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@@ -1,13 +1,18 @@
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#include "mmu2.h"
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+#include "mmu2_error_converter.h"
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#include "mmu2_fsensor.h"
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#include "mmu2_log.h"
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#include "mmu2_power.h"
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+#include "mmu2_progress_converter.h"
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#include "mmu2_reporting.h"
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#include "Marlin.h"
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+#include "language.h"
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+#include "messages.h"
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+#include "sound.h"
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#include "stepper.h"
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-#include "mmu2_error_converter.h"
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-#include "mmu2_progress_converter.h"
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+#include "strlen_cx.h"
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+#include "temperature.h"
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// @@TODO remove this and enable it in the configuration files
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// Settings for filament load / unload from the LCD menu.
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@@ -20,10 +25,8 @@
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{ 14.4, 871 }, \
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{ 50.0, 198 }
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-// @@TODO
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-#define FILAMENT_MMU2_RAMMING_SEQUENCE { 7.2, 562 }
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-
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-//@@TODO extract into configuration if it makes sense
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+#define NOZZLE_PARK_XY_FEEDRATE 50
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+#define NOZZLE_PARK_Z_FEEDRATE 15
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// Nominal distance from the extruder gear to the nozzle tip is 87mm
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// However, some slipping may occur and we need separate distances for
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@@ -42,14 +45,25 @@ static constexpr float MMU2_LOAD_TO_NOZZLE_FEED_RATE = 20.0F;
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static constexpr uint8_t MMU2_NO_TOOL = 99;
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static constexpr uint32_t MMU_BAUD = 115200;
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-typedef uint16_t feedRate_t;
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-
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struct E_Step {
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float extrude; ///< extrude distance in mm
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- feedRate_t feedRate; ///< feed rate in mm/s
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+ float feedRate; ///< feed rate in mm/s
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+};
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+
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+static constexpr E_Step ramming_sequence[] PROGMEM = {
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+ { 1.0F, 1000.0F / 60.F},
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+ { 1.0F, 1500.0F / 60.F},
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+ { 2.0F, 2000.0F / 60.F},
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+ { 1.5F, 3000.0F / 60.F},
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+ { 2.5F, 4000.0F / 60.F},
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+ {-15.0F, 5000.0F / 60.F},
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+ {-14.0F, 1200.0F / 60.F},
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+ {-6.0F, 600.0F / 60.F},
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+ { 10.0F, 700.0F / 60.F},
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+ {-10.0F, 400.0F / 60.F},
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+ {-50.0F, 2000.0F / 60.F},
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};
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-static constexpr E_Step ramming_sequence[] PROGMEM = FILAMENT_MMU2_RAMMING_SEQUENCE;
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static constexpr E_Step load_to_nozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE };
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namespace MMU2 {
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@@ -114,8 +128,9 @@ void MMU2::TriggerResetPin(){
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void MMU2::PowerCycle(){
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// cut the power to the MMU and after a while restore it
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+ // Sadly, MK3/S/+ cannot do this
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PowerOff();
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- _delay(1000); //@@TODO
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+ delay_keep_alive(1000);
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PowerOn();
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}
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@@ -177,8 +192,7 @@ bool MMU2::tool_change(uint8_t index) {
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manage_response(false, false); // true, true);
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// reset current position to whatever the planner thinks it is
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- // @@TODO is there some "standard" way of doing this?
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-//@@TODO current_position[E_AXIS] = Planner::get_machine_position_mm()[3];
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+ plan_set_e_position(current_position[E_AXIS]);
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extruder = index; //filament change is finished
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SetActiveExtruder(0);
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@@ -233,7 +247,7 @@ bool MMU2::tool_change(const char *special) {
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return true;
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}
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-uint8_t MMU2::get_current_tool() {
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+uint8_t MMU2::get_current_tool() const {
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return extruder == MMU2_NO_TOOL ? -1 : extruder;
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}
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@@ -256,7 +270,7 @@ bool MMU2::unload() {
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// @@TODO
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// if (thermalManager.tooColdToExtrude(active_extruder)) {
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-// BUZZ(200, 404);
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+// Sound_MakeSound(e_SOUND_TYPE_Prompt);
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// LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
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// return false;
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// }
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@@ -267,8 +281,7 @@ bool MMU2::unload() {
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logic.UnloadFilament();
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manage_response(false, false); // false, true);
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-
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-// BUZZ(200, 404);
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+ Sound_MakeSound(e_SOUND_TYPE_StandardConfirm);
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// no active tool
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extruder = MMU2_NO_TOOL;
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@@ -294,7 +307,7 @@ bool MMU2::load_filament(uint8_t index) {
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ReportingRAII rep(CommandInProgress::LoadFilament);
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logic.LoadFilament(index);
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manage_response(false, false);
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-// BUZZ(200, 404);
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+ Sound_MakeSound(e_SOUND_TYPE_StandardConfirm);
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return true;
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}
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@@ -315,11 +328,9 @@ bool MMU2::load_filament_to_nozzle(uint8_t index) {
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LoadingToNozzleRAII ln(*this);
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- // if (0){ // @@TODO DEBUG
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-
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// @@TODO how is this supposed to be done in 8bit FW?
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/* if (thermalManager.tooColdToExtrude(active_extruder)) {
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- BUZZ(200, 404);
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+ Sound_MakeSound(e_SOUND_TYPE_Prompt);
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LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
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return false;
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} else*/ {
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@@ -335,13 +346,12 @@ bool MMU2::load_filament_to_nozzle(uint8_t index) {
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manage_response(false, false); // true, true);
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// reset current position to whatever the planner thinks it is
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- // @@TODO is there some "standard" way of doing this?
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-//@@TODO current_position[E_AXIS] = Planner::get_machine_position_mm()[3];
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-
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+ plan_set_e_position(current_position[E_AXIS]);
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+
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extruder = index;
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SetActiveExtruder(0);
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-// BUZZ(200, 404);
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+ Sound_MakeSound(e_SOUND_TYPE_StandardConfirm);
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return true;
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}
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}
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@@ -352,22 +362,21 @@ bool MMU2::eject_filament(uint8_t index, bool recover) {
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//@@TODO
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// if (thermalManager.tooColdToExtrude(active_extruder)) {
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-// BUZZ(200, 404);
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+// Sound_MakeSound(e_SOUND_TYPE_Prompt);
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// LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
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// return false;
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// }
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ReportingRAII rep(CommandInProgress::EjectFilament);
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current_position[E_AXIS] -= MMU2_FILAMENTCHANGE_EJECT_FEED;
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-//@@TODO line_to_current_position(2500 / 60);
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+ plan_buffer_line_curposXYZE(2500.F / 60.F);
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st_synchronize();
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logic.EjectFilament(index);
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manage_response(false, false);
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if (recover) {
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// LCD_MESSAGEPGM(MSG_MMU2_EJECT_RECOVER);
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-// BUZZ(200, 404);
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-
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+ Sound_MakeSound(e_SOUND_TYPE_StandardPrompt);
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//@@TODO wait_for_user = true;
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//#if ENABLED(HOST_PROMPT_SUPPORT)
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@@ -379,20 +388,14 @@ bool MMU2::eject_filament(uint8_t index, bool recover) {
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//@@TODO while (wait_for_user) idle(true);
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-// BUZZ(200, 404);
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-// BUZZ(200, 404);
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-
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+ Sound_MakeSound(e_SOUND_TYPE_StandardConfirm);
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// logic.Command(); //@@TODO command(MMU_CMD_R0);
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manage_response(false, false);
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}
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- //@@TODO ui.reset_status();
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-
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// no active tool
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extruder = MMU2_NO_TOOL;
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-
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-// BUZZ(200, 404);
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-
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+ Sound_MakeSound(e_SOUND_TYPE_StandardConfirm);
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// disable_E0();
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return true;
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@@ -407,26 +410,42 @@ void MMU2::Home(uint8_t mode){
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}
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void MMU2::SaveAndPark(bool move_axes, bool turn_off_nozzle) {
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-//@@TODO static constexpr xyz_pos_t park_point = NOZZLE_PARK_POINT_M600;
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-// if (!mmu_print_saved) { // First occurrence. Save current position, park print head, disable nozzle heater.
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-// LogEchoEvent("Saving and parking");
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-// st_synchronize();
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+ if (!mmu_print_saved) { // First occurrence. Save current position, park print head, disable nozzle heater.
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+ LogEchoEvent("Saving and parking");
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+ st_synchronize();
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-// mmu_print_saved = true;
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+ mmu_print_saved = true;
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-// resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
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-// resume_position = current_position;
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+ resume_hotend_temp = degTargetHotend(active_extruder);
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-// if (move_axes && all_axes_homed())
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-// nozzle.park(2, park_point);
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+ if (move_axes){
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+ // save current pos
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+ for(uint8_t i = 0; i < 3; ++i){
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+ resume_position.xyz[i] = current_position[i];
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+ }
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-// if (turn_off_nozzle){
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-// LogEchoEvent("Heater off");
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-// thermalManager.setTargetHotend(0, active_extruder);
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-// }
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-// }
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-// // keep the motors powered forever (until some other strategy is chosen)
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-// gcode.reset_stepper_timeout();
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+ // lift Z
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+ current_position[Z_AXIS] += Z_PAUSE_LIFT;
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+ if (current_position[Z_AXIS] > Z_MAX_POS)
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+ current_position[Z_AXIS] = Z_MAX_POS;
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+ plan_buffer_line_curposXYZE(NOZZLE_PARK_Z_FEEDRATE);
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+ st_synchronize();
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+
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+ // move XY aside
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+ current_position[X_AXIS] = X_PAUSE_POS;
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+ current_position[Y_AXIS] = Y_PAUSE_POS;
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+ plan_buffer_line_curposXYZE(NOZZLE_PARK_XY_FEEDRATE);
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+ st_synchronize();
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+ }
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+
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+ if (turn_off_nozzle){
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+ LogEchoEvent("Heater off");
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+ setAllTargetHotends(0);
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+ }
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+ }
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+ // keep the motors powered forever (until some other strategy is chosen)
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+ // @@TODO do we need that in 8bit?
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+ // gcode.reset_stepper_timeout();
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}
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void MMU2::ResumeAndUnPark(bool move_axes, bool turn_off_nozzle) {
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@@ -436,25 +455,29 @@ void MMU2::ResumeAndUnPark(bool move_axes, bool turn_off_nozzle) {
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if (turn_off_nozzle && resume_hotend_temp) {
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MMU2_ECHO_MSG("Restoring hotend temperature ");
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SERIAL_ECHOLN(resume_hotend_temp);
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-//@@TODO thermalManager.setTargetHotend(resume_hotend_temp, active_extruder);
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+ setTargetHotend(resume_hotend_temp, active_extruder);
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-// while (!thermalManager.wait_for_hotend(active_extruder, false)){
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-// safe_delay(1000);
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-// }
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+ if (((degTargetHotend(active_extruder) - degHotend(active_extruder)) > 5)) {
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+ // @@TODO lcd_display_message_fullscreen_P(_i("MMU OK. Resuming temperature...")); // better report the event and let the GUI do its work somewhere else
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+ delay_keep_alive(3000);
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+ }
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LogEchoEvent("Hotend temperature reached");
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}
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-//@@TODO if (move_axes && all_axes_homed()) {
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-// LogEchoEvent("Resuming XYZ");
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-
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-// // Move XY to starting position, then Z
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-// do_blocking_move_to_xy(resume_position, feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
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+ if (move_axes) {
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+ LogEchoEvent("Resuming XYZ");
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-// // Move Z_AXIS to saved position
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-// do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
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-// } else {
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-// LogEchoEvent("NOT resuming XYZ");
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-// }
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+ current_position[X_AXIS] = resume_position.xyz[X_AXIS];
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+ current_position[Y_AXIS] = resume_position.xyz[Y_AXIS];
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+ plan_buffer_line_curposXYZE(NOZZLE_PARK_XY_FEEDRATE);
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+ st_synchronize();
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+
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+ current_position[Z_AXIS] = resume_position.xyz[Z_AXIS];
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+ plan_buffer_line_curposXYZE(NOZZLE_PARK_Z_FEEDRATE);
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+ st_synchronize();
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+ } else {
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+ LogEchoEvent("NOT resuming XYZ");
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+ }
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}
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}
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@@ -560,37 +583,21 @@ void MMU2::filament_ramming() {
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execute_extruder_sequence((const E_Step *)ramming_sequence, sizeof(ramming_sequence) / sizeof(E_Step));
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}
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-void MMU2::execute_extruder_sequence(const E_Step *sequence, int steps) {
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-
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+void MMU2::execute_extruder_sequence(const E_Step *sequence, uint8_t steps) {
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st_synchronize();
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-
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const E_Step *step = sequence;
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-
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for (uint8_t i = 0; i < steps; i++) {
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- const float es = pgm_read_float(&(step->extrude));
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- const feedRate_t fr_mm_m = pgm_read_float(&(step->feedRate));
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-
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- // DEBUG_ECHO_START();
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- // DEBUG_ECHOLNPAIR("E step ", es, "/", fr_mm_m);
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-
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- current_position[E_AXIS] += es;
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-// line_to_current_position(MMM_TO_MMS(fr_mm_m));
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+ current_position[E_AXIS] += pgm_read_float(&(step->extrude));
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+ plan_buffer_line_curposXYZE(pgm_read_float(&(step->feedRate)));
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st_synchronize();
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-
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step++;
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}
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-
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-// disable_E0();
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}
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void MMU2::SetActiveExtruder(uint8_t ex){
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active_extruder = ex;
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}
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-constexpr int strlen_constexpr(const char* str){
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- return *str ? 1 + strlen_constexpr(str + 1) : 0;
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-}
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-
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void MMU2::ReportError(ErrorCode ec) {
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// Due to a potential lossy error reporting layers linked to this hook
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// we'd better report everything to make sure especially the error states
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@@ -654,8 +661,6 @@ void MMU2::OnMMUProgressMsg(ProgressCode pc){
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case ProgressCode::FeedingToBondtech:
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// prepare for the movement of the E-motor
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st_synchronize();
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-//@@TODO sync_plan_position();
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-// enable_E0();
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loadFilamentStarted = true;
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break;
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default:
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@@ -669,25 +674,8 @@ void MMU2::OnMMUProgressMsg(ProgressCode pc){
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if( WhereIsFilament() == FilamentState::AT_FSENSOR && loadFilamentStarted){// fsensor triggered, move the extruder to help loading
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// rotate the extruder motor - no planner sync, just add more moves - as long as they are roughly at the same speed as the MMU is pushing,
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// it really doesn't matter
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- // char tmp[64]; // @@TODO this shouldn't be needed anymore, but kept here in case of something strange
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- // // happens in Marlin again
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- // snprintf(tmp,sizeof (tmp), "E moveTo=%4.1f f=%4.0f s=%hu\n", current_position.e, feedrate_mm_s, feedrate_percentage);
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- // MMU2_ECHO_MSG(tmp);
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-
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- // Ideally we'd use:
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- // line_to_current_position(MMU2_LOAD_TO_NOZZLE_FEED_RATE);
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- // However, as it ignores MBL completely (which I don't care about in case of E-movement),
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- // we need to take the raw Z coordinates and only add some movement to E
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- // otherwise we risk planning a very short Z move with an extremely long E-move,
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- // which obviously ends up in a disaster (over/underflow of E/Z steps).
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- // The problem becomes obvious in Planner::_populate_block when computing da, db, dc like this:
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- // const int32_t da = target.a - position.a, db = target.b - position.b, dc = target.c - position.c;
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- // And since current_position[3] != position_float[3], we get a tiny move in Z, which is something I really want to avoid here
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- // @@TODO is there a "standard" way of doing this?
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-//@@TODO xyze_pos_t tgt = Planner::get_machine_position_mm();
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- const float e = loadingToNozzle ? MMU2_LOAD_TO_NOZZLE_LENGTH : MMU2_TOOL_CHANGE_LOAD_LENGTH;
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-//@@TODO tgt[3] += e / planner.e_factor[active_extruder];
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-// plan_buffer_line(tgt, MMU2_LOAD_TO_NOZZLE_FEED_RATE, active_extruder); // @@TODO magic constant - must match the feedrate of the MMU
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+ current_position[E_AXIS] += (loadingToNozzle ? MMU2_LOAD_TO_NOZZLE_LENGTH : MMU2_TOOL_CHANGE_LOAD_LENGTH) / extruder_multiplier[0];
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+ plan_buffer_line_curposXYZE(MMU2_LOAD_TO_NOZZLE_FEED_RATE);
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loadFilamentStarted = false;
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}
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break;
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