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Support for two switching extruders
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@thinkyhead
thinkyhead committed Jun 19, 2017
1 parent 17f69f8 commit 907cafc
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Showing 5 changed files with 75 additions and 49 deletions.
5 changes: 4 additions & 1 deletion Marlin/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,10 @@
//#define SWITCHING_EXTRUDER
#if ENABLED(SWITCHING_EXTRUDER)
#define SWITCHING_EXTRUDER_SERVO_NR 0
#define SWITCHING_EXTRUDER_SERVO_ANGLES { 0, 90 } // Angles for E0, E1
#define SWITCHING_EXTRUDER_SERVO_ANGLES { 0, 90 } // Angles for E0, E1[, E2, E3]
#if EXTRUDERS > 3
#define SWITCHING_EXTRUDER_E23_SERVO_NR 1
#endif
#endif

// A dual-nozzle that uses a servomotor to raise/lower one of the nozzles
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63 changes: 35 additions & 28 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9843,25 +9843,41 @@ inline void gcode_M999() {
}

#if ENABLED(SWITCHING_EXTRUDER)
inline void move_extruder_servo(uint8_t e) {
const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
safe_delay(500);
#if EXTRUDERS > 3
#define REQ_ANGLES 4
#define _SERVO_NR (e < 2 ? SWITCHING_EXTRUDER_SERVO_NR : SWITCHING_EXTRUDER_E23_SERVO_NR)
#else
#define REQ_ANGLES 2
#define _SERVO_NR SWITCHING_EXTRUDER_SERVO_NR
#endif
inline void move_extruder_servo(const uint8_t e) {
constexpr int16_t angles[] = SWITCHING_EXTRUDER_SERVO_ANGLES;
static_assert(COUNT(angles) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles.");
stepper.synchronize();
#if EXTRUDERS & 1
if (e < EXTRUDERS - 1)
#endif
{
MOVE_SERVO(_SERVO_NR, angles[e]);
safe_delay(500);
}
}
#endif
#endif // SWITCHING_EXTRUDER

#if ENABLED(SWITCHING_NOZZLE)
inline void move_nozzle_servo(uint8_t e) {
const int angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
inline void move_nozzle_servo(const uint8_t e) {
const int16_t angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
stepper.synchronize();
MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, angles[e]);
safe_delay(500);
}
#endif

inline void invalid_extruder_error(const uint8_t &e) {
inline void invalid_extruder_error(const uint8_t e) {
SERIAL_ECHO_START();
SERIAL_CHAR('T');
SERIAL_ECHO_F(e, DEC);
SERIAL_CHAR(' ');
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}

Expand All @@ -9881,10 +9897,10 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n

#else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1

#if HOTENDS > 1
if (tmp_extruder >= EXTRUDERS)
return invalid_extruder_error(tmp_extruder);

if (tmp_extruder >= EXTRUDERS)
return invalid_extruder_error(tmp_extruder);
#if HOTENDS > 1

const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;

Expand Down Expand Up @@ -10006,23 +10022,15 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#else // !DUAL_X_CARRIAGE

#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 (destination copied from current_position earlier)
current_position[Z_AXIS] += z_raise;
planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
stepper.synchronize();

move_nozzle_servo(active_extruder);
#endif

#if ENABLED(SWITCHING_EXTRUDER)
#if !(ENABLED(SWITCHING_NOZZLE) && (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR))
stepper.synchronize();
move_extruder_servo(active_extruder);
#endif
move_nozzle_servo(tmp_extruder);
#endif

/**
Expand Down Expand Up @@ -10167,19 +10175,18 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n

#else // HOTENDS <= 1

// Set the new active extruder
active_extruder = tmp_extruder;

UNUSED(fr_mm_s);
UNUSED(no_move);

#if ENABLED(SWITCHING_EXTRUDER)
stepper.synchronize();
move_extruder_servo(active_extruder);
#endif
// Set the new active extruder
active_extruder = tmp_extruder;

#endif // HOTENDS <= 1

#if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
move_extruder_servo(active_extruder);
#endif

SERIAL_ECHO_START();
SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);

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28 changes: 12 additions & 16 deletions Marlin/SanityCheck.h
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Original file line number Diff line number Diff line change
Expand Up @@ -355,12 +355,14 @@
#endif

/**
* A dual nozzle x-carriage with switching servo
* A Dual Nozzle carriage with switching servo
*/
#if ENABLED(SWITCHING_NOZZLE)
#if ENABLED(SINGLENOZZLE)
#if ENABLED(DUAL_X_CARRIAGE)
#error "SWITCHING_NOZZLE and DUAL_X_CARRIAGE are incompatible."
#elif ENABLED(SINGLENOZZLE)
#error "SWITCHING_NOZZLE and SINGLENOZZLE are incompatible."
#elif EXTRUDERS < 2
#elif EXTRUDERS != 2
#error "SWITCHING_NOZZLE requires exactly 2 EXTRUDERS."
#elif NUM_SERVOS < 1
#error "SWITCHING_NOZZLE requires NUM_SERVOS >= 1."
Expand All @@ -370,14 +372,8 @@
/**
* Single Stepper Dual Extruder with switching servo
*/
#if ENABLED(SWITCHING_EXTRUDER)
#if ENABLED(DUAL_X_CARRIAGE)
#error "SWITCHING_EXTRUDER and DUAL_X_CARRIAGE are incompatible."
#elif EXTRUDERS != 2
#error "SWITCHING_EXTRUDER requires exactly 2 EXTRUDERS."
#elif NUM_SERVOS < 1
#error "SWITCHING_EXTRUDER requires NUM_SERVOS >= 1."
#endif
#if ENABLED(SWITCHING_EXTRUDER) && NUM_SERVOS < 1
#error "SWITCHING_EXTRUDER requires NUM_SERVOS >= 1."
#endif

/**
Expand Down Expand Up @@ -938,21 +934,21 @@ static_assert(1 >= 0
#endif

/**
* Test Extruder Pins
* Test Extruder Stepper Pins
*/
#if EXTRUDERS > 4
#if E_STEPPERS > 4
#if !PIN_EXISTS(E4_STEP) || !PIN_EXISTS(E4_DIR) || !PIN_EXISTS(E4_ENABLE)
#error "E4_STEP_PIN, E4_DIR_PIN, or E4_ENABLE_PIN not defined for this board."
#endif
#elif EXTRUDERS > 3
#elif E_STEPPERS > 3
#if !PIN_EXISTS(E3_STEP) || !PIN_EXISTS(E3_DIR) || !PIN_EXISTS(E3_ENABLE)
#error "E3_STEP_PIN, E3_DIR_PIN, or E3_ENABLE_PIN not defined for this board."
#endif
#elif EXTRUDERS > 2
#elif E_STEPPERS > 2
#if !PIN_EXISTS(E2_STEP) || !PIN_EXISTS(E2_DIR) || !PIN_EXISTS(E2_ENABLE)
#error "E2_STEP_PIN, E2_DIR_PIN, or E2_ENABLE_PIN not defined for this board."
#endif
#elif EXTRUDERS > 1
#elif E_STEPPERS > 1
#if !PIN_EXISTS(E1_STEP) || !PIN_EXISTS(E1_DIR) || !PIN_EXISTS(E1_ENABLE)
#error "E1_STEP_PIN, E1_DIR_PIN, or E1_ENABLE_PIN not defined for this board."
#endif
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12 changes: 11 additions & 1 deletion Marlin/pins.h
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Original file line number Diff line number Diff line change
Expand Up @@ -330,7 +330,17 @@
#define _E3_PINS
#define _E4_PINS

#if EXTRUDERS > 1
#if ENABLED(SWITCHING_EXTRUDER)
// Tools 0 and 1 use E0
#if EXTRUDERS > 2 // Tools 2 and 3 use E1
#undef _E1_PINS
#define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN, E1_MS1_PIN, E1_MS2_PIN,
#if EXTRUDERS > 4 // Tools 4 and 5 use E2
#undef _E2_PINS
#define _E2_PINS E2_STEP_PIN, E2_DIR_PIN, E2_ENABLE_PIN,
#endif
#endif
#elif EXTRUDERS > 1
#undef _E1_PINS
#define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN, E1_MS1_PIN, E1_MS2_PIN,
#if EXTRUDERS > 2
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16 changes: 13 additions & 3 deletions Marlin/stepper_indirection.h
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Original file line number Diff line number Diff line change
Expand Up @@ -416,9 +416,19 @@
* Extruder indirection for the single E axis
*/
#if ENABLED(SWITCHING_EXTRUDER)
#define E_STEP_WRITE(v) E0_STEP_WRITE(v)
#define NORM_E_DIR() E0_DIR_WRITE(current_block->active_extruder ? INVERT_E0_DIR : !INVERT_E0_DIR)
#define REV_E_DIR() E0_DIR_WRITE(current_block->active_extruder ? !INVERT_E0_DIR : INVERT_E0_DIR)
#if EXTRUDERS == 2
#define E_STEP_WRITE(v) E0_STEP_WRITE(v)
#define NORM_E_DIR() E0_DIR_WRITE(current_block->active_extruder ? INVERT_E0_DIR : !INVERT_E0_DIR)
#define REV_E_DIR() E0_DIR_WRITE(current_block->active_extruder ? !INVERT_E0_DIR : INVERT_E0_DIR)
#elif EXTRUDERS > 4
#define E_STEP_WRITE(v) { if (current_block->active_extruder < 2) E0_STEP_WRITE(v); else if (current_block->active_extruder < 4) E1_STEP_WRITE(v); else E2_STEP_WRITE(v); }
#define NORM_E_DIR() { switch (current_block->active_extruder) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(INVERT_E1_DIR); break; case 4: E2_DIR_WRITE(!INVERT_E2_DIR); } }
#define REV_E_DIR() { switch (current_block->active_extruder) { case 0: E0_DIR_WRITE(INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 4: E2_DIR_WRITE(INVERT_E2_DIR); } }
#elif EXTRUDERS > 2
#define E_STEP_WRITE(v) { if (current_block->active_extruder < 2) E0_STEP_WRITE(v); else if (current_block->active_extruder < 4) E1_STEP_WRITE(v); else E1_STEP_WRITE(v); }
#define NORM_E_DIR() { switch (current_block->active_extruder) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(INVERT_E1_DIR); } }
#define REV_E_DIR() { switch (current_block->active_extruder) { case 0: E0_DIR_WRITE(INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 2: E1_DIR_WRITE(INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); } }
#endif
#elif EXTRUDERS > 4
#define E_STEP_WRITE(v) { switch (current_block->active_extruder) { case 0: E0_STEP_WRITE(v); break; case 1: E1_STEP_WRITE(v); break; case 2: E2_STEP_WRITE(v); break; case 3: E3_STEP_WRITE(v); break; case 4: E4_STEP_WRITE(v); } }
#define NORM_E_DIR() { switch (current_block->active_extruder) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 4: E4_DIR_WRITE(!INVERT_E4_DIR); } }
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