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Added Y_DUAL_STEPPER_DRIVERS

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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)
master
Richard Miles 11 years ago
parent 2015989f84
commit 7ee275b620
3 changed files with 325 additions and 144 deletions
Show Stats Download Patch File Download Diff File

73
Marlin/Configuration_adv.h
Unescape View File

@ -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

30
Marlin/Marlin.h
Unescape View File

@ -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
#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
#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();

162
Marlin/stepper.cpp
Unescape View File

@ -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){
WRITE(X_DIR_PIN, INVERT_X_DIR);
#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{
WRITE(X_DIR_PIN, !INVERT_X_DIR);
#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;
}
@ -372,29 +408,43 @@ ISR(TIMER1_COMPA_vect)
#endif
CHECK_ENDSTOPS
{
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_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;
step_events_completed = current_block->step_event_count;
}
old_x_min_endstop = x_min_endstop;
#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_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;
step_events_completed = current_block->step_event_count;
}
old_x_min_endstop = x_min_endstop;
#endif
}
}
}
else { // +direction
CHECK_ENDSTOPS
{
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_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;
step_events_completed = current_block->step_event_count;
}
old_x_max_endstop = x_max_endstop;
#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_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;
step_events_completed = current_block->step_event_count;
}
old_x_max_endstop = x_max_endstop;
#endif
}
}
}
@ -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;
@ -434,7 +484,7 @@ ISR(TIMER1_COMPA_vect)
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
#ifdef Z_DUAL_STEPPER_DRIVERS
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,INVERT_Z_DIR);
#endif
@ -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;
@ -455,7 +505,7 @@ ISR(TIMER1_COMPA_vect)
else { // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
#ifdef Z_DUAL_STEPPER_DRIVERS
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,!INVERT_Z_DIR);
#endif
@ -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;
@ -507,25 +557,60 @@ 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;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
#endif
@ -533,7 +618,7 @@ ISR(TIMER1_COMPA_vect)
count_position[Z_AXIS]+=count_direction[Z_AXIS];
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
#endif
}
@ -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)

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