Added Y_DUAL_STEPPER_DRIVERS

Enables two stepper drivers to be used for the Y axis (useful for Shapeoko style machines) Each Y driver can be stepped either the same way or in opposite directions, accounting for different hardware setups (leadscrew vs. belt driven)
11 years ago · 7ee275b620
3 changed files with 325 additions and 144 deletions
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@ -18,12 +18,6 @@
 //#define WATCH_TEMP_PERIOD 40000 //40 seconds
 //#define WATCH_TEMP_INCREASE 10  //Heat up at least 10 degree in 20 seconds

-// Wait for Cooldown
-// This defines if the M109 call should not block if it is cooling down.
-// example: From a current temp of 220, you set M109 S200. 
-// if CooldownNoWait is defined M109 will not wait for the cooldown to finish
-#define CooldownNoWait true
-
 #ifdef PIDTEMP
  // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed.
  // if Kc is choosen well, the additional required power due to increased melting should be compensated.
@ -152,6 +146,68 @@
  #define EXTRUDERS 1
 #endif

+// Same again but for Y Axis.
+#define Y_DUAL_STEPPER_DRIVERS
+
+// Define if the two Y drives need to rotate in opposite directions
+#define INVERT_Y2_VS_Y_DIR true
+
+#ifdef Y_DUAL_STEPPER_DRIVERS
+  #undef EXTRUDERS
+  #define EXTRUDERS 1
+#endif
+
+#ifdef Z_DUAL_STEPPER_DRIVERS && Y_DUAL_STEPPER_DRIVERS
+  #error "You cannot have dual drivers for both Y and Z"
+#endif 
+
+// Enable this for dual x-carriage printers. 
+// A dual x-carriage design has the advantage that the inactive extruder can be parked which
+// prevents hot-end ooze contaminating the print. It also reduces the weight of each x-carriage
+// allowing faster printing speeds.
+//#define DUAL_X_CARRIAGE
+#ifdef DUAL_X_CARRIAGE
+// Configuration for second X-carriage
+// Note: the first x-carriage is defined as the x-carriage which homes to the minimum endstop;
+// the second x-carriage always homes to the maximum endstop.
+#define X2_MIN_POS 80     // set minimum to ensure second x-carriage doesn't hit the parked first X-carriage
+#define X2_MAX_POS 353    // set maximum to the distance between toolheads when both heads are homed 
+#define X2_HOME_DIR 1     // the second X-carriage always homes to the maximum endstop position
+#define X2_HOME_POS X2_MAX_POS // default home position is the maximum carriage position 
+    // However: In this mode the EXTRUDER_OFFSET_X value for the second extruder provides a software 
+    // override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
+    // without modifying the firmware (through the "M218 T1 X???" command).
+    // Remember: you should set the second extruder x-offset to 0 in your slicer.
+
+// Pins for second x-carriage stepper driver (defined here to avoid further complicating pins.h)
+#define X2_ENABLE_PIN 29
+#define X2_STEP_PIN 25
+#define X2_DIR_PIN 23
+
+// There are a few selectable movement modes for dual x-carriages using M605 S<mode>
+//    Mode 0: Full control. The slicer has full control over both x-carriages and can achieve optimal travel results
+//                           as long as it supports dual x-carriages. (M605 S0)
+//    Mode 1: Auto-park mode. The firmware will automatically park and unpark the x-carriages on tool changes so
+//                           that additional slicer support is not required. (M605 S1)
+//    Mode 2: Duplication mode. The firmware will transparently make the second x-carriage and extruder copy all  
+//                           actions of the first x-carriage. This allows the printer to print 2 arbitrary items at
+//                           once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
+
+// This is the default power-up mode which can be later using M605. 
+#define DEFAULT_DUAL_X_CARRIAGE_MODE 0 
+
+// As the x-carriages are independent we can now account for any relative Z offset
+#define EXTRUDER1_Z_OFFSET 0.0           // z offset relative to extruder 0
+
+// Default settings in "Auto-park Mode" 
+#define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder
+#define TOOLCHANGE_UNPARK_ZLIFT 1        // the distance to raise Z axis when unparking an extruder
+
+// Default x offset in duplication mode (typically set to half print bed width)
+#define DEFAULT_DUPLICATION_X_OFFSET 100
+
+#endif //DUAL_X_CARRIAGE
+    
 //homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
 #define X_HOME_RETRACT_MM 5 
 #define Y_HOME_RETRACT_MM 5 
@ -174,6 +230,11 @@
 #define DEFAULT_MINIMUMFEEDRATE       0.0     // minimum feedrate
 #define DEFAULT_MINTRAVELFEEDRATE     0.0

+// Feedrates for manual moves along X, Y, Z, E from panel
+#ifdef ULTIPANEL
+#define MANUAL_FEEDRATE {50*60, 50*60, 4*60, 60}  // set the speeds for manual moves (mm/min)
+#endif
+
 // minimum time in microseconds that a movement needs to take if the buffer is emptied.
 #define DEFAULT_MINSEGMENTTIME        20000

--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@ -51,22 +51,22 @@
  #define MYSERIAL MSerial
 #endif

-#define SERIAL_PROTOCOL(x) MYSERIAL.print(x);
-#define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y);
-#define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x));
-#define SERIAL_PROTOCOLLN(x) {MYSERIAL.print(x);MYSERIAL.write('\n');}
-#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(PSTR(x));MYSERIAL.write('\n');}
+#define SERIAL_PROTOCOL(x) (MYSERIAL.print(x))
+#define SERIAL_PROTOCOL_F(x,y) (MYSERIAL.print(x,y))
+#define SERIAL_PROTOCOLPGM(x) (serialprintPGM(PSTR(x)))
+#define SERIAL_PROTOCOLLN(x) (MYSERIAL.print(x),MYSERIAL.write('\n'))
+#define SERIAL_PROTOCOLLNPGM(x) (serialprintPGM(PSTR(x)),MYSERIAL.write('\n'))


 const char errormagic[] PROGMEM ="Error:";
 const char echomagic[] PROGMEM ="echo:";
-#define SERIAL_ERROR_START serialprintPGM(errormagic);
+#define SERIAL_ERROR_START (serialprintPGM(errormagic))
 #define SERIAL_ERROR(x) SERIAL_PROTOCOL(x)
 #define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x)
 #define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x)
 #define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x)

-#define SERIAL_ECHO_START serialprintPGM(echomagic);
+#define SERIAL_ECHO_START (serialprintPGM(echomagic))
 #define SERIAL_ECHO(x) SERIAL_PROTOCOL(x)
 #define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x)
 #define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
@ -96,7 +96,11 @@ void process_commands();

 void manage_inactivity();

-#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
+#if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
+    && defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
+  #define  enable_x() do { WRITE(X_ENABLE_PIN, X_ENABLE_ON); WRITE(X2_ENABLE_PIN, X_ENABLE_ON); } while (0)
+  #define disable_x() do { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); WRITE(X2_ENABLE_PIN,!X_ENABLE_ON); } while (0)
+#elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
  #define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
  #define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
 #else
@ -105,8 +109,13 @@ void manage_inactivity();
 #endif

 #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
+  #ifdef Y_DUAL_STEPPER_DRIVERS
+    #define  enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN,  Y_ENABLE_ON); }
+    #define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); }
+  #else
    #define  enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
    #define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
+  #endif
 #else
  #define enable_y() ;
  #define disable_y() ;
@ -159,6 +168,7 @@ void ClearToSend();
 void get_coordinates();
 #ifdef DELTA
 void calculate_delta(float cartesian[3]);
+extern float delta[3];
 #endif
 void prepare_move();
 void kill();
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@ -348,19 +348,55 @@ ISR(TIMER1_COMPA_vect)

    // Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
    if((out_bits & (1<<X_AXIS))!=0){
+      #ifdef DUAL_X_CARRIAGE
+        if (extruder_duplication_enabled){
          WRITE(X_DIR_PIN, INVERT_X_DIR);
+          WRITE(X2_DIR_PIN, INVERT_X_DIR);
+        }
+        else{
+          if (current_block->active_extruder != 0)
+            WRITE(X2_DIR_PIN, INVERT_X_DIR);
+          else
+            WRITE(X_DIR_PIN, INVERT_X_DIR);
+        }
+      #else
+        WRITE(X_DIR_PIN, INVERT_X_DIR);
+      #endif        
      count_direction[X_AXIS]=-1;
    }
    else{
+      #ifdef DUAL_X_CARRIAGE
+        if (extruder_duplication_enabled){
          WRITE(X_DIR_PIN, !INVERT_X_DIR);
+          WRITE(X2_DIR_PIN, !INVERT_X_DIR);
+        }
+        else{
+          if (current_block->active_extruder != 0)
+            WRITE(X2_DIR_PIN, !INVERT_X_DIR);
+          else
+            WRITE(X_DIR_PIN, !INVERT_X_DIR);
+        }
+      #else
+        WRITE(X_DIR_PIN, !INVERT_X_DIR);
+      #endif        
      count_direction[X_AXIS]=1;
    }
    if((out_bits & (1<<Y_AXIS))!=0){
      WRITE(Y_DIR_PIN, INVERT_Y_DIR);
+	  
+	  #ifdef Y_DUAL_STEPPER_DRIVERS
+	    WRITE(Y2_DIR_PIN, !(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
+	  #endif
+	  
      count_direction[Y_AXIS]=-1;
    }
    else{
      WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
+	  
+	  #ifdef Y_DUAL_STEPPER_DRIVERS
+	    WRITE(Y2_DIR_PIN, (INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
+	  #endif
+	  
      count_direction[Y_AXIS]=1;
    }

@ -371,9 +407,15 @@ ISR(TIMER1_COMPA_vect)
    if ((((out_bits & (1<<X_AXIS)) != 0)&&(out_bits & (1<<Y_AXIS)) != 0)) {   //-X occurs for -A and -B
    #endif
      CHECK_ENDSTOPS
+      {
+        #ifdef DUAL_X_CARRIAGE
+        // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+        if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) 
+            || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
+        #endif          
        {
          #if defined(X_MIN_PIN) && X_MIN_PIN > -1
-          bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
+            bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
            if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
              endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
              endstop_x_hit=true;
@ -383,11 +425,18 @@ ISR(TIMER1_COMPA_vect)
          #endif
        }
      }
+    }
    else { // +direction
      CHECK_ENDSTOPS
+      {
+        #ifdef DUAL_X_CARRIAGE
+        // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+        if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) 
+            || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
+        #endif          
        {
          #if defined(X_MAX_PIN) && X_MAX_PIN > -1
-          bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
+            bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
            if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
              endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
              endstop_x_hit=true;
@ -397,6 +446,7 @@ ISR(TIMER1_COMPA_vect)
          #endif
        }
      }
+    }

    #ifndef COREXY
    if ((out_bits & (1<<Y_AXIS)) != 0) {   // -direction
@ -406,7 +456,7 @@ ISR(TIMER1_COMPA_vect)
      CHECK_ENDSTOPS
      {
        #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
-          bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
+          bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
          if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
            endstop_y_hit=true;
@ -420,7 +470,7 @@ ISR(TIMER1_COMPA_vect)
      CHECK_ENDSTOPS
      {
        #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
-          bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
+          bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
          if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
            endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
            endstop_y_hit=true;
@ -442,7 +492,7 @@ ISR(TIMER1_COMPA_vect)
      CHECK_ENDSTOPS
      {
        #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
-          bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
+          bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
          if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
            endstop_z_hit=true;
@ -463,7 +513,7 @@ ISR(TIMER1_COMPA_vect)
      CHECK_ENDSTOPS
      {
        #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
-          bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
+          bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
          if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
            endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
            endstop_z_hit=true;
@ -507,18 +557,53 @@ ISR(TIMER1_COMPA_vect)

        counter_x += current_block->steps_x;
        if (counter_x > 0) {
+        #ifdef DUAL_X_CARRIAGE
+          if (extruder_duplication_enabled){
+            WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
+            WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
+          }
+          else {
+            if (current_block->active_extruder != 0)
+              WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
+            else
              WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
+          }
+        #else
+          WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
+        #endif        
          counter_x -= current_block->step_event_count;
          count_position[X_AXIS]+=count_direction[X_AXIS];   
+        #ifdef DUAL_X_CARRIAGE
+          if (extruder_duplication_enabled){
+            WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
+            WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
+          }
+          else {
+            if (current_block->active_extruder != 0)
+              WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
+            else
              WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
          }
+        #else
+          WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
+        #endif
+        }

        counter_y += current_block->steps_y;
        if (counter_y > 0) {
          WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
+		  
+		  #ifdef Y_DUAL_STEPPER_DRIVERS
+			WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
+		  #endif
+		  
          counter_y -= current_block->step_event_count;
          count_position[Y_AXIS]+=count_direction[Y_AXIS];
          WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
+		  
+		  #ifdef Y_DUAL_STEPPER_DRIVERS
+			WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
+		  #endif
        }

      counter_z += current_block->steps_z;
@ -685,8 +770,15 @@ void st_init()
  #if defined(X_DIR_PIN) && X_DIR_PIN > -1
    SET_OUTPUT(X_DIR_PIN);
  #endif
+  #if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
+    SET_OUTPUT(X2_DIR_PIN);
+  #endif
  #if defined(Y_DIR_PIN) && Y_DIR_PIN > -1
    SET_OUTPUT(Y_DIR_PIN);
+	
+	#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && (Y2_DIR_PIN > -1)
+	  SET_OUTPUT(Y2_DIR_PIN);
+	#endif
  #endif
  #if defined(Z_DIR_PIN) && Z_DIR_PIN > -1
    SET_OUTPUT(Z_DIR_PIN);
@ -711,9 +803,18 @@ void st_init()
    SET_OUTPUT(X_ENABLE_PIN);
    if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
  #endif
+  #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
+    SET_OUTPUT(X2_ENABLE_PIN);
+    if(!X_ENABLE_ON) WRITE(X2_ENABLE_PIN,HIGH);
+  #endif
  #if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
    SET_OUTPUT(Y_ENABLE_PIN);
    if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
+	
+	#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_ENABLE_PIN) && (Y2_ENABLE_PIN > -1)
+	  SET_OUTPUT(Y2_ENABLE_PIN);
+	  if(!Y_ENABLE_ON) WRITE(Y2_ENABLE_PIN,HIGH);
+	#endif
  #endif
  #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
    SET_OUTPUT(Z_ENABLE_PIN);
@ -788,9 +889,18 @@ void st_init()
    WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
    disable_x();
  #endif
+  #if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1)
+    SET_OUTPUT(X2_STEP_PIN);
+    WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
+    disable_x();
+  #endif
  #if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
    SET_OUTPUT(Y_STEP_PIN);
    WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
+    #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1)
+      SET_OUTPUT(Y2_STEP_PIN);
+      WRITE(Y2_STEP_PIN,INVERT_Y_STEP_PIN);
+    #endif
    disable_y();
  #endif
  #if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1)