SMUFF (MMU2 clone) support (#19912)

Marlin/src/feature/mmu/mmu.cpp

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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../inc/MarlinConfig.h"
+
+#if HAS_PRUSA_MMU1
+
+#include "../module/stepper.h"
+
+void select_multiplexed_stepper(const uint8_t e) {
+  planner.synchronize();
+  disable_e_steppers();
+  WRITE(E_MUX0_PIN, TEST(e, 0) ? HIGH : LOW);
+  WRITE(E_MUX1_PIN, TEST(e, 1) ? HIGH : LOW);
+  WRITE(E_MUX2_PIN, TEST(e, 2) ? HIGH : LOW);
+  safe_delay(100);
+}
+
+#endif // HAS_PRUSA_MMU1

Marlin/src/feature/mmu/mmu.h

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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+void select_multiplexed_stepper(const uint8_t e);

Marlin/src/feature/mmu/mmu2-serial-protocol.md

@@ -0,0 +1,94 @@
+Startup sequence
+================
+
+When initialized, MMU sends
+
+- MMU => 'start\n'
+
+We follow with
+
+- MMU <= 'S1\n'
+- MMU => 'ok*Firmware version*\n'
+- MMU <= 'S2\n'
+- MMU => 'ok*Build number*\n'
+
+#if (12V_mode)
+
+- MMU <= 'M1\n'
+- MMU => 'ok\n'
+
+#endif
+
+- MMU <= 'P0\n'
+- MMU => '*FINDA status*\n'
+
+Now we are sure MMU is available and ready. If there was a timeout or other communication problem somewhere, printer will be killed.
+
+- *Firmware version* is an integer value, but we don't care about it
+- *Build number* is an integer value and has to be >=126, or =>132 if 12V mode is enabled
+- *FINDA status* is 1 if the filament is loaded to the extruder, 0 otherwise
+
+
+*Build number* is checked against the required value, if it does not match, printer is halted.
+
+
+
+Toolchange
+==========
+
+- MMU <= 'T*Filament index*\n'
+
+MMU sends
+
+- MMU => 'ok\n'
+
+as soon as the filament is fed down to the extruder. We follow with
+
+- MMU <= 'C0\n'
+
+MMU will feed a few more millimeters of filament for the extruder gears to grab.
+When done, the MMU sends
+
+- MMU => 'ok\n'
+
+We don't wait for a response here but immediately continue with the next gcode which should
+be one or more extruder moves to feed the filament into the hotend.
+
+
+FINDA status
+============
+
+- MMU <= 'P0\n'
+- MMU => '*FINDA status*\n'
+
+*FINDA status* is 1 if the is filament loaded to the extruder, 0 otherwise. This could be used as filament runout sensor if probed regularly.
+
+
+
+Load filament
+=============
+
+- MMU <= 'L*Filament index*\n'
+
+MMU will feed filament down to the extruder, when done
+
+- MMU => 'ok\n'
+
+
+Unload filament
+=============
+
+- MMU <= 'U0\n'
+
+MMU will retract current filament from the extruder, when done
+
+- MMU => 'ok\n'
+
+
+
+Eject filament
+==============
+
+- MMU <= 'E*Filament index*\n'
+- MMU => 'ok\n'
+

Marlin/src/feature/mmu/mmu2.h

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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_FILAMENT_SENSOR
+  #include "../runout.h"
+#endif
+
+#if SERIAL_USB
+  #define MMU_RX_SIZE 256
+  #define MMU_TX_SIZE 256
+#else
+  #define MMU_RX_SIZE  16
+  #define MMU_TX_SIZE  16
+#endif
+
+struct E_Step;
+
+class MMU2 {
+public:
+  MMU2();
+
+  static void init();
+  static void reset();
+  static void mmu_loop();
+  static void tool_change(const uint8_t index);
+  static void tool_change(const char* special);
+  static uint8_t get_current_tool();
+  static void set_filament_type(const uint8_t index, const uint8_t type);
+
+  static bool unload();
+  static void load_filament(uint8_t);
+  static void load_all();
+  static bool load_filament_to_nozzle(const uint8_t index);
+  static bool eject_filament(const uint8_t index, const bool recover);
+
+private:
+  static bool rx_str_P(const char* str);
+  static void tx_str_P(const char* str);
+  static void tx_printf_P(const char* format, const int argument);
+  static void tx_printf_P(const char* format, const int argument1, const int argument2);
+  static void clear_rx_buffer();
+
+  static bool rx_ok();
+  static bool rx_start();
+  static void check_version();
+
+  static void command(const uint8_t cmd);
+  static bool get_response();
+  static void manage_response(const bool move_axes, const bool turn_off_nozzle);
+
+  static void load_to_nozzle();
+  static void filament_ramming();
+  static void execute_extruder_sequence(const E_Step * sequence, int steps);
+
+  static void filament_runout();
+
+  #if HAS_PRUSA_MMU2S
+    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
+
+  #if ENABLED(MMU_EXTRUDER_SENSOR)
+    static void mmu_continue_loading();
+  #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;
+  static volatile bool finda_runout_valid;
+  static int16_t version, buildnr;
+  static millis_t prev_request, prev_P0_request;
+  static char rx_buffer[MMU_RX_SIZE], tx_buffer[MMU_TX_SIZE];
+
+  static inline void set_runout_valid(const bool valid) {
+    finda_runout_valid = valid;
+    #if HAS_FILAMENT_SENSOR
+      if (valid) runout.reset();
+    #endif
+  }
+
+};
+
+extern MMU2 mmu2;