Merge pull request #5148 from thinkyhead/rc_dual_tool_z_limit

Fix Z raise with DXC_AUTO_PARK_MODE

Marlin/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/Marlin_main.cpp

@@ -1303,11 +1303,7 @@ bool get_target_extruder_from_command(int code) {
 
 #if ENABLED(DUAL_X_CARRIAGE)
 
-  #define DXC_FULL_CONTROL_MODE 0
+  static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
-  #define DXC_AUTO_PARK_MODE    1
-  #define DXC_DUPLICATION_MODE  2
-
-  static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
 
   static float x_home_pos(int extruder) {
     if (extruder == 0)
@@ -6950,8 +6946,11 @@ inline void gcode_M503() {
    */
   inline void gcode_M605() {
     stepper.synchronize();
-    if (code_seen('S')) dual_x_carriage_mode = code_value_byte();
+    if (code_seen('S')) dual_x_carriage_mode = (DualXMode)code_value_byte();
     switch (dual_x_carriage_mode) {
+      case DXC_FULL_CONTROL_MODE:
+      case DXC_AUTO_PARK_MODE:
+        break;
       case DXC_DUPLICATION_MODE:
         if (code_seen('X')) duplicate_extruder_x_offset = max(code_value_axis_units(X_AXIS), X2_MIN_POS - x_home_pos(0));
         if (code_seen('R')) duplicate_extruder_temp_offset = code_value_temp_diff();
@@ -6966,9 +6965,6 @@ inline void gcode_M503() {
         SERIAL_CHAR(',');
         SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
         break;
-      case DXC_FULL_CONTROL_MODE:
-      case DXC_AUTO_PARK_MODE:
-        break;
       default:
         dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
         break;
@@ -7258,9 +7254,9 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
             if (DEBUGGING(LEVELING)) {
               SERIAL_ECHOPGM("Dual X Carriage Mode ");
               switch (dual_x_carriage_mode) {
-                case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
-                case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
                 case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
+                case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
+                case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
               }
             }
           #endif
@@ -7305,6 +7301,16 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
               current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
               inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
               break;
+            case DXC_AUTO_PARK_MODE:
+              // record raised toolhead position for use by unpark
+              memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
+              raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
+              #if ENABLED(max_software_endstops)
+                NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
+              #endif
+              active_extruder_parked = true;
+              delayed_move_time = 0;
+              break;
             case DXC_DUPLICATION_MODE:
               active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
               if (active_extruder_parked)
@@ -7314,13 +7320,6 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
               inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
               extruder_duplication_enabled = false;
               break;
-            default:
-              // record raised toolhead position for use by unpark
-              memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
-              raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
-              active_extruder_parked = true;
-              delayed_move_time = 0;
-              break;
           }
 
           #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -8975,39 +8974,45 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
    */
   inline bool prepare_move_to_destination_dualx() {
     if (active_extruder_parked) {
-      if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
+      switch (dual_x_carriage_mode) {
-        // move duplicate extruder into correct duplication position.
+        case DXC_FULL_CONTROL_MODE:
-        planner.set_position_mm(
+          break;
-          LOGICAL_X_POSITION(inactive_extruder_x_pos),
+        case DXC_DUPLICATION_MODE:
-          current_position[Y_AXIS],
+          if (active_extruder == 0) {
-          current_position[Z_AXIS],
+            // move duplicate extruder into correct duplication position.
-          current_position[E_AXIS]
+            planner.set_position_mm(
-        );
+              LOGICAL_X_POSITION(inactive_extruder_x_pos),
-        planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
+              current_position[Y_AXIS],
-                         current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1);
+              current_position[Z_AXIS],
-        SYNC_PLAN_POSITION_KINEMATIC();
+              current_position[E_AXIS]
-        stepper.synchronize();
+            );
-        extruder_duplication_enabled = true;
+            planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
-        active_extruder_parked = false;
+                             current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1);
-      }
+            SYNC_PLAN_POSITION_KINEMATIC();
-      else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head
+            stepper.synchronize();
-        if (current_position[E_AXIS] == destination[E_AXIS]) {
+            extruder_duplication_enabled = true;
-          // This is a travel move (with no extrusion)
+            active_extruder_parked = false;
-          // Skip it, but keep track of the current position
-          // (so it can be used as the start of the next non-travel move)
-          if (delayed_move_time != 0xFFFFFFFFUL) {
-            set_current_to_destination();
-            NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
-            delayed_move_time = millis();
-            return false;
           }
-        }
+          break;
-        delayed_move_time = 0;
+        case DXC_AUTO_PARK_MODE:
-        // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
+          if (current_position[E_AXIS] == destination[E_AXIS]) {
-        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);
+            // This is a travel move (with no extrusion)
-        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);
+            // Skip it, but keep track of the current position
-        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);
+            // (so it can be used as the start of the next non-travel move)
-        active_extruder_parked = false;
+            if (delayed_move_time != 0xFFFFFFFFUL) {
+              set_current_to_destination();
+              NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
+              delayed_move_time = millis();
+              return false;
+            }
+          }
+          delayed_move_time = 0;
+          // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
+          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);
+          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);
+          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);
+          active_extruder_parked = false;
+          break;
       }
     }
     return true;

Marlin/enum.h

@@ -194,4 +194,12 @@ enum LCDViewAction {
   LCDVIEW_CALL_NO_REDRAW
 };
 
+#if ENABLED(DUAL_X_CARRIAGE)
+  enum DualXMode {
+    DXC_FULL_CONTROL_MODE,
+    DXC_AUTO_PARK_MODE,
+    DXC_DUPLICATION_MODE
+  };
+#endif
+
 #endif // __ENUM_H__

Marlin/example_configurations/Cartesio/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/Felix/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/Hephestos/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/Hephestos_2/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/K8200/Configuration_adv.h

@@ -319,7 +319,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/K8400/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/RigidBot/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/SCARA/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/TAZ4/Configuration_adv.h

@@ -321,7 +321,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/WITBOX/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/delta/biv2.5/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/delta/generic/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h

@@ -318,7 +318,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/makibox/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder

Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h

@@ -313,7 +313,7 @@
   //                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
 
   // This is the default power-up mode which can be later using M605.
-  #define DEFAULT_DUAL_X_CARRIAGE_MODE 0
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
 
   // Default settings in "Auto-park Mode"
   #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder