274 lines
10 KiB
C++
274 lines
10 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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/**
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* fwretract.cpp - Implement firmware-based retraction
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*/
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#include "../inc/MarlinConfig.h"
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#if ENABLED(FWRETRACT)
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#include "fwretract.h"
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FWRetract fwretract; // Single instance - this calls the constructor
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#include "../module/motion.h"
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#include "../module/planner.h"
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#include "../module/stepper.h"
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#include "../gcode/parser.h"
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#if ENABLED(RETRACT_SYNC_MIXING)
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#include "mixing.h"
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#endif
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// private:
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#if HAS_MULTI_EXTRUDER
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bool FWRetract::retracted_swap[EXTRUDERS]; // Which extruders are swap-retracted
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#endif
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// public:
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fwretract_settings_t FWRetract::settings; // M207 S F Z W, M208 S F W R
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#if ENABLED(FWRETRACT_AUTORETRACT)
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bool FWRetract::autoretract_enabled; // M209 S - Autoretract switch
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#endif
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bool FWRetract::retracted[EXTRUDERS]; // Which extruders are currently retracted
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float FWRetract::current_retract[EXTRUDERS], // Retract value used by planner
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FWRetract::current_hop;
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void FWRetract::reset() {
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TERN_(FWRETRACT_AUTORETRACT, autoretract_enabled = false);
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settings.retract_length = RETRACT_LENGTH;
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settings.retract_feedrate_mm_s = RETRACT_FEEDRATE;
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settings.retract_zraise = RETRACT_ZRAISE;
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settings.retract_recover_extra = RETRACT_RECOVER_LENGTH;
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settings.retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
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settings.swap_retract_length = RETRACT_LENGTH_SWAP;
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settings.swap_retract_recover_extra = RETRACT_RECOVER_LENGTH_SWAP;
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settings.swap_retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE_SWAP;
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current_hop = 0.0;
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LOOP_L_N(i, EXTRUDERS) {
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retracted[i] = false;
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TERN_(HAS_MULTI_EXTRUDER, retracted_swap[i] = false);
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current_retract[i] = 0.0;
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}
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}
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/**
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* Retract or recover according to firmware settings
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*
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* This function handles retract/recover moves for G10 and G11,
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* plus auto-retract moves sent from G0/G1 when E-only moves are done.
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*
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* To simplify the logic, doubled retract/recover moves are ignored.
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*
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* Note: Auto-retract will apply the set Z hop in addition to any Z hop
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* included in the G-code. Use M207 Z0 to to prevent double hop.
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*/
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void FWRetract::retract(const bool retracting OPTARG(HAS_MULTI_EXTRUDER, bool swapping/*=false*/)) {
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// Prevent two retracts or recovers in a row
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if (retracted[active_extruder] == retracting) return;
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// Prevent two swap-retract or recovers in a row
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#if HAS_MULTI_EXTRUDER
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// Allow G10 S1 only after G11
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if (swapping && retracted_swap[active_extruder] == retracting) return;
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// G11 priority to recover the long retract if activated
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if (!retracting) swapping = retracted_swap[active_extruder];
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#else
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constexpr bool swapping = false;
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#endif
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/* // debugging
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SERIAL_ECHOLNPAIR(
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"retracting ", AS_DIGIT(retracting),
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" swapping ", swapping,
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" active extruder ", active_extruder
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);
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LOOP_L_N(i, EXTRUDERS) {
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SERIAL_ECHOLNPAIR("retracted[", i, "] ", AS_DIGIT(retracted[i]));
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#if HAS_MULTI_EXTRUDER
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SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", AS_DIGIT(retracted_swap[i]));
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#endif
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}
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SERIAL_ECHOLNPAIR("current_position.z ", current_position.z);
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SERIAL_ECHOLNPAIR("current_position.e ", current_position.e);
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SERIAL_ECHOLNPAIR("current_hop ", current_hop);
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//*/
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const float base_retract = TERN1(RETRACT_SYNC_MIXING, (MIXING_STEPPERS))
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* (swapping ? settings.swap_retract_length : settings.retract_length);
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// The current position will be the destination for E and Z moves
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destination = current_position;
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#if ENABLED(RETRACT_SYNC_MIXING)
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const uint8_t old_mixing_tool = mixer.get_current_vtool();
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mixer.T(MIXER_AUTORETRACT_TOOL);
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#endif
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const feedRate_t fr_max_z = planner.settings.max_feedrate_mm_s[Z_AXIS];
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if (retracting) {
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// Retract by moving from a faux E position back to the current E position
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current_retract[active_extruder] = base_retract;
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prepare_internal_move_to_destination( // set current from destination
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settings.retract_feedrate_mm_s * TERN1(RETRACT_SYNC_MIXING, (MIXING_STEPPERS))
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);
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// Is a Z hop set, and has the hop not yet been done?
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if (!current_hop && settings.retract_zraise > 0.01f) { // Apply hop only once
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current_hop += settings.retract_zraise; // Add to the hop total (again, only once)
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// Raise up, set_current_to_destination. Maximum Z feedrate
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prepare_internal_move_to_destination(fr_max_z);
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}
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}
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else {
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// If a hop was done and Z hasn't changed, undo the Z hop
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if (current_hop) {
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current_hop = 0;
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// Lower Z, set_current_to_destination. Maximum Z feedrate
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prepare_internal_move_to_destination(fr_max_z);
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}
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const float extra_recover = swapping ? settings.swap_retract_recover_extra : settings.retract_recover_extra;
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if (extra_recover) {
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current_position.e -= extra_recover; // Adjust the current E position by the extra amount to recover
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sync_plan_position_e(); // Sync the planner position so the extra amount is recovered
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}
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current_retract[active_extruder] = 0;
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// Recover E, set_current_to_destination
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prepare_internal_move_to_destination(
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(swapping ? settings.swap_retract_recover_feedrate_mm_s : settings.retract_recover_feedrate_mm_s)
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* TERN1(RETRACT_SYNC_MIXING, (MIXING_STEPPERS))
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);
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}
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TERN_(RETRACT_SYNC_MIXING, mixer.T(old_mixing_tool)); // Restore original mixing tool
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retracted[active_extruder] = retracting; // Active extruder now retracted / recovered
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// If swap retract/recover update the retracted_swap flag too
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#if HAS_MULTI_EXTRUDER
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if (swapping) retracted_swap[active_extruder] = retracting;
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#endif
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/* // debugging
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SERIAL_ECHOLNPAIR("retracting ", AS_DIGIT(retracting));
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SERIAL_ECHOLNPAIR("swapping ", AS_DIGIT(swapping));
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SERIAL_ECHOLNPAIR("active_extruder ", active_extruder);
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LOOP_L_N(i, EXTRUDERS) {
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SERIAL_ECHOLNPAIR("retracted[", i, "] ", AS_DIGIT(retracted[i]));
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#if HAS_MULTI_EXTRUDER
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SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", AS_DIGIT(retracted_swap[i]));
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#endif
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}
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SERIAL_ECHOLNPAIR("current_position.z ", current_position.z);
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SERIAL_ECHOLNPAIR("current_position.e ", current_position.e);
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SERIAL_ECHOLNPAIR("current_hop ", current_hop);
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//*/
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}
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//extern const char SP_Z_STR[];
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/**
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* M207: Set firmware retraction values
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*
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* S[+units] retract_length
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* W[+units] swap_retract_length (multi-extruder)
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* F[units/min] retract_feedrate_mm_s
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* Z[units] retract_zraise
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*/
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void FWRetract::M207() {
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if (!parser.seen("FSWZ")) return M207_report();
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if (parser.seenval('S')) settings.retract_length = parser.value_axis_units(E_AXIS);
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if (parser.seenval('F')) settings.retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
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if (parser.seenval('Z')) settings.retract_zraise = parser.value_linear_units();
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if (parser.seenval('W')) settings.swap_retract_length = parser.value_axis_units(E_AXIS);
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}
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void FWRetract::M207_report(const bool forReplay/*=false*/) {
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if (!forReplay) { SERIAL_ECHO_MSG("; Retract: S<length> F<units/m> Z<lift>"); SERIAL_ECHO_START(); }
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SERIAL_ECHOLNPAIR_P(
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PSTR(" M207 S"), LINEAR_UNIT(settings.retract_length)
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, PSTR(" W"), LINEAR_UNIT(settings.swap_retract_length)
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, PSTR(" F"), LINEAR_UNIT(MMS_TO_MMM(settings.retract_feedrate_mm_s))
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, SP_Z_STR, LINEAR_UNIT(settings.retract_zraise)
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);
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}
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/**
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* M208: Set firmware un-retraction values
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*
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* S[+units] retract_recover_extra (in addition to M207 S*)
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* W[+units] swap_retract_recover_extra (multi-extruder)
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* F[units/min] retract_recover_feedrate_mm_s
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* R[units/min] swap_retract_recover_feedrate_mm_s
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*/
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void FWRetract::M208() {
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if (!parser.seen("FSRW")) return M208_report();
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if (parser.seen('S')) settings.retract_recover_extra = parser.value_axis_units(E_AXIS);
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if (parser.seen('F')) settings.retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
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if (parser.seen('R')) settings.swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
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if (parser.seen('W')) settings.swap_retract_recover_extra = parser.value_axis_units(E_AXIS);
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}
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void FWRetract::M208_report(const bool forReplay/*=false*/) {
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if (!forReplay) { SERIAL_ECHO_MSG("; Recover: S<length> F<units/m>"); SERIAL_ECHO_START(); }
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SERIAL_ECHOLNPAIR(
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" M208 S", LINEAR_UNIT(settings.retract_recover_extra)
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, " W", LINEAR_UNIT(settings.swap_retract_recover_extra)
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, " F", LINEAR_UNIT(MMS_TO_MMM(settings.retract_recover_feedrate_mm_s))
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);
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}
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#if ENABLED(FWRETRACT_AUTORETRACT)
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/**
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* M209: Enable automatic retract (M209 S1)
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* For slicers that don't support G10/11, reversed extrude-only
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* moves will be classified as retraction.
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*/
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void FWRetract::M209() {
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if (!parser.seen('S')) return M209_report();
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if (MIN_AUTORETRACT <= MAX_AUTORETRACT)
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enable_autoretract(parser.value_bool());
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}
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void FWRetract::M209_report(const bool forReplay/*=false*/) {
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if (!forReplay) { SERIAL_ECHO_MSG("; Auto-Retract: S=0 to disable, 1 to interpret E-only moves as retract/recover"); SERIAL_ECHO_START(); }
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SERIAL_ECHOLNPAIR(" M209 S", AS_DIGIT(autoretract_enabled));
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}
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#endif // FWRETRACT_AUTORETRACT
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#endif // FWRETRACT
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