Simplified leveling-based tool change

Marlin/src/module/tool_change.cpp

@@ -116,8 +116,6 @@
   }
 
   inline void parking_extruder_tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
-    constexpr float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
-
     if (!no_move) {
 
       const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
@@ -140,7 +138,7 @@
         SERIAL_ECHOLNPGM("Starting Autopark");
         if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
       #endif
-      current_position[Z_AXIS] += z_raise;
+      current_position[Z_AXIS] += PARKING_EXTRUDER_SECURITY_RAISE;
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
         if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
@@ -350,6 +348,8 @@ inline void invalid_extruder_error(const uint8_t e) {
 
 #endif // DUAL_X_CARRIAGE
 
+#define DO_SWITCH_EXTRUDER (SWITCHING_EXTRUDER_SERVO_NR != SWITCHING_NOZZLE_SERVO_NR)
+
 /**
  * Perform a tool-change, which may result in moving the
  * previous tool out of the way and the new tool into place.
@@ -381,127 +381,53 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
         // Save current position to destination, for use later
         set_destination_from_current();
 
+        #if HAS_LEVELING
+          // Set current position to the physical position
+          const bool leveling_was_active = planner.leveling_active;
+          set_bed_leveling_enabled(false);
+        #endif
+
         #if ENABLED(DUAL_X_CARRIAGE)
 
           dualx_tool_change(tmp_extruder, no_move); // Can modify no_move
 
         #else // !DUAL_X_CARRIAGE
 
-          #if ENABLED(PARKING_EXTRUDER)
+          #if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
             parking_extruder_tool_change(tmp_extruder, no_move);
           #endif
 
           #if ENABLED(SWITCHING_NOZZLE)
-            #define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)
-            // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
-            const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
-                        z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
-
-            // Always raise by some amount
-            current_position[Z_AXIS] += z_raise;
+            // Always raise by at least 0.3
+            const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
+            current_position[Z_AXIS] += (z_diff > 0.0 ? z_diff : 0.0) + 0.3;
             planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
             move_nozzle_servo(tmp_extruder);
           #endif
 
-          /**
-           * Set current_position to the position of the new nozzle.
-           * Offsets are based on linear distance, so we need to get
-           * the resulting position in coordinate space.
-           *
-           * - With grid or 3-point leveling, offset XYZ by a tilted vector
-           * - With mesh leveling, update Z for the new position
-           * - Otherwise, just use the raw linear distance
-           *
-           * Software endstops are altered here too. Consider a case where:
-           *   E0 at X=0 ... E1 at X=10
-           * When we switch to E1 now X=10, but E1 can't move left.
-           * To express this we apply the change in XY to the software endstops.
-           * E1 can move farther right than E0, so the right limit is extended.
-           *
-           * Note that we don't adjust the Z software endstops. Why not?
-           * Consider a case where Z=0 (here) and switching to E1 makes Z=1
-           * because the bed is 1mm lower at the new position. As long as
-           * the first nozzle is out of the way, the carriage should be
-           * allowed to move 1mm lower. This technically "breaks" the
-           * Z software endstop. But this is technically correct (and
-           * there is no viable alternative).
-           */
-          #if ABL_PLANAR
-            // Offset extruder, make sure to apply the bed level rotation matrix
-            vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
-                                               hotend_offset[Y_AXIS][tmp_extruder],
-                                               0),
-                     act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
-                                               hotend_offset[Y_AXIS][active_extruder],
-                                               0),
-                     offset_vec = tmp_offset_vec - act_offset_vec;
-
-            #if ENABLED(DEBUG_LEVELING_FEATURE)
-              if (DEBUGGING(LEVELING)) {
-                tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
-                act_offset_vec.debug(PSTR("act_offset_vec"));
-                offset_vec.debug(PSTR("offset_vec (BEFORE)"));
-              }
-            #endif
-
-            offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
-
-            #if ENABLED(DEBUG_LEVELING_FEATURE)
-              if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
-            #endif
-
-            // Adjustments to the current position
-            const float xydiff[2] = { offset_vec.x, offset_vec.y };
-            current_position[Z_AXIS] += offset_vec.z;
-
-          #else // !ABL_PLANAR
-
-            const float xydiff[2] = {
-              hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
-              hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
-            };
-
-            #if HAS_MESH && PLANNER_LEVELING
-
-              if (planner.leveling_active) {
-                #if ENABLED(DEBUG_LEVELING_FEATURE)
-                  if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before: ", current_position[Z_AXIS]);
-                #endif
-                float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
-                      y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
-                      z1 = current_position[Z_AXIS], z2 = z1;
-                planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
-                planner.apply_leveling(x2, y2, z2);
-                current_position[Z_AXIS] += z2 - z1;
-                #if ENABLED(DEBUG_LEVELING_FEATURE)
-                  if (DEBUGGING(LEVELING))
-                    SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
-                #endif
-              }
-
-            #endif // HAS_MESH && PLANNER_LEVELING
-
-          #endif // !HAS_ABL
+          const float xdiff = hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
+                      ydiff = hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder];
 
           #if ENABLED(DEBUG_LEVELING_FEATURE)
             if (DEBUGGING(LEVELING)) {
-              SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
-              SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
+              SERIAL_ECHOPAIR("Offset Tool XY by { ", xdiff);
+              SERIAL_ECHOPAIR(", ", ydiff);
               SERIAL_ECHOLNPGM(" }");
             }
           #endif
 
           // The newly-selected extruder XY is actually at...
-          current_position[X_AXIS] += xydiff[X_AXIS];
-          current_position[Y_AXIS] += xydiff[Y_AXIS];
+          current_position[X_AXIS] += xdiff;
+          current_position[Y_AXIS] += ydiff;
 
           // Set the new active extruder
           active_extruder = tmp_extruder;
 
         #endif // !DUAL_X_CARRIAGE
 
-        #if ENABLED(DEBUG_LEVELING_FEATURE)
-          if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
+        #if HAS_LEVELING
+          // Restore leveling to re-establish the logical position
+          set_bed_leveling_enabled(leveling_was_active);
         #endif
 
         // Tell the planner the new "current position"
@@ -509,17 +435,11 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
 
         #if ENABLED(DELTA)
           //LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
-          // Do a small lift to avoid the workpiece in the move back (below)
           const bool safe_to_move = current_position[Z_AXIS] < delta_clip_start_height - 1;
-          if (safe_to_move && !no_move && IsRunning()) {
-            ++current_position[Z_AXIS];
-            planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
-          }
         #else
           constexpr bool safe_to_move = true;
         #endif
 
-        // Move to the "old position" (move the extruder into place)
         #if ENABLED(SWITCHING_NOZZLE)
           destination[Z_AXIS] += z_diff;  // Include the Z restore with the "move back"
         #endif
@@ -544,7 +464,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
       #if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
         disable_all_solenoids();
         enable_solenoid_on_active_extruder();
-      #endif // EXT_SOLENOID
+      #endif
 
       feedrate_mm_s = old_feedrate_mm_s;
 
@@ -565,7 +485,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
 
     #endif // HOTENDS <= 1
 
-    #if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
+    #if DO_SWITCH_EXTRUDER
       stepper.synchronize();
       move_extruder_servo(active_extruder);
     #endif