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Automatic Tool Migration feature (#17248)

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This commit is contained in:
studiodyne
2020-04-23 04:03:28 +02:00
committed by GitHub
parent 4dce03fa42
commit 2f6262c27b
27 changed files with 575 additions and 151 deletions
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323
Marlin/src/module/tool_change.cpp
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@ -38,6 +38,15 @@
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
@ -85,6 +94,14 @@
#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
@ -759,6 +776,77 @@ inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_a
#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.
@ -826,39 +914,52 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
const uint8_t old_tool = active_extruder;
const bool can_move_away = !no_move && !idex_full_control;
#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
const bool should_swap = can_move_away && toolchange_settings.swap_length;
#if ENABLED(PREVENT_COLD_EXTRUSION)
const bool too_cold = !DEBUGGING(DRYRUN) && (thermalManager.targetTooColdToExtrude(old_tool) || thermalManager.targetTooColdToExtrude(new_tool));
#else
constexpr bool too_cold = false;
#endif
if (should_swap) {
if (too_cold) {
SERIAL_ECHO_MSG(STR_ERR_HOTEND_TOO_COLD);
#if ENABLED(SINGLENOZZLE)
active_extruder = new_tool;
return;
#endif
}
else {
#if ENABLED(ADVANCED_PAUSE_FEATURE)
unscaled_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed));
#else
current_position.e -= toolchange_settings.swap_length / planner.e_factor[old_tool];
planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.retract_speed), old_tool);
planner.synchronize();
#endif
}
}
#endif // TOOLCHANGE_FILAMENT_SWAP
#if HAS_LEVELING && DISABLED(SINGLENOZZLE)
// 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));
@ -877,18 +978,23 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#endif
#endif
destination = current_position;
#if DISABLED(SWITCHING_NOZZLE)
if (can_move_away) {
#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);
TERN_(TOOLCHANGE_PARK, current_position = toolchange_settings.change_point);
planner.buffer_line(current_position, feedrate_mm_s, old_tool);
}
#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
@ -932,9 +1038,8 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
move_nozzle_servo(new_tool);
#endif
#if DISABLED(DUAL_X_CARRIAGE)
active_extruder = new_tool; // Set the new active extruder
#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, " }");
@ -951,7 +1056,8 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#endif
// Return to position and lower again
if (safe_to_move && !no_move && IsRunning()) {
const bool should_move = safe_to_move && !no_move && IsRunning();
if (should_move) {
#if ENABLED(SINGLENOZZLE)
#if FAN_COUNT > 0
@ -969,17 +1075,35 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#if ENABLED(TOOLCHANGE_FILAMENT_SWAP)
if (should_swap && !too_cold) {
#if ENABLED(ADVANCED_PAUSE_FEATURE)
unscaled_e_move(toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.prime_speed));
unscaled_e_move(toolchange_settings.extra_prime, ADVANCED_PAUSE_PURGE_FEEDRATE);
#else
current_position.e += toolchange_settings.swap_length / planner.e_factor[new_tool];
planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed), new_tool);
current_position.e += toolchange_settings.extra_prime / planner.e_factor[new_tool];
planner.buffer_line(current_position, MMM_TO_MMS(toolchange_settings.prime_speed * 0.2f), new_tool);
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
planner.synchronize();
planner.set_e_position_mm((destination.e = current_position.e = current_position.e - (TOOLCHANGE_FIL_EXTRA_PRIME)));
}
#endif
@ -1000,22 +1124,43 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#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);
do_blocking_move_to(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)
else {
// Move back down. (Including when the new tool is higher.)
// 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));
@ -1053,3 +1198,79 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
#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