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PFW-1386 Use same code for Z-lift in M600 as in M701/M702 

This reduces flash usage by 128 bytes!
This commit is contained in:
Guðni Már Gilbert 2022-08-28 14:25:37 +00:00 committed by D.R.racer
parent 099c3a1f1f
commit ff91b4670d
1 changed files with 12 additions and 48 deletions
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60
Firmware/Marlin_main.cpp
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@ -3456,32 +3456,6 @@ void gcode_M123()
}
#endif //FANCHECK and TACH_0 or TACH_1
//! extracted code to compute z_shift for M600 in case of filament change operation
//! requested from fsensors.
//! The function ensures, that the printhead lifts to at least 25mm above the heat bed
//! unlike the previous implementation, which was adding 25mm even when the head was
//! printing at e.g. 24mm height.
//! A safety margin of FILAMENTCHANGE_ZADD is added in all cases to avoid touching
//! the printout.
//! This function is templated to enable fast change of computation data type.
//! @return new z_shift value
template<typename T>
static T gcode_M600_filament_change_z_shift()
{
#ifdef FILAMENTCHANGE_ZADD
static_assert(Z_MAX_POS < (255 - FILAMENTCHANGE_ZADD), "Z-range too high, change the T type from uint8_t to uint16_t");
// avoid floating point arithmetics when not necessary - results in shorter code
T z_shift = T(FILAMENTCHANGE_ZADD); // always move above printout
T ztmp = T( current_position[Z_AXIS] );
if((ztmp + z_shift) < T(MIN_Z_FOR_SWAP)){
z_shift = T(MIN_Z_FOR_SWAP) - ztmp; // make sure to be at least 25mm above the heat bed
}
return z_shift;
#else
return T(0);
#endif
}
static void mmu_M600_wait_and_beep() {
// Beep and wait for user to remove old filament and prepare new filament for load
KEEPALIVE_STATE(PAUSED_FOR_USER);
@ -3582,11 +3556,8 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
plan_buffer_line_curposXYZE(FILAMENTCHANGE_RFEED);
st_synchronize();
// Lift Z
current_position[Z_AXIS] += z_shift;
clamp_to_software_endstops(current_position);
plan_buffer_line_curposXYZE(FILAMENTCHANGE_ZFEED);
st_synchronize();
// Raise the Z axis
float delta = raise_z(z_shift, false);
// Move XY to side
current_position[X_AXIS] = x_position;
@ -3654,14 +3625,13 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
current_position[E_AXIS] += FILAMENTCHANGE_RECFEED;
plan_buffer_line_curposXYZE(FILAMENTCHANGE_EXFEED);
}
// Recover Z axis
raise_z(-delta, false);
// Move XY back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
st_synchronize();
// Move Z back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
st_synchronize();
// Set E position to original
plan_set_e_position(lastpos[E_AXIS]);
@ -7866,7 +7836,7 @@ Sigma_Exit:
- `X` - X position, default 211
- `Y` - Y position, default 0
- `Z` - relative lift Z, default 2.
- `Z` - relative lift Z, default MIN_Z_FOR_SWAP.
- `E` - initial retract, default -2
- `L` - later retract distance for removal, default -80
- `AUTO` - Automatically (only with MMU)
@ -7877,7 +7847,7 @@ Sigma_Exit:
float x_position = current_position[X_AXIS];
float y_position = current_position[Y_AXIS];
float z_shift = 0; // is it necessary to be a float?
float z_shift = MIN_Z_FOR_SWAP;
float e_shift_init = 0;
float e_shift_late = 0;
bool automatic = false;
@ -7906,16 +7876,10 @@ Sigma_Exit:
#endif
}
//Lift Z
if(code_seen('Z'))
{
z_shift = code_value();
}
else
{
z_shift = gcode_M600_filament_change_z_shift<uint8_t>();
}
//Move XY to side
// Z lift. For safety only allow positive values
if (code_seen('Z')) z_shift = fabs(code_value());
//Move XY to side
if(code_seen('X'))
{
x_position = code_value();