Merge pull request #7096 from thinkyhead/redo_DSE

Support for two switching extruders

Marlin/Configuration.h

 //#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

Marlin/Marlin_main.cpp

 }
 
 #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);
 }
 
 
   #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;
 
         #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
 
           /**
 
     #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);
 

Marlin/SanityCheck.h

 #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."
 /**
  * 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
 
 /**
 #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

Marlin/pins.h

 #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

Marlin/stepper_indirection.h

  * 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); } }