filament: Improved loading/unloading (and parking)

* M701 and M702 now use PAUSE or PARK if needed. * M701 and M702 now use the default load length is none is provided. * Added default lazy mode to park, which moves only when not parked and will home any unhomed axes if needed.
B20bob · Feb 20, 2022 · de3172b · de3172b
1 parent 8098089
commit de3172b
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diff --git a/README.md b/README.md
@@ -231,12 +231,13 @@ Loads or unloads filament to the nozzle.
   or unload.
 * `SPEED` *(default: `variable_load_speed`)* - Speed (in mm/m) to feed the
   filament.
-* `TARGET` *(optional: `min_extrude_temp`)* - Ensures the extruder is heated
+* `MINIMUM` *(default: `min_extrude_temp` + 5)* - Ensures the extruder is heated
    to at least the specified temperature.
 
 #### Marlin Compatibility
 
-* The `M701` and `M702` commands are implemented.
+* The `M701` and `M702` commands are implemented with a default filament length
+  of `variable_load_length`.
 
 ### Heaters
 
@@ -381,6 +382,8 @@ Parks the toolhead.
 * `Y` *(default: `variable_park_y`)* - Absolute Y parking coordinate.
 * `Z` *(default: `variable_park_z`)* - Z parking coordinate applied according
   to the `P` parameter.
+* `LAZY` *(default: 1)* - Will home any unhomed axes if needed and will not
+  move any axis if already homed and parked (even if `P=2`).
 * Note: If a print is in progress the larger of the tallest printed layer or the
   current Z position will be used as the current Z position, to avoid collisions
   with already printed objects during a sequential print.

diff --git a/filament.cfg b/filament.cfg
@@ -3,14 +3,18 @@
 # This file may be distributed under the terms of the GNU GPLv3 license.
 
 [gcode_macro _load_unload]
+variable_is_printing: 1
 gcode:
+  # Klipper think we're printing if parking homed first, so this is a hack to
+  # prevent that from happening. The caller sets the value and we clear it.
+  SET_GCODE_VARIABLE MACRO=_load_unload VARIABLE=is_printing VALUE="{1}"
   {% set saved_extruder = printer.toolhead.extruder %}
   {% set EXTRUDER = params.EXTRUDER|default(saved_extruder)|lower %}
-  {% set TARGET = params.TARGET|default(
-           printer.configfile.settings[EXTRUDER].min_extrude_temp) %}
-  {% if TARGET < printer.configfile.settings[EXTRUDER].min_extrude_temp %}
-    { action_raise_error("Extrude below minimum temp") }
-  {% elif printer.idle_timeout.state == "Printing" and
+  {% set MINIMUM = params.MINIMUM|default(
+           printer.configfile.settings[EXTRUDER].min_extrude_temp + 5.0) %}
+  {% if MINIMUM < printer.configfile.settings[EXTRUDER].min_extrude_temp %}
+    { action_raise_error("Extrude below minimum temp.") }
+  {% elif printer.idle_timeout.state == "Printing" and is_printing and
      not printer.pause_resume.is_paused %}
     { action_raise_error("Command not valid during printing.") }
   {% endif %}
@@ -26,8 +30,8 @@ gcode:
   {% if EXTRUDER != saved_extruder%}
     ACTIVATE_EXTRUDER EXTRUDER={EXTRUDER}
   {% endif %}
-  {% if printer[EXTRUDER].target < TARGET %}
-    M109 S{TARGET}
+  {% if printer[EXTRUDER].target < MINIMUM %}
+    M109 S{MINIMUM}
   {% endif %}
   M83
   {% if params.LOAD|int %}
@@ -40,71 +44,87 @@ gcode:
     G1 E{'%.4f' % -priming_length} F{(km.load_priming_speed, SPEED)|min}
     G1 E{'%.4f' % -LENGTH} F{SPEED}
   {% endif %}
-  M400
   RESTORE_GCODE_STATE NAME=_LOAD_UNLOAD
 
 [gcode_macro load_filament]
 description: Loads filament to the extruder.
   Usage: LOAD_FILAMENT [LENGTH=<distance>] [SPEED=<speed>]
-                       [EXTRUDER=<extruder>] [TARGET=<temperature>]
+                       [EXTRUDER=<extruder>] [MINIMUM=<temperature>]
 gcode:
+  _LOAD_UNLOAD LOAD=1{% for k in params
+    %}{' '~k~'="'~params[k]~'"'}{% endfor %}
+
   # Dummy argument block for Mainsail
   {% set dummy = None if True else "
   {% set dummy = params.LENGTH|default(variable_load_length)|float %}
   {% set dummy = params.SPEED|default(variable_load_speed)|float %}
   {% set dummy = params.EXTRUDER|default(current extruder) %}
-  {% set dummy = params.TARGET|default(current temp)|int %}
+  {% set dummy = params.MINIMUM|default(min_extrude_temp)|int %}
   " %} # End argument block for Mainsail
-  {% set extruder = printer["extruder" ~ params.T]
-     if params.T|default(0)|int != 0 else printer.toolhead.extruder %}
-  _LOAD_UNLOAD LOAD=1 EXTRUDER={extruder}{% for k in params|reject("==", "T")
-    %}{' '~k~'="'~params[k]~'"'}{% endfor %}
 
 [gcode_macro unload_filament]
 description: Unloads filament from the extruder.
   Usage: UNLOAD_FILAMENT [LENGTH=<distance>] [SPEED=<speed>]
-                         [EXTRUDER=<extruder>] [TARGET=<temperature>]
+                         [EXTRUDER=<extruder>] [MINIMUM=<temperature>]
 gcode:
+  _LOAD_UNLOAD LOAD=0{% for k in params
+    %}{' '~k~'="'~params[k]~'"'}{% endfor %}
+
   # Dummy argument block for Mainsail
   {% set dummy = None if True else "
   {% set dummy = params.LENGTH|default(variable_load_length)|float %}
   {% set dummy = params.SPEED|default(variable_load_speed)|float %}
   {% set dummy = params.EXTRUDER|default(default extruder) %}
-  {% set dummy = params.TARGET|default(current temp)|int %}
+  {% set dummy = params.MINIMUM|default(min_extrude_temp)|int %}
   " %} # End argument block for Mainsail
-  _LOAD_UNLOAD LOAD=0{% for k in params|reject("==", "T")
-    %}{' '~k~'="'~params[k]~'"'}{% endfor %}
 
-[gcode_macro _lift_m700]
+[gcode_macro _pause_inner_m700]
 gcode:
-  {% if printer.toolhead.homed_axes != 'xyz' %}
-    { action_raise_error("Must home axis first.") }
+  {% set extruder = printer["extruder" ~ params.T|int]
+     if params.T|default(0)|int != 0 else printer.toolhead.extruder %}
+  {% if extruder != printer.toolhead.extruder%}
+    ACTIVATE_EXTRUDER EXTRUDER={extruder}
+  {% endif %}
+
+  {% set z_param = (' Z="%f"' % params.Z) if 'Z' in params else "" %}
+
+  {% if printer.idle_timeout.state|string == "Printing" %}
+    PAUSE P=2{z_param}
+  {% elif not printer.pause_resume.is_paused%}
+    SET_GCODE_VARIABLE MACRO=_load_unload VARIABLE=is_printing VALUE="{0}"
+    PARK P=2{z_param}
   {% endif %}
-  SAVE_GCODE_STATE NAME=_LIFT_M700
-  G91
-  G0 Z{params.Z}
-  RESTORE_GCODE_STATE NAME=_LIFT_M700
 
 [gcode_macro m701]
-description: Loads filament to the extruder.
-  Usage: M701 L<distance> [Z<pos>] [T<extruder>]
+description: Pauses/parks the toolhead then loads filament to the extruder.
+  Usage: M701 [L<distance>] [Z<pos>] [T<extruder>]
 gcode:
-  {% set extruder = printer["extruder" ~ params.T|int]
-     if params.T|default(0)|int != 0 else printer.toolhead.extruder %}
-  {% if 'Z' in params %}_LIFT_M700 Z={params.Z}{%endif%}
-  LOAD_FILAMENT LENGTH={params.L} EXTRUDER={extruder
-    }{% if not printer[printer.toolhead.extruder].can_extrude %} TARGET={
-      printer.configfile.settings[extruder].min_extrude_temp
-    }{% endif %}
+  {% if 'U' in params %}
+    {% if not 'L' in params %}
+      RESPOND TYPE=error MSG="Argument \"U\" substituted for missing \"L\"."
+      {% set dummy = params.__setitem__("L", params.U) %}
+    {% else %}
+      RESPOND TYPE=error MSG="Invalid argument \"U\" ignored."
+    {% endif %}
+  {% endif %}
+
+  _PAUSE_INNER_M700 {% for k in params %}{' '~k~'="'~params[k]~'"'}{% endfor %}
+  LOAD_FILAMENT LENGTH={
+    params.L|default(printer["gcode_macro _km_globals"].load_length)|float}
 
 [gcode_macro m702]
-description: Unloads filament from the extruder.
-  Usage: M701 U<distance> [Z<pos>] [T<extruder>]
+description: Pauses/parks the toolhead then unloads filament from the extruder.
+  Usage: M702 [U<distance>] [Z<pos>] [T<extruder>]
 gcode:
-  {% set extruder = printer["extruder" ~ params.T|int]
-     if params.T|default(0)|int != 0 else printer.toolhead.extruder %}
-  {% if 'Z' in params %}_LIFT_M700 Z={params.Z}{%endif%}
-  UNLOAD_FILAMENT LENGTH={params.U} EXTRUDER={extruder
-    }{% if not printer[printer.toolhead.extruder].can_extrude %} TARGET={
-      printer.configfile.settings[extruder].min_extrude_temp
-    }{% endif %}
+  {% if 'L' in params %}
+    {% if not 'U' in params %}
+      RESPOND TYPE=error MSG="Argument \"L\" substituted for missing \"U\"."
+      {% set dummy = params.__setitem__("U", params.L) %}
+    {% else %}
+      RESPOND TYPE=error MSG="Invalid argument \"L\" ignored."
+    {% endif %}
+  {% endif %}
+
+  _PAUSE_INNER_M700 {% for k in params %}{' '~k~'="'~params[k]~'"'}{% endfor %}
+  UNLOAD_FILAMENT LENGTH={
+    params.U|default(printer["gcode_macro _km_globals"].load_length)|float}
diff --git a/park.cfg b/park.cfg
@@ -4,30 +4,51 @@
 
 [gcode_macro park]
 description: Park the toolhead
-  Usage: PARK [P=<0|1|2>] [X=<pos>] [Y=<pos>] [Z=<pos>]
+  Usage: PARK [P=<0|1|2>] [X=<pos>] [Y=<pos>] [Z=<pos>] [LAZY=<1|0>]
 gcode:
-  {% set toolhead = printer.toolhead %}
-  {% if toolhead.homed_axes != "xyz" %}
-    {action_respond_info("Must home axes first.")}
-  {% endif %}
-
   {% set km = printer["gcode_macro _km_globals"] %}
-  {% set max_z = toolhead.axis_maximum.z %}
-  {% set min_z = toolhead.axis_minimum.z %}
-  {% set travel_speed_xy = km.travel_speed_xy %}
-  {% set travel_speed_z = km.travel_speed_z %}
+  {% set LAZY = params.LAZY|default(1)|int %}
+  {% if printer.toolhead.homed_axes != "xyz" %}
+    {% if LAZY %}
+      G28 O
+    {% else %}
+      {action_raise_error("Must home axes first.")}
+    {% endif %}
+  {% endif %}
 
   # Z position type from G27 (if below, absolute, relative)
   {% set P = (params.P|default(2))|int %} # Default to 2 because it's sanest.
   {% set X = params.X|default(km.park_x)|float %}
   {% set Y = params.Y|default(km.park_x)|float %}
   {% set Z = params.Z|default(km.park_z)|float %}
+
   _CHECK_KINEMATIC_LIMITS X="{X}" Y="{Y}" Z="{Z}"
+  _PARK_INNER X="{X}" Y="{Y}" Z="{Z}" P="{P}" LAZY="{LAZY}"
+  # Dummy argument block for Mainsail
+  {% set dummy = None if True else "
+  {% set dummy = params.P|default(mode=<0|1|2>)|int %}
+  {% set dummy = params.X|default(X position)|int %}
+  {% set dummy = params.Y|default(Y position)|int %}
+  {% set dummy = params.Z|default(Z position)|int %}
+  " %} # End argument block for Mainsail
+
+[gcode_macro _park_inner]
+gcode:
+  {% set km = printer["gcode_macro _km_globals"] %}
+  {% set travel_speed_xy = km.travel_speed_xy %}
+  {% set travel_speed_z = km.travel_speed_z %}
+
+  {% set position = printer.gcode_move.gcode_position %}
 
   # Use the taller of the highest printed layer or the current Z height, which
   # should helps crashes e.g. when a sequential print in progress.
   {% set clearance_z = (printer["gcode_macro _km_layer_run"].clearance_z,
-                        printer.gcode_move.gcode_position.z) | max %}
+                        position.z) | max %}
+  {% set P = params.P|int %}
+  {% set X = params.X|float %}
+  {% set Y = params.Y|float %}
+  {% set Z = params.Z|float %}
+  {% set LAZY = params.LAZY|int %}
 
   # Convert everything to absolute coordinates.
   # P == 1 is absolute, so needs no adjustment.
@@ -43,21 +64,19 @@ gcode:
   {% endif %}
 
   # Clamp to the printer limits.
-  {% set Z = ((Z, max_z)|min, min_z)|max %}
+  {% set Z = ((Z, printer.toolhead.axis_maximum.z)|min,
+              printer.toolhead.axis_minimum.z)|max %}
 
-  SAVE_GCODE_STATE NAME=PARK
-  G90
-  G0 Z{Z} F{travel_speed_z}
-  G0 X{X} Y{Y} F{travel_speed_xy}
-  RESTORE_GCODE_STATE NAME=PARK MOVE=0
+  # Don't move if it's a lazy park and we're already in position.
+  {% if (not LAZY) or P != 2 or X != position.x or Y != position.y 
+        or Z < clearance_z %}
+    SAVE_GCODE_STATE NAME=PARK
+    G90
+    G0 Z{Z} F{travel_speed_z}
+    G0 X{X} Y{Y} F{travel_speed_xy}
+    RESTORE_GCODE_STATE NAME=PARK MOVE=0
+  {% endif %}
 
-  # Dummy argument block for Mainsail
-  {% set dummy = None if True else "
-  {% set dummy = params.P|default(mode=<0|1|2>)|int %}
-  {% set dummy = params.X|default(X position)|int %}
-  {% set dummy = params.Y|default(Y position)|int %}
-  {% set dummy = params.Z|default(Z position)|int %}
-  " %} # End argument block for Mainsail
 
 [gcode_macro g27]
 description: Parks the toolhead.

diff --git a/pause_resume_cancel.cfg b/pause_resume_cancel.cfg
@@ -22,7 +22,7 @@ gcode:
     SET_GCODE_VARIABLE MACRO=resume VARIABLE=saved_e VALUE="{E}"
     SAVE_GCODE_STATE NAME=PAUSE_override_state
     _KM_PAUSE_BASE
-    G91
+    M83
     G1 E{'%.4f' % -E} F{km.load_speed}
     PARK P=2{% for k in params|select("in", "XYZ") %}
       {' '~k~'="'~params[k]~'"'}
@@ -44,8 +44,7 @@ description: Pauses the current print.
               [Z<pos>]
 gcode:
   PAUSE P=2{% for k in params|select("in", "BEXYZ") %}{
-      ' '~k~'="'~params[k]~'"'
-    }{% endfor %}
+      ' '~k~'="'~params[k]~'"'}{% endfor %}
   UNLOAD_FILAMENT{% if 'U' in params %} LENGTH={params.U}{% endif %}
   {% if 'R' in params %}M109 S{params.R}{% endif %}
   # Clear the saved E so we don't unretract on return.