Add Prusa MMU2S settings - beta (#17523)

Marlin/Configuration_adv.h

       {  10.0,  700 }, \
       { -10.0,  400 }, \
       { -50.0, 2000 }
+  #endif
+
+  // Using a sensor like the MMU2S
+  //#define PRUSA_MMU2_S_MODE
+  #if ENABLED(PRUSA_MMU2_S_MODE)
+    #define MMU2_C0_RETRY   5             // Number of retries (total time = timeout*retries)
+
+    #define MMU2_CAN_LOAD_FEEDRATE 800    // (mm/m)
+    #define MMU2_CAN_LOAD_SEQUENCE \
+      {  0.1, MMU2_CAN_LOAD_FEEDRATE }, \
+      {  60.0, MMU2_CAN_LOAD_FEEDRATE }, \
+      { -52.0, MMU2_CAN_LOAD_FEEDRATE }
+
+    #define MMU2_CAN_LOAD_RETRACT   6.0   // (mm) Keep under the distance between Load Sequence values
+    #define MMU2_CAN_LOAD_DEVIATION 0.8   // (mm) Acceptable deviation
+
+    #define MMU2_CAN_LOAD_INCREMENT 0.2   // (mm) To reuse within MMU2 module
+    #define MMU2_CAN_LOAD_INCREMENT_SEQUENCE \
+      { -MMU2_CAN_LOAD_INCREMENT, MMU2_CAN_LOAD_FEEDRATE }
 
   #endif
 

Marlin/src/feature/mmu2/mmu2.cpp

 #define mmuSerial   MMU2_SERIAL
 
 bool MMU2::enabled, MMU2::ready, MMU2::mmu_print_saved;
+#if ENABLED(PRUSA_MMU2_S_MODE)
+  bool MMU2::mmu2s_triggered;
+#endif
 uint8_t MMU2::cmd, MMU2::cmd_arg, MMU2::last_cmd, MMU2::extruder;
 int8_t MMU2::state = 0;
 volatile int8_t MMU2::finda = 1;
     feedRate_t feedRate;  //!< feed rate in mm/s
   };
 
-  static constexpr E_Step ramming_sequence[] PROGMEM = { MMU2_RAMMING_SEQUENCE };
-  static constexpr E_Step load_to_nozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE };
+  static constexpr E_Step
+      ramming_sequence[] PROGMEM = { MMU2_RAMMING_SEQUENCE }
+    , load_to_nozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE }
+    #if ENABLED(PRUSA_MMU2_S_MODE)
+      , can_load_sequence[] PROGMEM = { MMU2_CAN_LOAD_SEQUENCE }
+      , can_load_increment_sequence[] PROGMEM = { MMU2_CAN_LOAD_INCREMENT_SEQUENCE }
+    #endif
+  ;
 
 #endif // MMU2_MENUS
 
 
         enabled = true;
         state = 1;
+        TERN_(PRUSA_MMU2_S_MODE, mmu2s_triggered = false);
       }
       break;
 
         tx_str_P(PSTR("P0\n"));
         state = 2; // wait for response
       }
+      
+      TERN_(PRUSA_MMU2_S_MODE, check_filament());
       break;
 
     case 2:   // response to command P0
       else if (ELAPSED(millis(), last_request + MMU_P0_TIMEOUT)) // Resend request after timeout (3s)
         state = 1;
 
+      TERN_(PRUSA_MMU2_S_MODE, check_filament());
       break;
 
     case 3:   // response to mmu commands
         }
         state = 1;
       }
+      TERN_(PRUSA_MMU2_S_MODE, check_filament());
       break;
   }
 }
   }
 }
 
+static bool mmu2_not_responding() {
+  LCD_MESSAGEPGM(MSG_MMU2_NOT_RESPONDING);
+  BUZZ(100, 659);
+  BUZZ(200, 698);
+  BUZZ(100, 659);
+  BUZZ(300, 440);
+  BUZZ(100, 659);
+}
+
+#if ENABLED(PRUSA_MMU2_S_MODE)
+
+  bool MMU2::load_to_gears() {
+    command(MMU_CMD_C0);
+    manage_response(true, true);
+    LOOP_L_N(i, MMU2_C0_RETRY) {  // Keep loading until filament reaches gears
+      if (mmu2s_triggered) break;
+      command(MMU_CMD_C0);
+      manage_response(true, true);
+      check_filament();
+    }
+    const bool success = mmu2s_triggered && can_load();
+    if (!success) mmu2_not_responding();
+    return success;
+  }
+
+#endif
+
 /**
  * Handle tool change
  */
     ui.status_printf_P(0, GET_TEXT(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
 
     command(MMU_CMD_T0 + index);
-
     manage_response(true, true);
 
-    command(MMU_CMD_C0);
-    extruder = index; //filament change is finished
-    active_extruder = 0;
-
-    ENABLE_AXIS_E0();
-
-    SERIAL_ECHO_START();
-    SERIAL_ECHOLNPAIR(STR_ACTIVE_EXTRUDER, int(extruder));
-
+    if (load_to_gears()) {
+      extruder = index; // filament change is finished
+      active_extruder = 0;
+      ENABLE_AXIS_E0();
+      SERIAL_ECHO_START();
+      SERIAL_ECHOLNPAIR(STR_ACTIVE_EXTRUDER, int(extruder));
+    }
     ui.reset_status();
   }
 
         DISABLE_AXIS_E0();
         command(MMU_CMD_T0 + index);
         manage_response(true, true);
-        command(MMU_CMD_C0);
-        mmu_loop();
 
-        ENABLE_AXIS_E0();
-        extruder = index;
-        active_extruder = 0;
+        if (load_to_gears()) {
+          mmu_loop();
+          ENABLE_AXIS_E0();
+          extruder = index;
+          active_extruder = 0;
+        }
       } break;
 
       case 'c': {
 
         if (turn_off_nozzle) thermalManager.setTargetHotend(0, active_extruder);
 
-        LCD_MESSAGEPGM(MSG_MMU2_NOT_RESPONDING);
-        BUZZ(100, 659);
-        BUZZ(200, 698);
-        BUZZ(100, 659);
-        BUZZ(300, 440);
-        BUZZ(100, 659);
+        mmu2_not_responding();
       }
     }
     else if (mmu_print_saved) {
   planner.synchronize();
 }
 
+#if ENABLED(PRUSA_MMU2_S_MODE)
+  void MMU2::check_filament() {
+    const bool runout = READ(FIL_RUNOUT_PIN) ^ (FIL_RUNOUT_INVERTING);
+    if (runout && !mmu2s_triggered) {
+      DEBUG_ECHOLNPGM("MMU <= 'A'");
+      tx_str_P(PSTR("A\n"));
+    } 
+    mmu2s_triggered = runout;
+  }
+
+  bool MMU2::can_load() {
+    execute_extruder_sequence((const E_Step *)can_load_sequence, COUNT(can_load_sequence));
+    
+    int filament_detected_count = 0;
+    const int steps = MMU2_CAN_LOAD_RETRACT / MMU2_CAN_LOAD_INCREMENT;
+    DEBUG_ECHOLNPGM("MMU can_load:");
+    LOOP_L_N(i, steps) {
+      execute_extruder_sequence((const E_Step *)can_load_increment_sequence, COUNT(can_load_increment_sequence));
+      check_filament(); // Don't trust the idle function
+      DEBUG_CHAR(mmu2s_triggered ? 'O' : 'o');
+      if (mmu2s_triggered) ++filament_detected_count;
+    }
+
+    if (filament_detected_count <= steps - (MMU2_CAN_LOAD_DEVIATION / MMU2_CAN_LOAD_INCREMENT)) { 
+      DEBUG_ECHOLNPGM(" failed.");
+      return false;
+    }
+
+    DEBUG_ECHOLNPGM(" succeeded.");
+    return true;
+  }
+#endif
+
 #if BOTH(HAS_LCD_MENU, MMU2_MENUS)
 
   // Load filament into MMU2
       LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD);
       return false;
     }
-    else {
-      command(MMU_CMD_T0 + index);
-      manage_response(true, true);
-      command(MMU_CMD_C0);
-      mmu_loop();
 
+    command(MMU_CMD_T0 + index);
+    manage_response(true, true);
+
+    const bool success = load_to_gears();
+    if (success) {
+      mmu_loop();
       extruder = index;
       active_extruder = 0;
-
       load_to_nozzle();
-
       BUZZ(200, 404);
-      return true;
     }
+    return success;
   }
 
   /**

Marlin/src/feature/mmu2/mmu2.h

 
   static void filament_runout();
 
+  #if ENABLED(PRUSA_MMU2_S_MODE)
+    static bool mmu2s_triggered;
+    static void check_filament();
+    static bool can_load();
+    static bool load_to_gears();
+  #else
+    FORCE_INLINE static bool load_to_gears() { return true; }
+  #endif
+
   static bool enabled, ready, mmu_print_saved;
+
   static uint8_t cmd, cmd_arg, last_cmd, extruder;
   static int8_t state;
   static volatile int8_t finda;

Marlin/src/inc/SanityCheck.h

     #error "PRUSA_MMU2 requires NOZZLE_PARK_FEATURE."
   #elif EXTRUDERS != 5
     #error "PRUSA_MMU2 requires EXTRUDERS = 5."
+  #elif ENABLED(PRUSA_MMU2_S_MODE) && DISABLED(FILAMENT_RUNOUT_SENSOR)
+    #error "PRUSA_MMU2_S_MODE requires FILAMENT_RUNOUT_SENSOR. Enable it to continue."
   #elif DISABLED(ADVANCED_PAUSE_FEATURE)
     static_assert(nullptr == strstr(MMU2_FILAMENT_RUNOUT_SCRIPT, "M600"), "ADVANCED_PAUSE_FEATURE is required to use M600 with PRUSA_MMU2.");
   #endif

Marlin/src/lcd/language/language_en.h

   PROGMEM Language_Str MSG_MMU2_MENU                       = _UxGT("MMU");
   PROGMEM Language_Str MSG_KILL_MMU2_FIRMWARE              = _UxGT("Update MMU Firmware!");
   PROGMEM Language_Str MSG_MMU2_NOT_RESPONDING             = _UxGT("MMU Needs Attention.");
-  PROGMEM Language_Str MSG_MMU2_RESUME                     = _UxGT("Resume Print");
-  PROGMEM Language_Str MSG_MMU2_RESUMING                   = _UxGT("Resuming...");
-  PROGMEM Language_Str MSG_MMU2_LOAD_FILAMENT              = _UxGT("Load Filament");
-  PROGMEM Language_Str MSG_MMU2_LOAD_ALL                   = _UxGT("Load All");
-  PROGMEM Language_Str MSG_MMU2_LOAD_TO_NOZZLE             = _UxGT("Load to Nozzle");
-  PROGMEM Language_Str MSG_MMU2_EJECT_FILAMENT             = _UxGT("Eject Filament");
-  PROGMEM Language_Str MSG_MMU2_EJECT_FILAMENT_N           = _UxGT("Eject Filament ~");
-  PROGMEM Language_Str MSG_MMU2_UNLOAD_FILAMENT            = _UxGT("Unload Filament");
+  PROGMEM Language_Str MSG_MMU2_RESUME                     = _UxGT("MMU Resume");
+  PROGMEM Language_Str MSG_MMU2_RESUMING                   = _UxGT("MMU Resuming...");
+  PROGMEM Language_Str MSG_MMU2_LOAD_FILAMENT              = _UxGT("MMU Load");
+  PROGMEM Language_Str MSG_MMU2_LOAD_ALL                   = _UxGT("MMU Load All");
+  PROGMEM Language_Str MSG_MMU2_LOAD_TO_NOZZLE             = _UxGT("MMU Load to Nozzle");
+  PROGMEM Language_Str MSG_MMU2_EJECT_FILAMENT             = _UxGT("MMU Eject");
+  PROGMEM Language_Str MSG_MMU2_EJECT_FILAMENT_N           = _UxGT("MMU Eject ~");
+  PROGMEM Language_Str MSG_MMU2_UNLOAD_FILAMENT            = _UxGT("MMU Unload");
   PROGMEM Language_Str MSG_MMU2_LOADING_FILAMENT           = _UxGT("Loading Fil. %i...");
   PROGMEM Language_Str MSG_MMU2_EJECTING_FILAMENT          = _UxGT("Ejecting Fil. ...");
   PROGMEM Language_Str MSG_MMU2_UNLOADING_FILAMENT         = _UxGT("Unloading Fil....");
   PROGMEM Language_Str MSG_MMU2_ALL                        = _UxGT("All");
   PROGMEM Language_Str MSG_MMU2_FILAMENT_N                 = _UxGT("Filament ~");
   PROGMEM Language_Str MSG_MMU2_RESET                      = _UxGT("Reset MMU");
-  PROGMEM Language_Str MSG_MMU2_RESETTING                  = _UxGT("Resetting MMU...");
+  PROGMEM Language_Str MSG_MMU2_RESETTING                  = _UxGT("MMU Resetting...");
   PROGMEM Language_Str MSG_MMU2_EJECT_RECOVER              = _UxGT("Remove, click");
 
   PROGMEM Language_Str MSG_MIX                             = _UxGT("Mix");

buildroot/share/tests/mega2560-tests

 opt_enable ZONESTAR_LCD Z_PROBE_SERVO_NR Z_SERVO_ANGLES DEACTIVATE_SERVOS_AFTER_MOVE BOOT_MARLIN_LOGO_ANIMATED \
            AUTO_BED_LEVELING_3POINT DEBUG_LEVELING_FEATURE EEPROM_SETTINGS EEPROM_CHITCHAT M114_DETAIL \
            NO_VOLUMETRICS EXTENDED_CAPABILITIES_REPORT AUTO_REPORT_TEMPERATURES AUTOTEMP G38_PROBE_TARGET JOYSTICK \
-           PRUSA_MMU2 MMU2_MENUS NOZZLE_PARK_FEATURE ADVANCED_PAUSE_FEATURE Z_SAFE_HOMING
+           PRUSA_MMU2 MMU2_MENUS PRUSA_MMU2_S_MODE FILAMENT_RUNOUT_SENSOR NOZZLE_PARK_FEATURE ADVANCED_PAUSE_FEATURE Z_SAFE_HOMING
 exec_test $1 $2 "RAMPS | ZONESTAR_LCD | MMU2 | Servo Probe | ABL 3-Pt | Debug Leveling | EEPROM | G38 ..."
 
 #