Merge pull request #548 from buildrob101/MinimalDualXCarriage
Dual x-carriage support
This commit is contained in:
commit
96a773fa48
@ -146,6 +146,31 @@
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#define EXTRUDERS 1
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#endif
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// Enable this for dual x-carriage printers.
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// A dual x-carriage design has the advantage that the inactive extruder can be parked which
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// prevents hot-end ooze contaminating the print. It also reduces the weight of each x-carriage
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// allowing faster printing speeds.
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#define DUAL_X_CARRIAGE
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#ifdef DUAL_X_CARRIAGE
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// Configuration for second X-carriage
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// Note: the first x-carriage is defined as the x-carriage which homes to the minimum endstop;
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// the second x-carriage always homes to the maximum endstop.
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#define X2_MIN_POS 88 // set minimum to ensure second x-carriage doesn't hit the parked first X-carriage
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#define X2_MAX_POS 350.45 // set maximum to the distance between toolheads when both heads are homed
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#define X2_HOME_DIR 1 // the second X-carriage always homes to the maximum endstop position
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#define X2_HOME_POS X2_MAX_POS // default home position is the maximum carriage position
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// However: In this mode the EXTRUDER_OFFSET_X value for the second extruder provides a software
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// override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
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// without modifying the firmware (through the "M218 T1 X???" command).
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// Remember: you should set the second extruder x-offset to 0 in your slicer.
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// Pins for second x-carriage stepper driver (defined here to avoid further complicating pins.h)
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#define X2_ENABLE_PIN 29
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#define X2_STEP_PIN 25
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#define X2_DIR_PIN 23
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#endif // DUAL_X_CARRIAGE
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//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
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#define X_HOME_RETRACT_MM 5
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#define Y_HOME_RETRACT_MM 5
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@ -96,7 +96,11 @@ void process_commands();
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void manage_inactivity();
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#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
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#if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
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&& defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
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#define enable_x() do { WRITE(X_ENABLE_PIN, X_ENABLE_ON); WRITE(X2_ENABLE_PIN, X_ENABLE_ON); } while (0)
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#define disable_x() do { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); WRITE(X2_ENABLE_PIN,!X_ENABLE_ON); } while (0)
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#elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
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#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
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#define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
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#else
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@ -677,7 +677,44 @@ XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
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XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
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XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
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#ifdef DUAL_X_CARRIAGE
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#if EXTRUDERS == 1 || defined(COREXY) \
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|| !defined(X2_ENABLE_PIN) || !defined(X2_STEP_PIN) || !defined(X2_DIR_PIN) \
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|| !defined(X2_HOME_POS) || !defined(X2_MIN_POS) || !defined(X2_MAX_POS) \
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|| !defined(X_MAX_PIN) || X_MAX_PIN < 0
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#error "Missing or invalid definitions for DUAL_X_CARRIAGE mode."
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#endif
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#if X_HOME_DIR != -1 || X2_HOME_DIR != 1
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#error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
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#endif
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static float x_home_pos(int extruder) {
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if (extruder == 0)
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return base_home_pos(X_AXIS) + add_homeing[X_AXIS];
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else
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// In dual carriage mode the extruder offset provides an override of the
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// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
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// This allow soft recalibration of the second extruder offset position without firmware reflash
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// (through the M218 command).
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return (extruder_offset[X_AXIS][1] != 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
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}
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static int x_home_dir(int extruder) {
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return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
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}
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static float inactive_x_carriage_pos = X2_MAX_POS;
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#endif
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static void axis_is_at_home(int axis) {
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#ifdef DUAL_X_CARRIAGE
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if (axis == X_AXIS && active_extruder != 0) {
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current_position[X_AXIS] = x_home_pos(active_extruder);
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min_pos[X_AXIS] = X2_MIN_POS;
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max_pos[X_AXIS] = X2_MAX_POS;
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return;
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}
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#endif
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current_position[axis] = base_home_pos(axis) + add_homeing[axis];
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min_pos[axis] = base_min_pos(axis) + add_homeing[axis];
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max_pos[axis] = base_max_pos(axis) + add_homeing[axis];
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@ -686,10 +723,16 @@ static void axis_is_at_home(int axis) {
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static void homeaxis(int axis) {
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#define HOMEAXIS_DO(LETTER) \
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((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
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if (axis==X_AXIS ? HOMEAXIS_DO(X) :
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axis==Y_AXIS ? HOMEAXIS_DO(Y) :
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axis==Z_AXIS ? HOMEAXIS_DO(Z) :
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0) {
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int axis_home_dir = home_dir(axis);
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#ifdef DUAL_X_CARRIAGE
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if (axis == X_AXIS)
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axis_home_dir = x_home_dir(active_extruder);
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#endif
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// Engage Servo endstop if enabled
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#ifdef SERVO_ENDSTOPS
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@ -700,18 +743,18 @@ static void homeaxis(int axis) {
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current_position[axis] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[axis] = 1.5 * max_length(axis) * home_dir(axis);
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destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
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feedrate = homing_feedrate[axis];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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current_position[axis] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[axis] = -home_retract_mm(axis) * home_dir(axis);
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destination[axis] = -home_retract_mm(axis) * axis_home_dir;
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
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destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
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feedrate = homing_feedrate[axis]/2 ;
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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@ -851,7 +894,7 @@ void process_commands()
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#else // NOT DELTA
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home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
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home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
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#if Z_HOME_DIR > 0 // If homing away from BED do Z first
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if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
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@ -864,8 +907,14 @@ void process_commands()
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{
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current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
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#ifdef DUAL_X_CARRIAGE
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int x_axis_home_dir = home_dir(X_AXIS);
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#else
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int x_axis_home_dir = x_home_dir(active_extruder);
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#endif
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
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destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
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feedrate = homing_feedrate[X_AXIS];
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if(homing_feedrate[Y_AXIS]<feedrate)
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feedrate =homing_feedrate[Y_AXIS];
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@ -890,6 +939,13 @@ void process_commands()
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if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
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{
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#ifdef DUAL_X_CARRIAGE
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int tmp_extruder = active_extruder;
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active_extruder = !active_extruder;
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HOMEAXIS(X);
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inactive_x_carriage_pos = current_position[X_AXIS];
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active_extruder = tmp_extruder;
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#endif
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HOMEAXIS(X);
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}
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@ -922,7 +978,7 @@ void process_commands()
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}
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}
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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#endif // DELTA
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#endif // else DELTA
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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enable_endstops(false);
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@ -2001,6 +2057,20 @@ void process_commands()
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if(tmp_extruder != active_extruder) {
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// Save current position to return to after applying extruder offset
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memcpy(destination, current_position, sizeof(destination));
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#ifdef DUAL_X_CARRIAGE
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// only apply Y extruder offset in dual x carriage mode (x offset is already used in determining home pos)
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current_position[Y_AXIS] = current_position[Y_AXIS] -
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extruder_offset[Y_AXIS][active_extruder] +
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extruder_offset[Y_AXIS][tmp_extruder];
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float tmp_x_pos = current_position[X_AXIS];
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// Set the new active extruder and position
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active_extruder = tmp_extruder;
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axis_is_at_home(X_AXIS); //this function updates X min/max values.
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current_position[X_AXIS] = inactive_x_carriage_pos;
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inactive_x_carriage_pos = tmp_x_pos;
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#else
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// Offset extruder (only by XY)
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int i;
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for(i = 0; i < 2; i++) {
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@ -2010,6 +2080,7 @@ void process_commands()
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}
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// Set the new active extruder and position
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active_extruder = tmp_extruder;
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#endif //else DUAL_X_CARRIAGE
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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// Move to the old position if 'F' was in the parameters
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if(make_move && Stopped == false) {
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@ -2254,6 +2325,9 @@ void controllerFan()
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|| !READ(E2_ENABLE_PIN)
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#endif
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#if EXTRUDER > 1
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#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
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|| !READ(X2_ENABLE_PIN)
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#endif
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|| !READ(E1_ENABLE_PIN)
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#endif
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|| !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
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@ -348,11 +348,21 @@ ISR(TIMER1_COMPA_vect)
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// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
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if((out_bits & (1<<X_AXIS))!=0){
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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#ifdef DUAL_X_CARRIAGE
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if (active_extruder != 0)
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WRITE(X2_DIR_PIN,INVERT_X_DIR);
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else
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#endif
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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count_direction[X_AXIS]=-1;
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}
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else{
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WRITE(X_DIR_PIN, !INVERT_X_DIR);
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#ifdef DUAL_X_CARRIAGE
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if (active_extruder != 0)
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WRITE(X2_DIR_PIN,!INVERT_X_DIR);
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else
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#endif
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WRITE(X_DIR_PIN, !INVERT_X_DIR);
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count_direction[X_AXIS]=1;
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}
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if((out_bits & (1<<Y_AXIS))!=0){
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@ -372,29 +382,41 @@ ISR(TIMER1_COMPA_vect)
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#endif
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CHECK_ENDSTOPS
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{
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#if defined(X_MIN_PIN) && X_MIN_PIN > -1
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bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
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if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_min_endstop = x_min_endstop;
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#ifdef DUAL_X_CARRIAGE
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
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if ((active_extruder == 0 && X_HOME_DIR == -1) || (active_extruder != 0 && X2_HOME_DIR == -1))
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#endif
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{
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#if defined(X_MIN_PIN) && X_MIN_PIN > -1
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bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
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if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_min_endstop = x_min_endstop;
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#endif
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}
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}
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}
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else { // +direction
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CHECK_ENDSTOPS
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{
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#if defined(X_MAX_PIN) && X_MAX_PIN > -1
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bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
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if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_max_endstop = x_max_endstop;
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#ifdef DUAL_X_CARRIAGE
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// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
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if ((active_extruder == 0 && X_HOME_DIR == 1) || (active_extruder != 0 && X2_HOME_DIR == 1))
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#endif
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{
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#if defined(X_MAX_PIN) && X_MAX_PIN > -1
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bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
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if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
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endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
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endstop_x_hit=true;
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step_events_completed = current_block->step_event_count;
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}
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old_x_max_endstop = x_max_endstop;
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#endif
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}
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}
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}
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@ -507,10 +529,20 @@ ISR(TIMER1_COMPA_vect)
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counter_x += current_block->steps_x;
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if (counter_x > 0) {
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WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
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#ifdef DUAL_X_CARRIAGE
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if (active_extruder != 0)
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WRITE(X2_STEP_PIN,!INVERT_X_STEP_PIN);
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else
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#endif
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WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
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counter_x -= current_block->step_event_count;
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count_position[X_AXIS]+=count_direction[X_AXIS];
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WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
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#ifdef DUAL_X_CARRIAGE
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if (active_extruder != 0)
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WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
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else
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#endif
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WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
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}
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counter_y += current_block->steps_y;
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@ -685,6 +717,9 @@ void st_init()
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#if defined(X_DIR_PIN) && X_DIR_PIN > -1
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SET_OUTPUT(X_DIR_PIN);
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#endif
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#if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
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SET_OUTPUT(X2_DIR_PIN);
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#endif
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#if defined(Y_DIR_PIN) && Y_DIR_PIN > -1
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SET_OUTPUT(Y_DIR_PIN);
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#endif
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@ -711,6 +746,10 @@ void st_init()
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SET_OUTPUT(X_ENABLE_PIN);
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if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
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#endif
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#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
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SET_OUTPUT(X2_ENABLE_PIN);
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if(!X_ENABLE_ON) WRITE(X2_ENABLE_PIN,HIGH);
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#endif
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#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
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SET_OUTPUT(Y_ENABLE_PIN);
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if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
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@ -788,6 +827,11 @@ void st_init()
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WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
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disable_x();
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#endif
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#if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1)
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SET_OUTPUT(X2_STEP_PIN);
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WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
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disable_x();
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#endif
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#if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
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SET_OUTPUT(Y_STEP_PIN);
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WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
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@ -41,6 +41,8 @@ Features:
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* Heater power reporting. Useful for PID monitoring.
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* PID tuning
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* CoreXY kinematics (www.corexy.com/theory.html)
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* Delta kinematics
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* Dual X-carriage support for multiple extruder systems
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* Configurable serial port to support connection of wireless adaptors.
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* Automatic operation of extruder/cold-end cooling fans based on nozzle temperature
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* RC Servo Support, specify angle or duration for continuous rotation servos.
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