Mixing and Switching Extruders

.travis.yml

@@ -136,6 +136,13 @@ script:
   - opt_enable EEPROM_SETTINGS EEPROM_CHITCHAT M100_FREE_MEMORY_WATCHER INCH_MODE_SUPPORT TEMPERATURE_UNITS_SUPPORT
   - build_marlin
   #
+  # Mixing Extruder
+  #
+  - restore_configs
+  - opt_enable MIXING_EXTRUDER
+  - opt_set MIXING_STEPPERS 2
+  - build_marlin
+  #
   # Test DUAL_X_CARRIAGE
   #
   - restore_configs
@@ -153,6 +160,16 @@ script:
   - opt_set LCD_FEEDBACK_FREQUENCY_DURATION_MS 10
   - opt_set LCD_FEEDBACK_FREQUENCY_HZ 100
   - opt_enable BQ_LCD_SMART_CONTROLLER SPEAKER
+  #
+  # Test SWITCHING_EXTRUDER
+  #
+  - restore_configs
+  - opt_set MOTHERBOARD BOARD_RUMBA
+  - opt_set EXTRUDERS 2
+  - opt_enable NUM_SERVOS
+  - opt_set NUM_SERVOS 1
+  - opt_set TEMP_SENSOR_1 1
+  - opt_enable SWITCHING_EXTRUDER ULTIMAKERCONTROLLER
   - build_marlin
   #
   # Test MINIRAMBO for PWM_MOTOR_CURRENT

Marlin/Conditionals.h

@@ -540,18 +540,52 @@
   #define HAS_PID_FOR_BOTH (ENABLED(PIDTEMP) && ENABLED(PIDTEMPBED))
 
   /**
-   * SINGLENOZZLE needs to differentiate EXTRUDERS and HOTENDS
-   * And all "extruders" are in the same place.
+   * Extruders have some combination of stepper motors and hotends
+   * so we separate these concepts into the defines:
+   *
+   *  EXTRUDERS    - Number of Selectable Tools
+   *  HOTENDS      - Number of hotends, whether connected or separate
+   *  E_STEPPERS   - Number of actual E stepper motors
+   *  TOOL_E_INDEX - Index to use when getting/setting the tool state
+   *  
    */
-  #if ENABLED(SINGLENOZZLE)
-    #define HOTENDS 1
+  #if ENABLED(SINGLENOZZLE)             // One hotend, multi-extruder
+    #define HOTENDS      1
+    #define E_STEPPERS   EXTRUDERS
+    #define TOOL_E_INDEX current_block->active_extruder
     #undef TEMP_SENSOR_1_AS_REDUNDANT
     #undef HOTEND_OFFSET_X
     #undef HOTEND_OFFSET_Y
-    #define HOTEND_OFFSET_X { 0 }
-    #define HOTEND_OFFSET_Y { 0 }
-  #else
-    #define HOTENDS EXTRUDERS
+  #elif ENABLED(SWITCHING_EXTRUDER)     // One E stepper, unified E axis, two hotends
+    #define HOTENDS      EXTRUDERS
+    #define E_STEPPERS   1
+    #define TOOL_E_INDEX 0
+    #ifndef HOTEND_OFFSET_Z
+      #define HOTEND_OFFSET_Z { 0 }
+    #endif
+  #elif ENABLED(MIXING_EXTRUDER)        // Multi-stepper, unified E axis, one hotend
+    #define HOTENDS      1
+    #define E_STEPPERS   MIXING_STEPPERS
+    #define TOOL_E_INDEX 0
+  #else                                 // One stepper, E axis, and hotend per tool
+    #define HOTENDS      EXTRUDERS
+    #define E_STEPPERS   EXTRUDERS
+    #define TOOL_E_INDEX current_block->active_extruder
+  #endif
+
+  /**
+   * Default hotend offsets, if not defined
+   */
+  #if HOTENDS > 1
+    #ifndef HOTEND_OFFSET_X
+      #define HOTEND_OFFSET_X { 0 } // X offsets for each extruder
+    #endif
+    #ifndef HOTEND_OFFSET_Y
+      #define HOTEND_OFFSET_Y { 0 } // Y offsets for each extruder
+    #endif
+    #if !defined(HOTEND_OFFSET_Z) && (ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER))
+      #define HOTEND_OFFSET_Z { 0 }
+    #endif
   #endif
 
   /**

Marlin/Configuration.h

@@ -152,6 +152,30 @@
 // For Cyclops or any "multi-extruder" that shares a single nozzle.
 //#define SINGLENOZZLE
 
+// A dual extruder that uses a single stepper motor
+// Don't forget to set SSDE_SERVO_ANGLES and HOTEND_OFFSET_X/Y/Z
+//#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 HOTEND_OFFSET_Z {0.0, 0.0}
+#endif
+
+/**
+ * "Mixing Extruder"
+ *   - Adds a new code, M165, to set the current mix factors.
+ *   - Extends the stepping routines to move multiple steppers in proportion to the mix.
+ *   - Optional support for Repetier Host M163, M164, and virtual extruder.
+ *   - This implementation supports only a single extruder.
+ *   - Enable DIRECT_MIXING_IN_G1 for Pia Taubert's reference implementation
+ */
+//#define MIXING_EXTRUDER
+#if ENABLED(MIXING_EXTRUDER)
+  #define MIXING_STEPPERS 2        // Number of steppers in your mixing extruder
+  #define MIXING_VIRTUAL_TOOLS 16  // Use the Virtual Tool method with M163 and M164
+  //#define DIRECT_MIXING_IN_G1    // Allow ABCDHI mix factors in G1 movement commands
+#endif
+
 // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
 // The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
 // For the other hotends it is their distance from the extruder 0 hotend.
@@ -162,7 +186,6 @@
 // 1 = ATX
 // 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
 // :{1:'ATX',2:'X-Box 360'}
-
 #define POWER_SUPPLY 1
 
 // Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.

Marlin/Marlin.h

@@ -167,37 +167,63 @@ void manage_inactivity(bool ignore_stepper_queue = false);
   #define disable_z() NOOP
 #endif
 
-#if HAS_E0_ENABLE
-  #define  enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
-  #define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
-#else
-  #define  enable_e0() NOOP
-  #define disable_e0() NOOP
-#endif
-
-#if (EXTRUDERS > 1) && HAS_E1_ENABLE
-  #define  enable_e1() E1_ENABLE_WRITE( E_ENABLE_ON)
-  #define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
-#else
+#if ENABLED(MIXING_EXTRUDER)
+
+  /**
+   * Mixing steppers synchronize their enable (and direction) together
+   */
+  #if MIXING_STEPPERS > 3
+    #define  enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); E3_ENABLE_WRITE( E_ENABLE_ON); }
+    #define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); E3_ENABLE_WRITE(!E_ENABLE_ON); }
+  #elif MIXING_STEPPERS > 2
+    #define  enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); E2_ENABLE_WRITE( E_ENABLE_ON); }
+    #define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); E2_ENABLE_WRITE(!E_ENABLE_ON); }
+  #else
+    #define  enable_e0() { E0_ENABLE_WRITE( E_ENABLE_ON); E1_ENABLE_WRITE( E_ENABLE_ON); }
+    #define disable_e0() { E0_ENABLE_WRITE(!E_ENABLE_ON); E1_ENABLE_WRITE(!E_ENABLE_ON); }
+  #endif
   #define  enable_e1() NOOP
   #define disable_e1() NOOP
-#endif
-
-#if (EXTRUDERS > 2) && HAS_E2_ENABLE
-  #define  enable_e2() E2_ENABLE_WRITE( E_ENABLE_ON)
-  #define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
-#else
   #define  enable_e2() NOOP
   #define disable_e2() NOOP
-#endif
-
-#if (EXTRUDERS > 3) && HAS_E3_ENABLE
-  #define  enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
-  #define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
-#else
   #define  enable_e3() NOOP
   #define disable_e3() NOOP
-#endif
+
+#else // !MIXING_EXTRUDER
+
+  #if HAS_E0_ENABLE
+    #define  enable_e0() E0_ENABLE_WRITE( E_ENABLE_ON)
+    #define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
+  #else
+    #define  enable_e0() NOOP
+    #define disable_e0() NOOP
+  #endif
+
+  #if E_STEPPERS > 1 && HAS_E1_ENABLE
+    #define  enable_e1() E1_ENABLE_WRITE( E_ENABLE_ON)
+    #define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
+  #else
+    #define  enable_e1() NOOP
+    #define disable_e1() NOOP
+  #endif
+
+  #if E_STEPPERS > 2 && HAS_E2_ENABLE
+    #define  enable_e2() E2_ENABLE_WRITE( E_ENABLE_ON)
+    #define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
+  #else
+    #define  enable_e2() NOOP
+    #define disable_e2() NOOP
+  #endif
+
+  #if E_STEPPERS > 3 && HAS_E3_ENABLE
+    #define  enable_e3() E3_ENABLE_WRITE( E_ENABLE_ON)
+    #define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
+  #else
+    #define  enable_e3() NOOP
+    #define disable_e3() NOOP
+  #endif
+
+#endif // !MIXING_EXTRUDER
 
 /**
  * The axis order in all axis related arrays is X, Y, Z, E
@@ -376,6 +402,10 @@ extern uint8_t active_extruder;
   void print_heaterstates();
 #endif
 
+#if ENABLED(MIXING_EXTRUDER)
+  extern float mixing_factor[MIXING_STEPPERS];
+#endif
+
 void calculate_volumetric_multipliers();
 
 // Buzzer