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Merge pull request #10243 from thinkyhead/bf1_tool_change_debug

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Scott Lahteine 2018-04-02 19:33:27 -05:00 committed by GitHub
commit 829281d016
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1 changed files with 271 additions and 334 deletions
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249
Marlin/Marlin_main.cpp
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@ -536,6 +536,10 @@ static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL
#define BUZZ(d,f) NOOP
#endif
#if ENABLED(SWITCHING_NOZZLE)
#define DO_SWITCH_EXTRUDER (SWITCHING_EXTRUDER_SERVO_NR != SWITCHING_NOZZLE_SERVO_NR)
#endif
uint8_t target_extruder;
#if HAS_BED_PROBE
@ -2491,30 +2495,16 @@ static void clean_up_after_endstop_or_probe_move() {
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();
}
@ -3988,7 +3978,7 @@ inline void gcode_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
@ -4137,7 +4127,7 @@ inline void gcode_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();
@ -11288,43 +11278,25 @@ inline void invalid_extruder_error(const uint8_t e) {
#endif // HAS_FANMUX
/**
* Perform a tool-change, which may result in moving the
* previous tool out of the way and the new tool into place.
* Tool Change functions
*/
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
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];
#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
if (tmp_extruder >= EXTRUDERS)
return invalid_extruder_error(tmp_extruder);
#if HOTENDS > 1
const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
if (tmp_extruder != active_extruder) {
if (!no_move && axis_unhomed_error()) {
no_move = true;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
#endif
}
// Save current position to destination, for use later
set_destination_from_current();
#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 ");
@ -11403,11 +11375,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
// 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;
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)
@ -11427,12 +11395,15 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#endif
// No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
}
#else // !DUAL_X_CARRIAGE
#endif // DUAL_X_CARRIAGE
#if ENABLED(PARKING_EXTRUDER)
inline void parking_extruder_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
constexpr float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
#if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
if (!no_move) {
const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
@ -11530,125 +11501,93 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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
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 // dualParking extruder
#endif // PARKING_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
mixing_tool_change(tmp_extruder);
#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
if (tmp_extruder >= EXTRUDERS)
return invalid_extruder_error(tmp_extruder);
#if HOTENDS > 1
const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
if (tmp_extruder != active_extruder) {
if (!no_move && axis_unhomed_error()) {
no_move = true;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
#endif
}
// Save current position to destination, for use later
set_destination_from_current();
#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(DUAL_X_CARRIAGE)
dualx_tool_change(tmp_extruder, no_move); // Can modify no_move
#else // !DUAL_X_CARRIAGE
#if ENABLED(PARKING_EXTRUDER) // Dual Parking 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;
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)) {
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
#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"
@ -11656,12 +11595,7 @@ 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 (!no_move && IsRunning() && safe_to_move) {
++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
@ -11670,8 +11604,11 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
#endif
// Move to the "old position" (move the extruder into place)
// 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
@ -11691,7 +11628,7 @@ 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;
@ -11712,7 +11649,7 @@ 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
@ -14055,7 +13992,7 @@ void setup() {
setup_endstop_interrupts();
#endif
#if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
#if DO_SWITCH_EXTRUDER
move_extruder_servo(0); // Initialize extruder servo
#endif