Sync MK3<->MK4 MMU2 marlin interface

Firmware/mmu2.cpp

@@ -301,7 +301,7 @@ bool MMU2::VerifyFilamentEnteredPTFE() {
     uint8_t dpixel1 = 0;
     uint8_t dpixel0 = 0;
     for (uint8_t move = 0; move < 2; move++) {
-        MoveE(move == 0 ? delta_mm : -delta_mm, MMU2_VERIFY_LOAD_TO_NOZZLE_FEED_RATE);
+        extruder_move(move == 0 ? delta_mm : -delta_mm, MMU2_VERIFY_LOAD_TO_NOZZLE_FEED_RATE);
         while (planner_any_moves()) {
             // Wait for move to finish and monitor the fsensor the entire time
             // A single 0 reading will set the bit.
@@ -355,8 +355,6 @@ bool MMU2::ToolChangeCommonOnce(uint8_t slot) {
             // but honestly - if the MMU restarts during every toolchange,
             // something else is seriously broken and stopping a print is probably our best option.
         }
-        // reset current position to whatever the planner thinks it is
-        planner_set_current_position_E(planner_get_current_position_E());
         if (VerifyFilamentEnteredPTFE()) {
             return true; // success
         } else {         // Prepare a retry attempt
@@ -654,7 +652,7 @@ void MMU2::SaveAndPark(bool move_axes) {
             resume_position = planner_current_position(); // save current pos
 
             // lift Z
-            MoveRaiseZ(MMU_ERR_Z_PAUSE_LIFT);
+            move_raise_z(MMU_ERR_Z_PAUSE_LIFT);
 
             // move XY aside
             if (all_axes_homed()) {
@@ -930,7 +928,7 @@ void MMU2::execute_extruder_sequence(const E_Step *sequence, uint8_t steps) {
 
     const E_Step *step = sequence;
     for (uint8_t i = steps; i ; --i) {
-        MoveE(pgm_read_float(&(step->extrude)), pgm_read_float(&(step->feedRate)));
+        extruder_move(pgm_read_float(&(step->extrude)), pgm_read_float(&(step->feedRate)));
         step++;
     }
     planner_synchronize(); // it looks like it's better to sync the moves at the end - smoother move (if the sequence is not too long).
@@ -1058,7 +1056,7 @@ void MMU2::OnMMUProgressMsgChanged(ProgressCode pc) {
 }
 
 void __attribute__((noinline)) MMU2::HelpUnloadToFinda() {
-    MoveE(-MMU2_RETRY_UNLOAD_TO_FINDA_LENGTH, MMU2_RETRY_UNLOAD_TO_FINDA_FEED_RATE);
+    extruder_move(-MMU2_RETRY_UNLOAD_TO_FINDA_LENGTH, MMU2_RETRY_UNLOAD_TO_FINDA_FEED_RATE);
 }
 
 void MMU2::OnMMUProgressMsgSame(ProgressCode pc) {
@@ -1089,7 +1087,7 @@ void MMU2::OnMMUProgressMsgSame(ProgressCode pc) {
                 // After the MMU knows the FSENSOR is triggered it will:
                 // 1. Push the filament by additional 30mm (see fsensorToNozzle)
                 // 2. Disengage the idler and push another 2mm.
-                MoveE(logic.ExtraLoadDistance() + 2, logic.PulleySlowFeedRate());
+                extruder_move(logic.ExtraLoadDistance() + 2, logic.PulleySlowFeedRate());
                 break;
             case FilamentState::NOT_PRESENT:
                 // fsensor not triggered, continue moving extruder
@@ -1099,7 +1097,7 @@ void MMU2::OnMMUProgressMsgSame(ProgressCode pc) {
                     // than 450mm because the firmware will ignore too long extrusions
                     // for safety reasons. See PREVENT_LENGTHY_EXTRUDE.
                     // Use 350mm to be safely away from the prevention threshold
-                    MoveE(350.0f, logic.PulleySlowFeedRate());
+                    extruder_move(350.0f, logic.PulleySlowFeedRate());
                 }
                 break;
             default:

Firmware/mmu2_marlin.h

@@ -14,27 +14,25 @@ struct pos3d {
     pos3d() = default;
     inline constexpr pos3d(float x, float y, float z)
         : xyz { x, y, z } {}
-    pos3d operator=(const float *newP){
-        for(uint8_t i = 0; i < 3; ++i){
+    pos3d operator=(const float *newP) {
+        for (uint8_t i = 0; i < 3; ++i) {
             xyz[i] = newP[i];
         }
         return *this;
     }
 };
 
-void MoveE(float delta, float feedRate);
+void extruder_move(float distance, float feed_rate);
+void extruder_schedule_turning(float feed_rate);
 
-float MoveRaiseZ(float delta);
+float move_raise_z(float delta);
 
 void planner_abort_queued_moves();
 void planner_synchronize();
 bool planner_any_moves();
-float planner_get_machine_position_E_mm();
 float stepper_get_machine_position_E_mm();
 float planner_get_current_position_E();
 void planner_set_current_position_E(float e);
-void planner_line_to_current_position(float feedRate_mm_s);
-void planner_line_to_current_position_sync(float feedRate_mm_s);
 pos3d planner_current_position();
 
 void motion_do_blocking_move_to_xy(float rx, float ry, float feedRate_mm_s);
@@ -61,6 +59,4 @@ bool all_axes_homed();
 
 void gcode_reset_stepper_timeout();
 
-bool cutter_enabled();
-
 } // namespace MMU2

Firmware/mmu2_marlin1.cpp

@@ -9,12 +9,21 @@
 
 namespace MMU2 {
 
-void MoveE(float delta, float feedRate) {
+static void planner_line_to_current_position(float feedRate_mm_s){
+     plan_buffer_line_curposXYZE(feedRate_mm_s);
+}
+
+static void planner_line_to_current_position_sync(float feedRate_mm_s){
+    planner_line_to_current_position(feedRate_mm_s);
+    planner_synchronize();
+}
+
+void extruder_move(float delta, float feedRate) {
     current_position[E_AXIS] += delta;
     planner_line_to_current_position(feedRate);
 }
 
-float MoveRaiseZ(float delta) {
+float move_raise_z(float delta) {
     return raise_z(delta);
 }
 
@@ -53,15 +62,6 @@ void planner_set_current_position_E(float e){
         current_position[E_AXIS] = e;
 }
 
-void planner_line_to_current_position(float feedRate_mm_s){
-     plan_buffer_line_curposXYZE(feedRate_mm_s);
-}
-
-void planner_line_to_current_position_sync(float feedRate_mm_s){
-    planner_line_to_current_position(feedRate_mm_s);
-    planner_synchronize();
-}
-
 pos3d planner_current_position(){
     return pos3d(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
 }
@@ -132,8 +132,4 @@ bool all_axes_homed(){
     return axis_known_position[X_AXIS] && axis_known_position[Y_AXIS];
 }
 
-bool cutter_enabled(){
-    return eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED) == EEPROM_MMU_CUTTER_ENABLED_enabled;
-}
-
 } // namespace MMU2

Firmware/mmu2_reporting.cpp

@@ -332,6 +332,10 @@ void IncrementMMUFails(){
     eeprom_increment_word((uint16_t *)EEPROM_MMU_FAIL_TOT);
 }
 
+bool cutter_enabled(){
+    return eeprom_read_byte((uint8_t*)EEPROM_MMU_CUTTER_ENABLED) == EEPROM_MMU_CUTTER_ENABLED_enabled;
+}
+
 void MakeSound(SoundType s){
     Sound_MakeSound( (eSOUND_TYPE)s);
 }

Firmware/mmu2_reporting.h

@@ -74,6 +74,9 @@ void IncrementLoadFails();
 /// Increments EEPROM cell - number of MMU errors
 void IncrementMMUFails();
 
+/// @returns true when Cutter is enabled in the menus
+bool cutter_enabled();
+
 // Beware: enum values intentionally chosen to match the 8bit FW to save code size
 enum SoundType {
     Prompt = 2,