3D Chameleon filament changer [WIP]

Marlin/Configuration.h

@@ -390,6 +390,7 @@
  *   PRUSA_MMU3           : Průša MMU3  (Requires MK3S extruder with motion sensor and MMU firmware version 3.x.x, EXTRUDERS = 5)
  *   EXTENDABLE_EMU_MMU2  : MMU with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware)
  *   EXTENDABLE_EMU_MMU2S : MMUS with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware)
+ *   CHAMELEON            : Chameleon with up to 4 switchable filaments
  *
  * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails.
  * See additional options in Configuration_adv.h.

Marlin/Configuration_adv.h

@@ -4594,6 +4594,37 @@
 
 #endif // HAS_PRUSA_MMU2 || HAS_PRUSA_MMU3
 
+#if HAS_CHAMELEON
+
+  #define CHAMELEON_BUTTON1_X       X_MAX_POS   // Button 1 depressed position
+  #define CHAMELEON_BUTTON2_X       X_MIN_POS   // Button 2 depressed position (Used for EXTRUDERS > 2)
+  //#define CHAMELEON_TOOLCHANGE_Y  Y_CENTER    // A standard Y position for all tool-changes
+  //#define CHAMELEON_TOOLCHANGE_Z  Z_MAX_POS   // Enable and adjust if the switch is top-mounted
+
+  // Design the ramming sequence to first retract out of the hotend,
+  // then do blob elimination at the tip, then retract all the way
+  // back out of the feeder splitter.
+  #define CHAMELEON_RAMMING_SEQUENCE \
+    {  -10, 10000 }, /* <   fast (shape)  */ \
+    {  -40,   600 }, /* <   slow (cool)   */ \
+    {  +50, 10000 }, /*   > fast (shape)  */ \
+    {  -10, 10000 }, /* <   fast (shape)  */ \
+    {  -40,   600 }, /* <   slow (cool)   */ \
+    {  +51, 10000 }, /*   > fast (unblob) */ \
+    {  -11, 10000 }, /* <   fast (shape)  */ \
+    {  +11, 10000 }, /*   > fast (unblob) */ \
+    {  -11, 10000 }, /* <   fast (shape)  */ \
+    {  +11, 10000 }, /*   > fast (unblob) */ \
+    {  -11, 10000 }, /* <   fast (shape)  */ \
+    {  -40,   100 }, /* <   slow (cool)   */ \
+    { -110, 10000 }, /* <   fast (shape)  */ \
+    {  +40,  1000 }, /*   > fast (shape)  */ \
+    {  -40,  1000 }, /* <   fast (shape)  */ \
+    {  +40,  1000 }, /*   > fast (shape)  */ \
+    { -130,  5000 }  /* <   fast (unload) */
+
+#endif // HAS_CHAMELEON
+
 /**
  * Advanced Print Counter settings
  * @section stats

Marlin/src/core/macros.h

@@ -300,6 +300,12 @@
 #define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
 
 // Expansion of some list items
+#define LIST_32(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,DD,EE,FF,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,DD,EE,FF
+#define LIST_31(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,DD,EE,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,DD,EE
+#define LIST_30(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,DD,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,DD
+#define LIST_29(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,CC
+#define LIST_28(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,BB,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,TU,V,W,X,Y,Z,AA,BB
+#define LIST_27(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,AA
 #define LIST_26(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z
 #define LIST_25(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y
 #define LIST_24(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X
@@ -562,6 +568,17 @@
 #define INC_18 19
 #define INC_19 20
 #define INC_20 21
+#define INC_21 22
+#define INC_22 23
+#define INC_23 24
+#define INC_24 25
+#define INC_25 26
+#define INC_26 27
+#define INC_27 28
+#define INC_28 29
+#define INC_29 30
+#define INC_30 31
+#define INC_31 32
 #define INCREMENT_(n) INC_##n
 #define INCREMENT(n) INCREMENT_(n)
 
@@ -597,6 +614,23 @@
 #define DEC_13 12
 #define DEC_14 13
 #define DEC_15 14
+#define DEC_16 15
+#define DEC_17 16
+#define DEC_18 17
+#define DEC_19 18
+#define DEC_20 19
+#define DEC_21 20
+#define DEC_22 21
+#define DEC_23 22
+#define DEC_24 23
+#define DEC_25 24
+#define DEC_26 25
+#define DEC_27 26
+#define DEC_28 27
+#define DEC_29 28
+#define DEC_30 29
+#define DEC_31 30
+#define DEC_32 31
 #define DECREMENT_(n) DEC_##n
 #define DECREMENT(n) DECREMENT_(n)
 

Marlin/src/feature/mmu/chameleon.cpp

@@ -0,0 +1,128 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2023 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_CHAMELEON
+
+#include "chameleon.h"
+//#include "../../MarlinCore.h"
+#include "../../module/planner.h"
+#include "../../module/stepper.h"
+#include "../../lcd/marlinui.h"
+
+//#define DEBUG_OUT ENABLED(DEBUG_CHAMELEON)
+#include "../../core/debug_out.h"
+
+Chameleon chameleon;
+
+struct E_Step {
+  float extrude;
+  feedRate_t feedRate;
+};
+
+// Change tools the Chameleon 3D way
+void Chameleon::tool_change(const uint8_t index) {
+  const uint8_t switches = active_extruder ^ index;
+  if (!switches) return;
+
+  ui.status_printf(0, GET_TEXT_F(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
+
+  #ifdef CHAMELEON_TOOLCHANGE_Y
+    current_position.y = CHAMELEON_TOOLCHANGE_Y;
+  #endif
+  #ifdef CHAMELEON_TOOLCHANGE_Z
+    NOLESS(current_position.z, CHAMELEON_TOOLCHANGE_Z);
+    line_to_current_position(5000);
+  #endif
+  if (switches & 0x1) {
+    current_position.x = CHAMELEON_BUTTON1_X + (X_CENTER > (CHAMELEON_BUTTON1_X)) ? 10 : -10;
+  }
+  else {
+    #if EXTRUDERS > 2
+      if (switches & 0x2)
+        current_position.x = CHAMELEON_BUTTON2_X + (X_CENTER > (CHAMELEON_BUTTON2_X)) ? 10 : -10;
+    #endif
+  }
+  line_to_current_position(5000);
+
+  static constexpr E_Step ramming_sequence[] PROGMEM = { CHAMELEON_RAMMING_SEQUENCE };
+  execute_extruder_sequence(ramming_sequence, COUNT(ramming_sequence));
+
+  toggle(switches);
+
+  active_extruder = index;
+
+  ui.reset_status();
+}
+
+// Execute a list of E moves
+void Chameleon::execute_extruder_sequence(const E_Step * const sequence, const uint8_t steps) {
+  planner.synchronize();
+  stepper.enable_extruder();
+
+  const E_Step *step = sequence;
+
+  for (uint8_t i = 0; i < steps; ++i) {
+    const float es = pgm_read_float(&(step->extrude));
+    const uint16_t fr_or_ms = pgm_read_float(&(step->feedRate));
+
+    DEBUG_ECHO_MSG("Move E", es, " @ ", fr_or_ms);
+
+    if (es) {
+      current_position.e += es;
+      line_to_current_position(MMM_TO_MMS(fr_or_ms));
+      planner.synchronize();
+    }
+    else
+      safe_delay(fr_or_ms);
+
+    step++;
+  }
+
+  // Reset E to 0 for the new extruder tool
+  current_position.e = 0;
+  sync_plan_position_e();
+
+  stepper.disable_extruder();
+}
+
+// Bump the switches needed to change feeders
+void Chameleon::toggle(const uint8_t switches) {
+  if (switches & 0x1) {
+    current_position.x = CHAMELEON_BUTTON1_X;
+    line_to_current_position(2000);
+    current_position.x += (X_CENTER > (CHAMELEON_BUTTON1_X)) ? 10 : -10;
+    line_to_current_position(2000);
+  }
+  #if EXTRUDERS > 2
+    if (switches & 0x2) {
+      current_position.x = CHAMELEON_BUTTON2_X;
+      line_to_current_position(2000);
+      current_position.x += (X_CENTER > (CHAMELEON_BUTTON2_X)) ? 10 : -10;
+      line_to_current_position(2000);
+    }
+  #endif
+  planner.synchronize();
+}
+
+#endif // HAS_CHAMELEON

Marlin/src/feature/mmu/chameleon.h

@@ -0,0 +1,38 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2023 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 <stdint.h>
+
+struct E_Step;
+
+class Chameleon {
+  public:
+    Chameleon() {}
+    static void tool_change(const uint8_t new_tool);
+
+  private:
+    static void execute_extruder_sequence(const E_Step * const sequence, const uint8_t steps);
+    static void toggle(const uint8_t switches);
+};
+
+extern Chameleon chameleon;

Marlin/src/inc/Conditionals-1-axes.h

@@ -96,6 +96,7 @@
   #define _PRUSA_MMU2             2
   #define _PRUSA_MMU2S            3
   #define _PRUSA_MMU3             4
+  #define _CHAMELEON              5
   #define _EXTENDABLE_EMU_MMU2   12
   #define _EXTENDABLE_EMU_MMU2S  13
   #define _EXTENDABLE_EMU_MMU3   14
@@ -110,6 +111,8 @@
     #define HAS_PRUSA_MMU2S 1
   #elif _MMU % 10 == _PRUSA_MMU3
     #define HAS_PRUSA_MMU3 1
+  #elif _MMU % 10 == _CHAMELEON
+    #define HAS_CHAMELEON 1
   #endif
   #if _MMU == _EXTENDABLE_EMU_MMU2 || _MMU == _EXTENDABLE_EMU_MMU2S
     #define HAS_EXTENDABLE_MMU 1
@@ -120,6 +123,7 @@
   #undef _PRUSA_MMU2
   #undef _PRUSA_MMU2S
   #undef _PRUSA_MMU3
+  #undef _CHAMELEON
   #undef _EXTENDABLE_EMU_MMU2
   #undef _EXTENDABLE_EMU_MMU2S
   #undef _EXTENDABLE_EMU_MMU3
@@ -156,7 +160,7 @@
   #define E_STEPPERS      EXTRUDERS
   #define E_MANUAL        EXTRUDERS
 
-#elif HAS_PRUSA_MMU2 || HAS_PRUSA_MMU3 // Průša Multi-Material Unit v2/v3
+#elif HAS_PRUSA_MMU2 || HAS_PRUSA_MMU3 || HAS_CHAMELEON // Multi-Material Unit
 
   #define E_STEPPERS      1
   #define E_MANUAL        1

Marlin/src/inc/SanityCheck.h

@@ -634,13 +634,22 @@ static_assert(COUNT(arm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _L
   #endif
 #endif
 
+#if HAS_CHAMELEON
+  #if EXTRUDERS > 32
+    #undef SINGLENOZZLE
+    #error "CHAMELEON only supports up to 32 EXTRUDERS. Please update your Configuration."
+  #endif
+#endif
+
 /**
  * Options only for EXTRUDERS > 1
  */
 #if HAS_MULTI_EXTRUDER
 
   #ifndef MAX_EXTRUDERS
-    #if HAS_EXTENDABLE_MMU
+    #if HAS_CHAMELEON
+      #define MAX_EXTRUDERS 32
+    #elif HAS_EXTENDABLE_MMU
       #define MAX_EXTRUDERS 15
     #else
       #define MAX_EXTRUDERS  8

Marlin/src/module/stepper/indirection.h

@@ -583,6 +583,12 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
   #define    FWD_E_DIR(E)   do{ E0_DIR_WRITE(TEST(E, 0) ? HIGH : LOW ); }while(0)
   #define    REV_E_DIR(E)   do{ E0_DIR_WRITE(TEST(E, 0) ? LOW  : HIGH); }while(0)
 
+#elif ENABLED(CHAMELEON)  // One multiplexed stepper driver, reversed on T2/T3, T6/T7, T10/T11, etc.
+
+  #define E_STEP_WRITE(E,V) E0_STEP_WRITE(V)
+  #define   NORM_E_DIR(E)   do{ E0_DIR_WRITE(TEST(E, 1) ? HIGH : LOW ); }while(0)
+  #define    REV_E_DIR(E)   do{ E0_DIR_WRITE(TEST(E, 1) ? LOW  : HIGH); }while(0)
+
 #elif E_STEPPERS > 1
 
   #if E_STEPPERS > 7

Marlin/src/module/tool_change.cpp

@@ -82,6 +82,8 @@
   #include "../feature/mmu/mmu2.h"
 #elif HAS_PRUSA_MMU1
   #include "../feature/mmu/mmu.h"
+#elif HAS_CHAMELEON
+  #include "../feature/mmu/chameleon.h"
 #endif
 
 #if HAS_MARLINUI_MENU
@@ -1130,6 +1132,12 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
 
     mmu3.tool_change(new_tool);
 
+  #elif HAS_CHAMELEON
+
+    UNUSED(no_move);
+
+    chameleon.tool_change(new_tool);
+
   #elif HAS_PRUSA_MMU2
 
     UNUSED(no_move);

buildroot/tests/mega2560

@@ -40,20 +40,20 @@ exec_test $1 $2 "Azteeg X3 Pro | EXTRUDERS 5 | RRDFGSC | UBL | LIN_ADVANCE ..."
 # Add a Sled Z Probe, use UBL Cartesian moves, use Japanese language
 #
 use_example_configs AnimationExample
-opt_set MOTHERBOARD BOARD_AZTEEG_X3_PRO LCD_LANGUAGE jp_kana DEFAULT_EJERK 10 \
-        EXTRUDERS 5 TEMP_SENSOR_1 1 TEMP_SENSOR_2 5 TEMP_SENSOR_3 20 TEMP_SENSOR_4 1000 TEMP_SENSOR_BED 1
+opt_set MOTHERBOARD BOARD_AZTEEG_X3_PRO \
+        EXTRUDERS 8 TEMP_SENSOR_BED 1 MMU_MODEL CHAMELEON DEFAULT_EJERK 10 LCD_LANGUAGE jp_kana
 opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER LIGHTWEIGHT_UI SHOW_CUSTOM_BOOTSCREEN BOOT_MARLIN_LOGO_SMALL \
            SET_PROGRESS_MANUALLY SET_PROGRESS_PERCENT PRINT_PROGRESS_SHOW_DECIMALS SHOW_REMAINING_TIME STATUS_MESSAGE_SCROLLING SCROLL_LONG_FILENAMES \
            SDSUPPORT LONG_FILENAME_WRITE_SUPPORT SDCARD_SORT_ALPHA NO_SD_AUTOSTART USB_FLASH_DRIVE_SUPPORT CANCEL_OBJECTS \
            Z_PROBE_SLED AUTO_BED_LEVELING_UBL UBL_HILBERT_CURVE UBL_TILT_ON_MESH_POINTS UBL_TILT_ON_MESH_POINTS_3POINT \
            RESTORE_LEVELING_AFTER_G28 DEBUG_LEVELING_FEATURE G26_MESH_VALIDATION ENABLE_LEVELING_FADE_HEIGHT \
            EEPROM_SETTINGS EEPROM_CHITCHAT GCODE_MACROS CUSTOM_MENU_MAIN \
-           MULTI_NOZZLE_DUPLICATION CLASSIC_JERK LIN_ADVANCE QUICK_HOME \
+           NOZZLE_PARK_FEATURE ADVANCED_PAUSE_FEATURE CLASSIC_JERK LIN_ADVANCE QUICK_HOME \
            NANODLP_Z_SYNC I2C_POSITION_ENCODERS M114_DETAIL \
            SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE \
-           BABYSTEPPING BABYSTEP_XY BABYSTEP_ZPROBE_OFFSET DOUBLECLICK_FOR_Z_BABYSTEPPING BABYSTEP_HOTEND_Z_OFFSET BABYSTEP_DISPLAY_TOTAL
+           BABYSTEPPING BABYSTEP_XY BABYSTEP_ZPROBE_OFFSET DOUBLECLICK_FOR_Z_BABYSTEPPING BABYSTEP_DISPLAY_TOTAL
 opt_disable SEGMENT_LEVELED_MOVES
-exec_test $1 $2 "Azteeg X3 Pro | EXTRUDERS 5 | RRDFGSC | UBL | LIN_ADVANCE | Sled Probe | Skew | JP-Kana | Babystep offsets ..." "$3"
+exec_test $1 $2 "Azteeg X3 Pro | Chameleon (x8) | RRDFGSC | UBL | LIN_ADVANCE | Sled Probe | Skew | JP-Kana | Babystep offsets ..." "$3"
 
 #
 # 5 runout sensors with distinct states

ini/features.ini

@@ -251,6 +251,7 @@ TEMP_STAT_LEDS                         = build_src_filter=+<src/feature/leds/tem
 MAX7219_DEBUG                          = build_src_filter=+<src/feature/max7219.cpp> +<src/gcode/feature/leds/M7219.cpp>
 HAS_MEATPACK                           = build_src_filter=+<src/feature/meatpack.cpp>
 MIXING_EXTRUDER                        = build_src_filter=+<src/feature/mixing.cpp> +<src/gcode/feature/mixing/M163-M165.cpp>
+HAS_CHAMELEON                          = build_src_filter=+<src/feature/mmu/chameleon.cpp>
 HAS_PRUSA_MMU1                         = build_src_filter=+<src/feature/mmu/mmu.cpp>
 HAS_PRUSA_MMU2                         = build_src_filter=+<src/feature/mmu/mmu2.cpp> +<src/gcode/feature/prusa_MMU2>
 HAS_PRUSA_MMU3                         = build_src_filter=+<src/feature/mmu3> +<src/gcode/feature/prusa_MMU2>