Merge pull request #5175 from thinkyhead/rc_dualx_homing
Unpark when using Z_SAFE_HOMING with Dual X
This commit is contained in:
commit
1f3e2440bc
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@ -294,8 +294,8 @@ void update_software_endstops(AxisEnum axis);
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extern float soft_endstop_min[XYZ];
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extern float soft_endstop_max[XYZ];
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#define LOGICAL_POSITION(POS, AXIS) (POS + home_offset[AXIS] + position_shift[AXIS])
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#define RAW_POSITION(POS, AXIS) (POS - home_offset[AXIS] - position_shift[AXIS])
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#define LOGICAL_POSITION(POS, AXIS) ((POS) + home_offset[AXIS] + position_shift[AXIS])
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#define RAW_POSITION(POS, AXIS) ((POS) - home_offset[AXIS] - position_shift[AXIS])
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#define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS)
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#define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS)
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#define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS)
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@ -1312,22 +1312,20 @@ bool get_target_extruder_from_command(int code) {
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static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
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static float x_home_pos(int extruder) {
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static float x_home_pos(const int extruder) {
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if (extruder == 0)
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return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
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else
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/**
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* In dual carriage mode the extruder offset provides an override of the
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* second X-carriage offset when homed - otherwise X2_HOME_POS is used.
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* This allow soft recalibration of the second extruder offset position
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* second X-carriage position when homed - otherwise X2_HOME_POS is used.
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* This allows soft recalibration of the second extruder home position
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* without firmware reflash (through the M218 command).
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*/
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return (hotend_offset[X_AXIS][1] > 0) ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
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return LOGICAL_X_POSITION(hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS);
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}
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static int x_home_dir(int extruder) {
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return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
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}
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static int x_home_dir(const int extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
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static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
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static bool active_extruder_parked = false; // used in mode 1 & 2
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@ -1351,25 +1349,33 @@ void update_software_endstops(AxisEnum axis) {
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float offs = LOGICAL_POSITION(0, axis);
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#if ENABLED(DUAL_X_CARRIAGE)
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bool did_update = false;
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if (axis == X_AXIS) {
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// In Dual X mode hotend_offset[X] is T1's home position
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float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
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if (active_extruder != 0) {
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// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
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soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
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soft_endstop_max[X_AXIS] = dual_max_x + offs;
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return;
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}
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else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
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// In Duplication Mode, T0 can move as far left as X_MIN_POS
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// but not so far to the right that T1 would move past the end
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soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
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soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
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return;
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}
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else {
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// In other modes, T0 can move from X_MIN_POS to X_MAX_POS
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soft_endstop_min[axis] = base_min_pos(axis) + offs;
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soft_endstop_max[axis] = base_max_pos(axis) + offs;
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}
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}
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else
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#endif
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{
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#else
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soft_endstop_min[axis] = base_min_pos(axis) + offs;
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soft_endstop_max[axis] = base_max_pos(axis) + offs;
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}
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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@ -1418,6 +1424,7 @@ static void set_home_offset(AxisEnum axis, float v) {
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* current_position to home, because neither X nor Y is at home until
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* both are at home. Z can however be homed individually.
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*
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* Callers must sync the planner position after calling this!
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*/
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static void set_axis_is_at_home(AxisEnum axis) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -1434,12 +1441,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
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update_software_endstops(axis);
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#if ENABLED(DUAL_X_CARRIAGE)
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if (axis == X_AXIS && (active_extruder != 0 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
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if (active_extruder != 0)
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current_position[X_AXIS] = x_home_pos(active_extruder);
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else
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current_position[X_AXIS] = LOGICAL_X_POSITION(base_home_pos(X_AXIS));
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update_software_endstops(X_AXIS);
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if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
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current_position[X_AXIS] = x_home_pos(active_extruder);
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return;
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}
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#endif
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@ -3252,13 +3255,21 @@ inline void gcode_G4() {
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#endif
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)
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) {
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#if HOMING_Z_WITH_PROBE
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destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
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destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
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#endif
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// This causes the carriage on Dual X to unpark
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#if ENABLED(DUAL_X_CARRIAGE)
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active_extruder_parked = false;
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#endif
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do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
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HOMEAXIS(Z);
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}
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@ -3407,20 +3418,31 @@ inline void gcode_G28() {
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// Home X
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if (home_all_axis || homeX) {
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#if ENABLED(DUAL_X_CARRIAGE)
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int tmp_extruder = active_extruder;
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active_extruder = !active_extruder;
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// Always home the 2nd (right) extruder first
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active_extruder = 1;
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HOMEAXIS(X);
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// Remember this extruder's position for later tool change
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inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
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active_extruder = tmp_extruder;
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// Home the 1st (left) extruder
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active_extruder = 0;
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HOMEAXIS(X);
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// reset state used by the different modes
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// Consider the active extruder to be parked
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memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
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delayed_move_time = 0;
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active_extruder_parked = true;
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#else
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HOMEAXIS(X);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
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#endif
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@ -7446,10 +7468,8 @@ inline void invalid_extruder_error(const uint8_t &e) {
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void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
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#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
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if (tmp_extruder >= MIXING_VIRTUAL_TOOLS) {
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invalid_extruder_error(tmp_extruder);
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return;
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}
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if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
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return invalid_extruder_error(tmp_extruder);
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// T0-Tnnn: Switch virtual tool by changing the mix
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for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
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@ -7459,10 +7479,8 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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#if HOTENDS > 1
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if (tmp_extruder >= EXTRUDERS) {
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invalid_extruder_error(tmp_extruder);
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return;
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}
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if (tmp_extruder >= EXTRUDERS)
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return invalid_extruder_error(tmp_extruder);
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float old_feedrate_mm_s = feedrate_mm_s;
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@ -7490,22 +7508,28 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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}
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#endif
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if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
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(delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))
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const float xhome = x_home_pos(active_extruder);
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if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
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&& IsRunning()
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&& (delayed_move_time || current_position[X_AXIS] != xhome)
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) {
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float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
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#if ENABLED(max_software_endstops)
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NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("Raise to ", current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT); SERIAL_EOL;
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SERIAL_ECHOPAIR("MoveX to ", x_home_pos(active_extruder)); SERIAL_EOL;
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SERIAL_ECHOPAIR("Lower to ", current_position[Z_AXIS]); SERIAL_EOL;
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SERIAL_ECHOLNPAIR("Raise to ", raised_z);
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SERIAL_ECHOLNPAIR("MoveX to ", xhome);
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SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
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}
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#endif
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// Park old head: 1) raise 2) move to park position 3) lower
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for (uint8_t i = 0; i < 3; i++)
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planner.buffer_line(
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i == 0 ? current_position[X_AXIS] : x_home_pos(active_extruder),
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i == 0 ? current_position[X_AXIS] : xhome,
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current_position[Y_AXIS],
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current_position[Z_AXIS] + (i == 2 ? 0 : TOOLCHANGE_PARK_ZLIFT),
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i == 2 ? current_position[Z_AXIS] : raised_z,
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current_position[E_AXIS],
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planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
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active_extruder
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@ -7513,9 +7537,11 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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stepper.synchronize();
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}
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// apply Y & Z extruder offset (x offset is already used in determining home pos)
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// Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
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current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
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current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
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// Activate the new extruder
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active_extruder = tmp_extruder;
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// This function resets the max/min values - the current position may be overwritten below.
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@ -7525,9 +7551,14 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
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#endif
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// Only when auto-parking are carriages safe to move
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if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
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switch (dual_x_carriage_mode) {
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case DXC_FULL_CONTROL_MODE:
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// New current position is the position of the activated extruder
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current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
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// Save the inactive extruder's position (from the old current_position)
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inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
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break;
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case DXC_AUTO_PARK_MODE:
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@ -7541,7 +7572,10 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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delayed_move_time = 0;
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break;
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case DXC_DUPLICATION_MODE:
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active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
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// If the new extruder is the left one, set it "parked"
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// This triggers the second extruder to move into the duplication position
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active_extruder_parked = (active_extruder == 0);
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if (active_extruder_parked)
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current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
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else
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@ -7566,9 +7600,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
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float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
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z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
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set_destination_to_current();
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// Always raise by some amount
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// Always raise by some amount (destination copied from current_position earlier)
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destination[Z_AXIS] += z_raise;
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planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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stepper.synchronize();
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@ -9223,23 +9255,6 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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switch (dual_x_carriage_mode) {
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case DXC_FULL_CONTROL_MODE:
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break;
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case DXC_DUPLICATION_MODE:
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if (active_extruder == 0) {
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// move duplicate extruder into correct duplication position.
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planner.set_position_mm(
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LOGICAL_X_POSITION(inactive_extruder_x_pos),
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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);
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planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
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current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1);
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SYNC_PLAN_POSITION_KINEMATIC();
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stepper.synchronize();
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extruder_duplication_enabled = true;
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active_extruder_parked = false;
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}
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break;
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case DXC_AUTO_PARK_MODE:
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if (current_position[E_AXIS] == destination[E_AXIS]) {
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// This is a travel move (with no extrusion)
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@ -9252,13 +9267,39 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
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return false;
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}
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}
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delayed_move_time = 0;
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// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
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planner.buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], PLANNER_XY_FEEDRATE(), active_extruder);
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
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for (uint8_t i = 0; i < 3; i++)
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planner.buffer_line(
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i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
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i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
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i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
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current_position[E_AXIS],
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i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
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active_extruder
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);
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delayed_move_time = 0;
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active_extruder_parked = false;
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break;
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case DXC_DUPLICATION_MODE:
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if (active_extruder == 0) {
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// move duplicate extruder into correct duplication position.
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planner.set_position_mm(
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LOGICAL_X_POSITION(inactive_extruder_x_pos),
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current_position[Y_AXIS],
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current_position[Z_AXIS],
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current_position[E_AXIS]
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);
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planner.buffer_line(
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current_position[X_AXIS] + duplicate_extruder_x_offset,
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current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
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planner.max_feedrate_mm_s[X_AXIS], 1
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);
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SYNC_PLAN_POSITION_KINEMATIC();
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stepper.synchronize();
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extruder_duplication_enabled = true;
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active_extruder_parked = false;
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}
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break;
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}
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}
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return true;
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@ -9950,7 +9991,7 @@ void kill(const char* lcd_msg) {
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disable_all_steppers();
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#if HAS_POWER_SWITCH
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pinMode(PS_ON_PIN, INPUT);
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SET_INPUT(PS_ON_PIN);
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#endif
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suicide();
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