE_AFTER_TOOLCHANGE) || (ENABLED(PARKING_EXTRUDER) && PARKING_EXTRUDER_SOLENOIDS_DELAY > 0)
#include "../gcode/gcode.h"
#endif
#if ANY(SWITCHING_EXTRUDER, SWITCHING_NOZZLE, SWITCHING_TOOLHEAD)
#include "servo.h"
#endif
#if ENABLED(EXT_SOLENOID) && DISABLED(PARKING_EXTRUDER)
#include "../feature/solenoid.h"
#endif
#if ENABLED(MK2_MULTIPLEXER)
#include "../feature/snmm.h"
#endif
#if ENABLED(MIXING_EXTRUDER)
#include "../feature/mixing.h"
#endif
#if HAS_LEVELING
#include "../feature/bedlevel/bedlevel.h"
#endif
#if HAS_FANMUX
#include "../feature/fanmux.h"
#endif
#if ENABLED(PRUSA_MMU2)
#include "../feature/mmu2/mmu2.h"
#endif
#if HAS_LCD_MENU
#include "../lcd/ultralcd.h"
#endif
#if ENABLED(ADVANCED_PAUSE_FEATURE)
#include "../feature/pause.h"
#endif
#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
#include "../gcode/gcode.h"
#if TOOLCHANGE_FS_WIPE_RETRACT <= 0
#undef TOOLCHANGE_FS_WIPE_RETRACT
#define TOOLCHANGE_FS_WIPE_RETRACT 0
#endif
#endif
#if DO_SWITCH_EXTRUDER
#if EXTRUDERS > 3
#define _SERVO_NR(E) ((E) < 2 ? SWITCHING_EXTRUDER_SERVO_NR : SWITCHING_EXTRUDER_E23_SERVO_NR)
#else
#define _SERVO_NR(E) SWITCHING_EXTRUDER_SERVO_NR
#endif
void move_extruder_servo(const uint8_t e) {
planner.synchronize();
#if EXTRUDERS & 1
if (e < EXTRUDERS - 1)
#endif
{
MOVE_SERVO(_SERVO_NR(e), servo_angles[_SERVO_NR(e)][e]);
safe_delay(500);
}
}
#endif // DO_SWITCH_EXTRUDER
#if ENABLED(SWITCHING_NOZZLE)
#if SWITCHING_NOZZLE_TWO_SERVOS
inline void _move_nozzle_servo(const uint8_t e, const uint8_t angle_index) {
constexpr int8_t sns_index[2] = { SWITCHING_NOZZLE_SERVO_NR, SWITCHING_NOZZLE_E1_SERVO_NR };
constexpr int16_t sns_angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
planner.synchronize();
MOVE_SERVO(sns_index[e], sns_angles[angle_index]);
safe_delay(500);
}
void lower_nozzle(const uint8_t e) { _move_nozzle_servo(e, 0); }
void raise_nozzle(const uint8_t e) { _move_nozzle_servo(e, 1); }
#else
void move_nozzle_servo(const uint8_t angle_index) {
planner.synchronize();
MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, servo_angles[SWITCHING_NOZZLE_SERVO_NR][angle_index]);
safe_delay(500);
}
#endif
#endif // SWITCHING_NOZZLE
inline void _line_to_current(const AxisEnum fr_axis, const float fscale=1) {
line_to_current_position(planner.settings.max_feedrate_mm_s[fr_axis] * fscale);
}
inline void slow_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.5f); }
inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis); }
#if ENABLED(MAGNETIC_PARKING_EXTRUDER)
float parkingposx[2], // M951 R L
parkinggrabdistance, // M951 I
parkingslowspeed, // M951 J
parkinghighspeed, // M951 H
parkingtraveldistance, // M951 D
compensationmultiplier;
inline void magnetic_parking_extruder_tool_change(const uint8_t new_tool) {
const float oldx = current_position.x,
grabpos = mpe_settings.parking_xpos[new_tool] + (new_tool ? mpe_settings.grab_distance : -mpe_settings.grab_distance),
offsetcompensation = TERN0(HAS_HOTEND_OFFSET, hotend_offset[active_extruder].x * mpe_settings.compensation_factor);
if (axis_unhomed_error(_BV(X_AXIS))) return;
/**
* Z Lift and Nozzle Offset shift ar defined in caller method to work equal with any Multi Hotend realization
*
* Steps:
* 1. Move high speed to park position of new extruder
* 2. Move to couple position of new extruder (this also discouple the old extruder)
* 3. Move to park position of new extruder
* 4. Move high speed to approach park position of old extruder
* 5. Move to park position of old extruder
* 6. Move to starting position
*/
// STEP 1
current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(1) Move extruder ", int(new_tool));
DEBUG_POS(" to new extruder ParkPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool);
planner.synchronize();
// STEP 2
current_position.x = grabpos + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(2) Couple extruder ", int(new_tool));
DEBUG_POS(" to new extruder GrabPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool);
planner.synchronize();
// Delay before moving tool, to allow magnetic coupling
gcode.dwell(150);
// STEP 3
current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(3) Move extruder ", int(new_tool));
DEBUG_POS(" back to new extruder ParkPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool);
planner.synchronize();
// STEP 4
current_position.x = mpe_settings.parking_xpos[active_extruder] + (active_extruder == 0 ? MPE_TRAVEL_DISTANCE : -MPE_TRAVEL_DISTANCE) + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(4) Move extruder ", int(new_tool));
DEBUG_POS(" close to old extruder ParkPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool);
planner.synchronize();
// STEP 5
current_position.x = mpe_settings.parking_xpos[active_extruder] + offsetcompensation;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(5) Park extruder ", int(new_tool));
DEBUG_POS(" at old extruder ParkPos", current_position);
}
planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool);
planner.synchronize();
// STEP 6
current_position.x = oldx;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("(6) Move extruder ", int(new_tool));
DEBUG_POS(" to starting position", current_position);
}
planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool);
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Autopark done.");
}
#elif ENABLED(PARKING_EXTRUDER)
void pe_solenoid_init() {
LOOP_LE_N(n, 1)
#if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
pe_activate_solenoid(n);
#else
pe_deactivate_solenoid(n);
#endif
}
void pe_set_solenoid(const uint8_t extruder_num, const uint8_t state) {
switch (extruder_num) {
case 1: OUT_WRITE(SOL1_PIN, state); break;
default: OUT_WRITE(SOL0_PIN, state); break;
}
#if PARKING_EXTRUDER_SOLENOIDS_DELAY > 0
gcode.dwell(PARKING_EXTRUDER_SOLENOIDS_DELAY);
#endif
}
inline void parking_extruder_tool_change(const uint8_t new_tool, bool no_move) {
if (!no_move) {
constexpr float parkingposx[] = PARKING_EXTRUDER_PARKING_X;
#if HAS_HOTEND_OFFSET
const float x_offset = hotend_offset[active_extruder].x;
#else
constexpr float x_offset = 0;
#endif
const float midpos = (parkingposx[0] + parkingposx[1]) * 0.5f + x_offset,
grabpos = parkingposx[new_tool] + (new_tool ? PARKING_EXTRUDER_GRAB_DISTANCE : -(PARKING_EXTRUDER_GRAB_DISTANCE)) + x_offset;
/**
* 1. Move to park position of old extruder
* 2. Disengage magnetic field, wait for delay
* 3. Move near new extruder
* 4. Engage magnetic field for new extruder
* 5. Move to parking incl. offset of new extruder
* 6. Lower Z-Axis
*/
// STEP 1
if (DEBUGGING(LEVELING)) DEBUG_POS("Start PE Tool-Change", current_position);
current_position.x = parkingposx[active_extruder] + x_offset;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder));
DEBUG_POS("Moving ParkPos", current_position);
}
fast_line_to_current(X_AXIS);
// STEP 2
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Disengage magnet");
pe_deactivate_solenoid(active_extruder);
// STEP 3
current_position.x += active_extruder ? -10 : 10; // move 10mm away from parked extruder
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM("(3) Move near new extruder");
DEBUG_POS("Move away from parked extruder", current_position);
}
fast_line_to_current(X_AXIS);
// STEP 4
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Engage magnetic field");
// Just save power for inverted magnets
TERN_(PARKING_EXTRUDER_SOLENOIDS_INVERT, pe_activate_solenoid(active_extruder));
pe_activate_solenoid(new_tool);
// STEP 5
current_position.x = grabpos + (new_tool ? -10 : 10);
fast_line_to_current(X_AXIS);
current_position.x = grabpos;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("(5) Unpark extruder", current_position);
}
slow_line_to_current(X_AXIS);
// STEP 6
current_position.x = midpos - TERN0(HAS_HOTEND_OFFSET, hotend_offset[new_tool].x);
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("(6) Move midway between hotends", current_position);
}
fast_line_to_current(X_AXIS);
planner.synchronize(); // Always sync the final move
if (DEBUGGING(LEVELING)) DEBUG_POS("PE Tool-Change done.", current_position);
}
else { // nomove == true
// 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));
}
}
#endif // PARKING_EXTRUDER
#if ENABLED(SWITCHING_TOOLHEAD)
inline void swt_lock(const bool locked=true) {
const uint16_t swt_angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES;
MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, swt_angles[locked ? 0 : 1]);
}
void swt_init() { swt_lock(); }
inline void switching_toolhead_tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
if (no_move) return;
constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS;
const float placexpos = toolheadposx[active_extruder],
grabxpos = toolheadposx[new_tool];
/**
* 1. Move to switch position of current toolhead
* 2. Unlock tool and drop it in the dock
* 3. Move to the new toolhead
* 4. Grab and lock the new toolhead
*/
// 1. Move to switch position of current toolhead
if (DEBUGGING(LEVELING)) DEBUG_POS("Start ST Tool-Change", current_position);
current_position.x = placexpos;
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move X SwitchPos", current_position);
}
fast_line_to_current(X_AXIS);
current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
fast_line_to_current(Y_AXIS);
// 2. Unlock tool and drop it in the dock
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead");
swt_lock(false);
safe_delay(500);
current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos", current_position);
slow_line_to_current(Y_AXIS);
// Wait for move to complete, then another 0.2s
planner.synchronize();
safe_delay(200);
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead
// 3. Move to the new toolhead
current_position.x = grabxpos;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
DEBUG_POS("Move to new toolhead X", current_position);
}
fast_line_to_current(X_AXIS);
current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY);
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
fast_line_to_current(Y_AXIS);
// 4. Grab and lock the new toolhead
current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead");
DEBUG_POS("Move Y SwitchPos", current_position);
}
slow_line_to_current(Y_AXIS);
// Wait for move to finish, pause 0.2s, move servo, pause 0.5s
planner.synchronize();
safe_delay(200);
swt_lock();
safe_delay(500);
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // Move away from docked toolhead
planner.synchronize(); // Always sync the final move
if (DEBUGGING(LEVELING)) DEBUG_POS("ST Tool-Change done.", current_position);
}
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
inline void magnetic_switching_toolhead_tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
if (no_move) return;
constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS,
toolheadclearx[] = SWITCHING_TOOLHEAD_X_SECURITY;
const float placexpos = toolheadposx[active_extruder],
placexclear = toolheadclearx[active_extruder],
grabxpos = toolheadposx[new_tool],
grabxclear = toolheadclearx[new_tool];
/**
* 1. Move to switch position of current toolhead
* 2. Release and place toolhead in the dock
* 3. Move to the new toolhead
* 4. Grab the new toolhead and move to security position
*/
if (DEBUGGING(LEVELING)) DEBUG_POS("Start MST Tool-Change", current_position);
// 1. Move to switch position current toolhead
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder));
DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
fast_line_to_current(Y_AXIS);
current_position.x = placexclear;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move X SwitchPos + Security", current_position);
}
fast_line_to_current(X_AXIS);
current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos", current_position);
}
fast_line_to_current(Y_AXIS);
current_position.x = placexpos;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move X SwitchPos", current_position);
}
line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25f);
// 2. Release and place toolhead in the dock
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_ECHOLNPGM("(2) Release and Place Toolhead");
}
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position);
line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1f);
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos + Security", current_position);
}
line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]);
// 3. Move to new toolhead position
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_ECHOLNPGM("(3) Move to new toolhead position");
}
current_position.x = grabxpos;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X", current_position);
fast_line_to_current(X_AXIS);
// 4. Grab the new toolhead and move to security position
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_ECHOLNPGM("(4) Grab new toolhead, move to security position");
}
current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move Y SwitchPos + Release", current_position);
line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]);
current_position.y = SWITCHING_TOOLHEAD_Y_POS;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_POS("Move Y SwitchPos", current_position);
}
_line_to_current(Y_AXIS, 0.2f);
#if ENABLED(PRIME_BEFORE_REMOVE) && (SWITCHING_TOOLHEAD_PRIME_MM || SWITCHING_TOOLHEAD_RETRACT_MM)
#if SWITCHING_TOOLHEAD_PRIME_MM
current_position.e += SWITCHING_TOOLHEAD_PRIME_MM;
planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_PRIME_FEEDRATE), new_tool);
#endif
#if SWITCHING_TOOLHEAD_RETRACT_MM
current_position.e -= SWITCHING_TOOLHEAD_RETRACT_MM;
planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_RETRACT_FEEDRATE), new_tool);
#endif
#else
planner.synchronize();
safe_delay(100); // Give switch time to settle
#endif
current_position.x = grabxclear;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move to new toolhead X + Security", current_position);
_line_to_current(X_AXIS, 0.1f);
planner.synchronize();
safe_delay(100); // Give switch time to settle
current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back Y clear", current_position);
fast_line_to_current(Y_AXIS); // move away from docked toolhead
planner.synchronize(); // Always sync last tool-change move
if (DEBUGGING(LEVELING)) DEBUG_POS("MST Tool-Change done.", current_position);
}
#elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
inline void est_activate_solenoid() { OUT_WRITE(SOL0_PIN, HIGH); }
inline void est_deactivate_solenoid() { OUT_WRITE(SOL0_PIN, LOW); }
void est_init() { est_activate_solenoid(); }
inline void em_switching_toolhead_tool_change(const uint8_t new_tool, bool no_move) {
if (no_move) return;
constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS;
const float placexpos = toolheadposx[active_extruder],
grabxpos = toolheadposx[new_tool];
const xyz_pos_t &hoffs = hotend_offset[active_extruder];
/**
* 1. Raise Z-Axis to give enough clearance
* 2. Move to position near active extruder parking
* 3. Move gently to park position of active extruder
* 4. Disengage magnetic field, wait for delay
* 5. Leave extruder and move to position near new extruder parking
* 6. Move gently to park position of new extruder
* 7. Engage magnetic field for new extruder parking
* 8. Unpark extruder
* 9. Apply Z hotend offset to current position
*/
if (DEBUGGING(LEVELING)) DEBUG_POS("Start EMST Tool-Change", current_position);
// 1. Raise Z-Axis to give enough clearance
current_position.z += SWITCHING_TOOLHEAD_Z_HOP;
if (DEBUGGING(LEVELING)) DEBUG_POS("(1) Raise Z-Axis ", current_position);
fast_line_to_current(Z_AXIS);
// 2. Move to position near active extruder parking
if (DEBUGGING(LEVELING)) {
planner.synchronize();
SERIAL_ECHOLNPAIR("(2) Move near active extruder parking", active_extruder);
DEBUG_POS("Moving ParkPos", current_position);
}
current_position.set(hoffs.x + placexpos,
hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR);
fast_line_to_current(X_AXIS);
// 3. Move gently to park position of active extruder
if (DEBUGGING(LEVELING)) {
planner.synchronize();
SERIAL_ECHOLNPAIR("(3) Move gently to park position of active extruder", active_extruder);
DEBUG_POS("Moving ParkPos", current_position);
}
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
slow_line_to_current(Y_AXIS);
// 4. Disengage magnetic field, wait for delay
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(4) Disengage magnet");
est_deactivate_solenoid();
// 5. Leave extruder and move to position near new extruder parking
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM("(5) Move near new extruder parking");
DEBUG_POS("Moving ParkPos", current_position);
}
current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
slow_line_to_current(Y_AXIS);
current_position.set(hoffs.x + grabxpos,
hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR);
fast_line_to_current(X_AXIS);
// 6. Move gently to park position of new extruder
current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) {
planner.synchronize();
DEBUG_ECHOLNPGM("(6) Move near new extruder");
}
slow_line_to_current(Y_AXIS);
// 7. Engage magnetic field for new extruder parking
planner.synchronize();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(7) Engage magnetic field");
est_activate_solenoid();
// 8. Unpark extruder
current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("(8) Unpark extruder");
slow_line_to_current(X_AXIS);
planner.synchronize(); // Always sync the final move
// 9. Apply Z hotend offset to current position
if (DEBUGGING(LEVELING)) DEBUG_POS("(9) Applying Z-offset", current_position);
current_position.z += hoffs.z - hotend_offset[new_tool].z;
if (DEBUGGING(LEVELING)) DEBUG_POS("EMST Tool-Change done.", current_position);
}
#endif // ELECTROMAGNETIC_SWITCHING_TOOLHEAD
#if EXTRUDERS
inline void invalid_extruder_error(const uint8_t e) {
SERIAL_ECHO_START();
SERIAL_CHAR('T'); SERIAL_ECHO(int(e));
SERIAL_CHAR(' '); SERIAL_ECHOLNPGM(STR_INVALID_EXTRUDER);
}
#endif
#if ENABLED(DUAL_X_CARRIAGE)
inline void dualx_tool_change(const uint8_t new_tool, bool &no_move) {
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPGM("Dual X Carriage Mode ");
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE: DEBUG_ECHOLNPGM("FULL_CONTROL"); break;
case DXC_AUTO_PARK_MODE: DEBUG_ECHOLNPGM("AUTO_PARK"); break;
case DXC_DUPLICATION_MODE: DEBUG_ECHOLNPGM("DUPLICATION"); break;
case DXC_MIRRORED_MODE: DEBUG_ECHOLNPGM("MIRRORED"); break;
}
}
const float xhome = x_home_pos(active_extruder);
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
&& IsRunning() && !no_move
&& (delayed_move_time || current_position.x != xhome)
) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("MoveX to ", xhome);
// Park old head
current_position.x = xhome;
line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS]);
planner.synchronize();
}
// Activate the new extruder ahead of calling set_axis_is_at_home!
active_extruder = new_tool;
// This function resets the max/min values - the current position may be overwritten below.
set_axis_is_at_home(X_AXIS);
if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
// New current position is the position of the activated extruder
current_position.x = inactive_extruder_x_pos;
// Save the inactive extruder's position (from the old current_position)
inactive_extruder_x_pos = destination.x;
break;
case DXC_AUTO_PARK_MODE:
// record current raised toolhead position for use by unpark
raised_parked_position = current_position;
active_extruder_parked = true;
delayed_move_time = 0;
break;
default:
break;
}
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
DEBUG_POS("New extruder (parked)", current_position);
}
}
#endif // DUAL_X_CARRIAGE
/**
* Prime active tool using TOOLCHANGE_FILAMENT_SWAP settings
*/
#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
void tool_change_prime() {
if (toolchange_settings.extra_prime > 0
&& TERN(PREVENT_COLD_EXTRUSION, !thermalManager.targetTooColdToExtrude(active_extruder), 1)
) {
destination = current_position; // Remember the old position
const bool ok = TERN1(TOOLCHANGE_PARK, all_axes_homed() && toolchange_settings.enable_park);
// Z raise
if (ok) {
// Do a small lift to avoid the workpiece in the move back (below)
current_position.z += toolchange_settings.z_raise;
#if HAS_SOFTWARE_ENDSTOPS
NOMORE(current_position.z, soft_endstop.max.z);
#endif
fast_line_to_current(Z_AXIS);
planner.synchronize();
}
// Park
#if ENABLED(TOOLCHANGE_PARK)
if (ok) {
TERN(TOOLCHANGE_PARK_Y_ONLY,,current_position.x = toolchange_settings.change_point.x);
TERN(TOOLCHANGE_PARK_X_ONLY,,current_position.y = toolchange_settings.change_point.y);
planner.buffer_line(current_position, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE), active_extruder);
planner.synchronize();
}
#endif
// Prime (All distances are added and slowed down to ensure secure priming in all circumstances)
unscaled_e_move(toolchange_settings.swap_length + toolchange_settings.extra_prime, MMM_TO_MMS(toolchange_settings.prime_speed));
// Cutting retraction
#if TOOLCHANGE_FS_WIPE_RETRACT
unscaled_e_move(-(TOOLCHANGE_FS_WIPE_RETRACT), MMM_TO_MMS(toolchange_settings.retract_speed));
#endif
// Cool down with fan
#if TOOLCHANGE_FS_FAN >= 0 && FAN_COUNT > 0
const int16_t fansp = thermalManager.fan_speed[TOOLCHANGE_FS_FAN];
thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = toolchange_settings.fan_speed;
safe_delay(toolchange_settings.fan_time * 1000);
thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = fansp;
#endif
// Move back
#if ENABLED(TOOLCHANGE_PARK)
if (ok) {
#if ENABLED(TOOLCHANGE_NO_RETURN)
do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
#else
do_blocking_move_to(destination, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE));
#endif
}
#endif
// Cutting recover
unscaled_e_move(toolchange_settings.extra_resume + TOOLCHANGE_FS_WIPE_RETRACT, MMM_TO_MMS(toolchange_settings.unretract_speed));
planner.synchronize();
current_position.e = destination.e;
sync_plan_position_e(); // Resume at the old E position
}
}
#endif
/**
* 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 new_tool, bool no_move/*=false*/) {
if (TERN0(MAGNETIC_SWITCHING_TOOLHEAD, new_tool == active_extruder))
return;
#if ENABLED(MIXING_EXTRUDER)
UNUSED(no_move);
if (new_tool >= MIXING_VIRTUAL_TOOLS)
return invalid_extruder_error(new_tool);
#if MIXING_VIRTUAL_TOOLS > 1
// T0-Tnnn: Switch virtual tool by changing the index to the mix
mixer.T(new_tool);
#endif
#elif ENABLED(PRUSA_MMU2)
UNUSED(no_move);
mmu2.tool_change(new_tool);
#elif EXTRUDERS == 0
// Nothing to do
UNUSED(new_tool); UNUSED(no_move);
#elif EXTRUDERS < 2
UNUSED(no_move);
if (new_tool) invalid_extruder_error(new_tool);
return;
#else // EXTRUDERS > 1
planner.synchronize();
#if ENABLED(DUAL_X_CARRIAGE) // Only T0 allowed if the Printer is in DXC_DUPLICATION_MODE or DXC_MIRRORED_MODE
if (new_tool != 0 && dxc_is_duplicating())
return invalid_extruder_error(new_tool);
#endif
if (new_tool >= EXTRUDERS)
return invalid_extruder_error(new_tool);
if (!no_move && homing_needed()) {
no_move = true;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("No move (not homed)");
}
TERN_(HAS_LCD_MENU, if (!no_move) ui.return_to_status());
#if ENABLED(DUAL_X_CARRIAGE)
const bool idex_full_control = dual_x_carriage_mode == DXC_FULL_CONTROL_MODE;
#else
constexpr bool idex_full_control = false;
#endif
const uint8_t old_tool = active_extruder;
const bool can_move_away = !no_move && !idex_full_control;
#if HAS_LEVELING
// Set current position to the physical position
TEMPORARY_BED_LEVELING_STATE(false);
#endif
// First tool priming. To prime again, reboot the machine.
#if BOTH(TOOLCHANGE_FILAMENT_SWAP, TOOLCHANGE_FS_PRIME_FIRST_USED)
static bool first_tool_is_primed = false;
if (new_tool == old_tool && !first_tool_is_primed && enable_first_prime) {
tool_change_prime();
first_tool_is_primed = true;
toolchange_extruder_ready[old_tool] = true; // Primed and initialized
}
#endif
if (new_tool != old_tool) {
destination = current_position;
// Z raise before retraction
#if ENABLED(TOOLCHANGE_ZRAISE_BEFORE_RETRACT) && DISABLED(SWITCHING_NOZZLE)
if (can_move_away && TERN1(toolchange_settings.enable_park)) {
// Do a small lift to avoid the workpiece in the move back (below)
current_position.z += toolchange_settings.z_raise;
#if HAS_SOFTWARE_ENDSTOPS
NOMORE(current_position.z, soft_endstop.max.z);
#endif
fast_line_to_current(Z_AXIS);
planner.synchronize();
}
#endif
// Unload / Retract
#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
const bool should_swap = can_move_away && toolchange_settings.swap_length,
too_cold = TERN0(PREVENT_COLD_EXTRUSION,
!DEBUGGING(DRYRUN) && (thermalManager.targetTooColdToExtrude(old_tool) || thermalManager.targetTooColdToExtrude(new_tool))
);
if (should_swap) {
if (too_cold) {
SERIAL_ECHO_MSG(STR_ERR_HOTEND_TOO_COLD);
if (ENABLED(SINGLENOZZLE)) { active_extruder = new_tool; return; }
}
else
unscaled_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed));
}
#endif
TERN_(SWITCHING_NOZZLE_TWO_SERVOS, raise_nozzle(old_tool));
REMEMBER(fr, feedrate_mm_s, XY_PROBE_FEEDRATE_MM_S);
#if HAS_SOFTWARE_ENDSTOPS
#if HAS_HOTEND_OFFSET
#define _EXT_ARGS , old_tool, new_tool
#else
#define _EXT_ARGS
#endif
update_software_endstops(X_AXIS _EXT_ARGS);
#if DISABLED(DUAL_X_CARRIAGE)
update_software_endstops(Y_AXIS _EXT_ARGS);
update_software_endstops(Z_AXIS _EXT_ARGS);
#endif
#endif
#if DISABLED(TOOLCHANGE_ZRAISE_BEFORE_RETRACT) && DISABLED(SWITCHING_NOZZLE)
if (can_move_away && TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park)) {
// Do a small lift to avoid the workpiece in the move back (below)
current_position.z += toolchange_settings.z_raise;
#if HAS_SOFTWARE_ENDSTOPS
NOMORE(current_position.z, soft_endstop.max.z);
#endif
fast_line_to_current(Z_AXIS);
}
#endif
// Toolchange park
#if ENABLED(TOOLCHANGE_PARK) && DISABLED(SWITCHING_NOZZLE)
if (can_move_away && toolchange_settings.enable_park) {
TERN(TOOLCHANGE_PARK_Y_ONLY,,current_position.x = toolchange_settings.change_point.x);
TERN(TOOLCHANGE_PARK_X_ONLY,,current_position.y = toolchange_settings.change_point.y);
planner.buffer_line(current_position, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE), old_tool);
planner.synchronize();
}
#endif
#if HAS_HOTEND_OFFSET
xyz_pos_t diff = hotend_offset[new_tool] - hotend_offset[old_tool];
TERN_(DUAL_X_CARRIAGE, diff.x = 0);
#else
constexpr xyz_pos_t diff{0};
#endif
#if ENABLED(DUAL_X_CARRIAGE)
dualx_tool_change(new_tool, no_move);
#elif ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
parking_extruder_tool_change(new_tool, no_move);
#elif ENABLED(MAGNETIC_PARKING_EXTRUDER) // Magnetic Parking extruder
magnetic_parking_extruder_tool_change(new_tool);
#elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead
switching_toolhead_tool_change(new_tool, no_move);
#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching Toolhead
magnetic_switching_toolhead_tool_change(new_tool, no_move);
#elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching ToolChanger
em_switching_toolhead_tool_change(new_tool, no_move);
#elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS // Switching Nozzle (single servo)
// Raise by a configured distance to avoid workpiece, except with
// SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead.
if (!no_move) {
#if HAS_SOFTWARE_ENDSTOPS
const float maxz = _MIN(soft_endstop.max.z, Z_MAX_POS);
#else
constexpr float maxz = Z_MAX_POS;
#endif
// Check if Z has space to compensate at least z_offset, and if not, just abort now
const float newz = current_position.z + _MAX(-diff.z, 0.0);
if (newz > maxz) return;
current_position.z = _MIN(newz + toolchange_settings.z_raise, maxz);
fast_line_to_current(Z_AXIS);
}
move_nozzle_servo(new_tool);
#endif
// Set the new active extruder
if (DISABLED(DUAL_X_CARRIAGE)) active_extruder = new_tool;
// The newly-selected extruder XYZ is actually at...
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Offset Tool XYZ by { ", diff.x, ", ", diff.y, ", ", diff.z, " }");
current_position += diff;
// Tell the planner the new "current position"
sync_plan_position();
#if ENABLED(DELTA)
//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
const bool safe_to_move = current_position.z < delta_clip_start_height - 1;
#else
constexpr bool safe_to_move = true;
#endif
// Return to position and lower again
const bool should_move = safe_to_move && !no_move && IsRunning();
if (should_move) {
#if ENABLED(SINGLENOZZLE)
#if FAN_COUNT > 0
singlenozzle_fan_speed[old_tool] = thermalManager.fan_speed[0];
thermalManager.fan_speed[0] = singlenozzle_fan_speed[new_tool];
#endif
singlenozzle_temp[old_tool] = thermalManager.temp_hotend[0].target;
if (singlenozzle_temp[new_tool] && singlenozzle_temp[new_tool] != singlenozzle_temp[old_tool]) {
thermalManager.setTargetHotend(singlenozzle_temp[new_tool], 0);
TERN_(HAS_DISPLAY, thermalManager.set_heating_message(0));
(void)thermalManager.wait_for_hotend(0, false); // Wait for heating or cooling
}
#endif
#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
if (should_swap && !too_cold) {
float fr = toolchange_settings.unretract_speed;
#if ENABLED(TOOLCHANGE_FS_INIT_BEFORE_SWAP)
if (!toolchange_extruder_ready[new_tool]) {
toolchange_extruder_ready[new_tool] = true;
fr = toolchange_settings.prime_speed; // Next move is a prime
unscaled_e_move(0, MMM_TO_MMS(fr)); // Init planner with 0 length move
}
#endif
// Unretract (or Prime)
unscaled_e_move(toolchange_settings.swap_length, MMM_TO_MMS(fr));
// Extra Prime
unscaled_e_move(toolchange_settings.extra_prime, MMM_TO_MMS(toolchange_settings.prime_speed));
// Cutting retraction
#if TOOLCHANGE_FS_WIPE_RETRACT
unscaled_e_move(-(TOOLCHANGE_FS_WIPE_RETRACT), MMM_TO_MMS(toolchange_settings.retract_speed));
#endif
// Cool down with fan
#if TOOLCHANGE_FS_FAN >= 0 && FAN_COUNT > 0
const int16_t fansp = thermalManager.fan_speed[TOOLCHANGE_FS_FAN];
thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = toolchange_settings.fan_speed;
safe_delay(toolchange_settings.fan_time * 1000);
thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = fansp;
#endif
}
#endif
// Prevent a move outside physical bounds
#if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD)
// If the original position is within tool store area, go to X origin at once
if (destination.y < SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR) {
current_position.x = 0;
planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], new_tool);
planner.synchronize();
}
#else
apply_motion_limits(destination);
#endif
// Should the nozzle move back to the old position?
if (can_move_away) {
#if ENABLED(TOOLCHANGE_NO_RETURN)
// Just move back down
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back Z only");
#if ENABLED(TOOLCHANGE_PARK)
if (toolchange_settings.enable_park)
#endif
do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
#else
// Move back to the original (or adjusted) position
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
#if ENABLED(TOOLCHANGE_PARK)
if (toolchange_settings.enable_park) do_blocking_move_to_xy_z(destination, destination.z, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE));
#else
do_blocking_move_to_xy(destination);
#endif
#endif
}
else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Move back skipped");
#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
if (should_swap && !too_cold) {
// Cutting recover
unscaled_e_move(toolchange_settings.extra_resume + TOOLCHANGE_FS_WIPE_RETRACT, MMM_TO_MMS(toolchange_settings.unretract_speed));
current_position.e = 0;
sync_plan_position_e(); // New extruder primed and set to 0
}
#endif
TERN_(DUAL_X_CARRIAGE, active_extruder_parked = false);
}
#if ENABLED(SWITCHING_NOZZLE)
// Move back down. (Including when the new tool is higher.)
if (!should_move)
do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]);
#endif
TERN_(PRUSA_MMU2, mmu2.tool_change(new_tool));
TERN_(SWITCHING_NOZZLE_TWO_SERVOS, lower_nozzle(new_tool));
} // (new_tool != old_tool)
planner.synchronize();
#if ENABLED(EXT_SOLENOID) && DISABLED(PARKING_EXTRUDER)
disable_all_solenoids();
enable_solenoid_on_active_extruder();
#endif
#if ENABLED(MK2_MULTIPLEXER)
if (new_tool >= E_STEPPERS) return invalid_extruder_error(new_tool);
select_multiplexed_stepper(new_tool);
#endif
#if DO_SWITCH_EXTRUDER
planner.synchronize();
move_extruder_servo(active_extruder);
#endif
TERN_(HAS_FANMUX, fanmux_switch(active_extruder));
#ifdef EVENT_GCODE_AFTER_TOOLCHANGE
if (!no_move && TERN1(DUAL_X_CARRIAGE, dual_x_carriage_mode == DXC_AUTO_PARK_MODE))
gcode.process_subcommands_now_P(PSTR(EVENT_GCODE_AFTER_TOOLCHANGE));
#endif
SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR(STR_ACTIVE_EXTRUDER, int(active_extruder));
#endif // EXTRUDERS > 1
}
#if ENABLED(TOOLCHANGE_MIGRATION_FEATURE)
void extruder_migration() {
#if ENABLED(PREVENT_COLD_EXTRUSION)
if (thermalManager.targetTooColdToExtrude(active_extruder)) return;
#endif
// No auto-migration or specified target?
if (!migration.target && active_extruder >= migration.last) {
migration.automode = false;
return;
}
// Migrate to a target or the next extruder
uint8_t migration_extruder = active_extruder;
if (migration.target) {
// Specified target ok?
const int16_t t = migration.target - 1;
if (t != active_extruder) migration_extruder = t;
}
else if (migration.automode && migration_extruder < migration.last && migration_extruder < EXTRUDERS - 1)
migration_extruder++;
if (migration_extruder == active_extruder) return;
// Migration begins
migration.in_progress = true; // Prevent runout script
planner.synchronize();
// Remember position before migration
const float resume_current_e = current_position.e;
// Migrate the flow
planner.set_flow(migration_extruder, planner.flow_percentage[active_extruder]);
// Migrate the retracted state
#if ENABLED(FWRETRACT)
fwretract.retracted[migration_extruder] = fwretract.retracted[active_extruder];
#endif
// Migrate the temperature to the new hotend
#if HOTENDS > 1
thermalManager.setTargetHotend(thermalManager.degTargetHotend(active_extruder), migration_extruder);
#if HAS_DISPLAY
thermalManager.set_heating_message(0);
#endif
thermalManager.wait_for_hotend(active_extruder);
#endif
// Perform the tool change
tool_change(migration_extruder);
// Retract if previously retracted
#if ENABLED(FWRETRACT)
if (fwretract.retracted[active_extruder])
unscaled_e_move(-fwretract.settings.retract_length, fwretract.settings.retract_feedrate_mm_s);
#endif
// If no available extruder
if (EXTRUDERS < 2 || active_extruder >= EXTRUDERS - 2 || active_extruder == migration.last)
migration.automode = false;
migration.in_progress = false;
current_position.e = resume_current_e;
planner.synchronize();
planner.set_e_position_mm(current_position.e); // New extruder primed and ready
}
#endif // TOOLCHANGE_MIGRATION_FEATURE