mirror of
https://github.com/MarlinFirmware/Marlin.git
synced 2024-11-27 13:56:24 +00:00
Make FWRetract class for 2.0.x parity
This commit is contained in:
Scott Lahteine
parent
518d9beb83
commit
e7bf7e6031
@ -136,7 +136,6 @@
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#if ENABLED(ULTRA_LCD)
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extern char lcd_status_message[];
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#endif
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inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
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// Private functions
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@ -179,6 +179,16 @@ void disable_e_stepper(const uint8_t e);
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void disable_e_steppers();
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void disable_all_steppers();
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void sync_plan_position();
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void sync_plan_position_e();
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#if IS_KINEMATIC
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void sync_plan_position_kinematic();
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#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
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#else
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#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
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#endif
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void FlushSerialRequestResend();
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void ok_to_send();
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@ -449,18 +459,6 @@ void report_current_position();
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extern int lpq_len;
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#endif
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#if ENABLED(FWRETRACT)
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extern bool autoretract_enabled; // M209 S - Autoretract switch
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extern float retract_length, // M207 S - G10 Retract length
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retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
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retract_zlift, // M207 Z - G10 Retract hop size
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retract_recover_length, // M208 S - G11 Recover length
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retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
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swap_retract_length, // M207 W - G10 Swap Retract length
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swap_retract_recover_length, // M208 W - G11 Swap Recover length
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swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
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#endif
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// Print job timer
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#if ENABLED(PRINTCOUNTER)
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extern PrintCounter print_job_timer;
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@ -277,6 +277,10 @@
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#include "planner_bezier.h"
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#endif
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#if ENABLED(FWRETRACT)
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#include "fwretract.h"
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#endif
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#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
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#include "buzzer.h"
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#endif
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@ -573,24 +577,6 @@ uint8_t target_extruder;
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baricuda_e_to_p_pressure = 0;
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#endif
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#if ENABLED(FWRETRACT) // Initialized by settings.load()...
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bool autoretract_enabled, // M209 S - Autoretract switch
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retracted[EXTRUDERS] = { false }; // Which extruders are currently retracted
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float retract_length, // M207 S - G10 Retract length
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retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
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retract_zlift, // M207 Z - G10 Retract hop size
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retract_recover_length, // M208 S - G11 Recover length
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retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
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swap_retract_length, // M207 W - G10 Swap Retract length
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swap_retract_recover_length, // M208 W - G11 Swap Recover length
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swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
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#if EXTRUDERS > 1
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bool retracted_swap[EXTRUDERS] = { false }; // Which extruders are swap-retracted
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#else
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constexpr bool retracted_swap[1] = { false };
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#endif
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#endif // FWRETRACT
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#if HAS_POWER_SWITCH
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bool powersupply_on =
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#if ENABLED(PS_DEFAULT_OFF)
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@ -782,22 +768,15 @@ void sync_plan_position() {
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#endif
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planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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}
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inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
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void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
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#if IS_KINEMATIC
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inline void sync_plan_position_kinematic() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
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#endif
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planner.set_position_mm_kinematic(current_position);
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}
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#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
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#else
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#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
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#endif
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#if ENABLED(SDSUPPORT)
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@ -3099,129 +3078,6 @@ static void homeaxis(const AxisEnum axis) {
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#endif
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} // homeaxis()
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#if ENABLED(FWRETRACT)
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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: Z lift is done transparently to the planner. Aborting
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* a print between G10 and G11 may corrupt the Z position.
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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 retract(const bool retracting
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#if EXTRUDERS > 1
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, bool swapping = false
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#endif
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) {
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static float hop_amount = 0.0; // Total amount lifted, for use in recover
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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 EXTRUDERS > 1
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// Allow G10 S1 only after G10
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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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const bool swapping = false;
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#endif
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/* // debugging
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SERIAL_ECHOLNPAIR("retracting ", retracting);
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SERIAL_ECHOLNPAIR("swapping ", swapping);
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SERIAL_ECHOLNPAIR("active extruder ", active_extruder);
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for (uint8_t i = 0; i < EXTRUDERS; ++i) {
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SERIAL_ECHOPAIR("retracted[", i);
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SERIAL_ECHOLNPAIR("] ", retracted[i]);
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SERIAL_ECHOPAIR("retracted_swap[", i);
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SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
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}
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SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
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SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
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//*/
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const bool has_zhop = retract_zlift > 0.01; // Is there a hop set?
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const float old_feedrate_mm_s = feedrate_mm_s;
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// The current position will be the destination for E and Z moves
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set_destination_from_current();
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stepper.synchronize(); // Wait for buffered moves to complete
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const float renormalize = 1.0 / planner.e_factor[active_extruder];
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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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feedrate_mm_s = retract_feedrate_mm_s;
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current_position[E_AXIS] += (swapping ? swap_retract_length : retract_length) * renormalize;
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sync_plan_position_e();
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prepare_move_to_destination();
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// Is a Z hop set, and has the hop not yet been done?
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if (has_zhop && !hop_amount) {
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hop_amount += retract_zlift; // Carriage is raised for retraction hop
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feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
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current_position[Z_AXIS] -= retract_zlift; // Pretend current pos is lower. Next move raises Z.
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SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
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prepare_move_to_destination(); // Raise up to the old current pos
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feedrate_mm_s = retract_feedrate_mm_s; // Restore feedrate
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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 (hop_amount) {
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current_position[Z_AXIS] += retract_zlift; // Pretend current pos is lower. Next move raises Z.
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SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
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feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
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prepare_move_to_destination(); // Raise up to the old current pos
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hop_amount = 0.0; // Clear hop
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}
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// A retract multiplier has been added here to get faster swap recovery
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feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
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const float move_e = swapping ? swap_retract_length + swap_retract_recover_length : retract_length + retract_recover_length;
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current_position[E_AXIS] -= move_e * renormalize;
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sync_plan_position_e();
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prepare_move_to_destination(); // Recover E
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}
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feedrate_mm_s = old_feedrate_mm_s; // Restore original feedrate
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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 EXTRUDERS > 1
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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 ", retracting);
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SERIAL_ECHOLNPAIR("swapping ", swapping);
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SERIAL_ECHOLNPAIR("active_extruder ", active_extruder);
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for (uint8_t i = 0; i < EXTRUDERS; ++i) {
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SERIAL_ECHOPAIR("retracted[", i);
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SERIAL_ECHOLNPAIR("] ", retracted[i]);
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SERIAL_ECHOPAIR("retracted_swap[", i);
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SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
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}
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SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
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SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
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//*/
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}
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#endif // FWRETRACT
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#if ENABLED(MIXING_EXTRUDER)
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void normalize_mix() {
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@ -3355,14 +3211,14 @@ inline void gcode_G0_G1(
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#if ENABLED(FWRETRACT)
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if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
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// When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
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if (autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
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// When M209 Autoretract is enabled, convert E-only moves to firmware retract/prime moves
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if (fwretract.autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
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const float echange = destination[E_AXIS] - current_position[E_AXIS];
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// Is this a retract or recover move?
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if (WITHIN(FABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && retracted[active_extruder] == (echange > 0.0)) {
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current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations
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// Is this a retract or prime move?
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if (WITHIN(FABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
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current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/prime from calculations
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sync_plan_position_e(); // AND from the planner
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return retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
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return fwretract.retract(echange < 0.0); // Firmware-based retract/prime (double-retract ignored)
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}
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}
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}
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@ -3558,9 +3414,9 @@ inline void gcode_G4() {
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inline void gcode_G10() {
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#if EXTRUDERS > 1
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const bool rs = parser.boolval('S');
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retracted_swap[active_extruder] = rs; // Use 'S' for swap, default to false
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fwretract.retracted_swap[active_extruder] = rs; // Use 'S' for swap, default to false
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#endif
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retract(true
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fwretract.retract(true
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#if EXTRUDERS > 1
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, rs
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#endif
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@ -3570,7 +3426,7 @@ inline void gcode_G4() {
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/**
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* G11 - Recover filament according to settings of M208
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*/
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inline void gcode_G11() { retract(false); }
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inline void gcode_G11() { fwretract.retract(false); }
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#endif // FWRETRACT
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@ -6786,8 +6642,8 @@ inline void gcode_M17() {
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// Intelligent resuming
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#if ENABLED(FWRETRACT)
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// If retracted before goto pause
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if (retracted[active_extruder])
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do_pause_e_move(-retract_length, retract_feedrate_mm_s);
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if (fwretract.retracted[active_extruder])
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do_pause_e_move(-retract_length, fwretract.retract_feedrate_mm_s);
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#else
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// If resume_position negative
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if (resume_position[E_AXIS] < 0) do_pause_e_move(resume_position[E_AXIS], PAUSE_PARK_RETRACT_FEEDRATE);
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@ -9029,10 +8885,10 @@ inline void gcode_M205() {
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* Z[units] retract_zlift
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*/
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inline void gcode_M207() {
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if (parser.seen('S')) retract_length = parser.value_axis_units(E_AXIS);
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if (parser.seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
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if (parser.seen('Z')) retract_zlift = parser.value_linear_units();
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if (parser.seen('W')) swap_retract_length = parser.value_axis_units(E_AXIS);
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if (parser.seen('S')) fwretract.retract_length = parser.value_axis_units(E_AXIS);
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if (parser.seen('F')) fwretract.retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
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if (parser.seen('Z')) fwretract.retract_zlift = parser.value_linear_units();
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if (parser.seen('W')) fwretract.swap_retract_length = parser.value_axis_units(E_AXIS);
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}
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/**
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@ -9044,10 +8900,10 @@ inline void gcode_M205() {
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* R[units/min] swap_retract_recover_feedrate_mm_s
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*/
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inline void gcode_M208() {
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if (parser.seen('S')) retract_recover_length = parser.value_axis_units(E_AXIS);
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if (parser.seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
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if (parser.seen('R')) swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
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if (parser.seen('W')) swap_retract_recover_length = parser.value_axis_units(E_AXIS);
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if (parser.seen('S')) fwretract.retract_recover_length = parser.value_axis_units(E_AXIS);
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if (parser.seen('F')) fwretract.retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
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if (parser.seen('R')) fwretract.swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
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if (parser.seen('W')) fwretract.swap_retract_recover_length = parser.value_axis_units(E_AXIS);
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}
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/**
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@ -9058,8 +8914,8 @@ inline void gcode_M205() {
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inline void gcode_M209() {
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if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
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if (parser.seen('S')) {
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autoretract_enabled = parser.value_bool();
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for (uint8_t i = 0; i < EXTRUDERS; i++) retracted[i] = false;
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fwretract.autoretract_enabled = parser.value_bool();
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for (uint8_t i = 0; i < EXTRUDERS; i++) fwretract.retracted[i] = false;
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}
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}
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}
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@ -215,6 +215,10 @@ MarlinSettings settings;
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#include "ubl.h"
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#endif
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#if ENABLED(FWRETRACT)
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#include "fwretract.h"
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#endif
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#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
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extern void refresh_bed_level();
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#endif
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@ -555,24 +559,20 @@ void MarlinSettings::postprocess() {
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#if DISABLED(FWRETRACT)
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const bool autoretract_enabled = false;
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const float retract_length = 3,
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retract_feedrate_mm_s = 45,
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retract_zlift = 0,
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retract_recover_length = 0,
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retract_recover_feedrate_mm_s = 0,
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swap_retract_length = 13,
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swap_retract_recover_length = 0,
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swap_retract_recover_feedrate_mm_s = 8;
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#endif
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const float autoretract_defaults[] = { 3, 45, 0, 0, 0, 13, 0, 8 };
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EEPROM_WRITE(autoretract_enabled);
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EEPROM_WRITE(retract_length);
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EEPROM_WRITE(retract_feedrate_mm_s);
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EEPROM_WRITE(retract_zlift);
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EEPROM_WRITE(retract_recover_length);
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EEPROM_WRITE(retract_recover_feedrate_mm_s);
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EEPROM_WRITE(swap_retract_length);
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EEPROM_WRITE(swap_retract_recover_length);
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EEPROM_WRITE(swap_retract_recover_feedrate_mm_s);
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EEPROM_WRITE(autoretract_defaults);
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#else
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EEPROM_WRITE(fwretract.autoretract_enabled);
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EEPROM_WRITE(fwretract.retract_length);
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EEPROM_WRITE(fwretract.retract_feedrate_mm_s);
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EEPROM_WRITE(fwretract.retract_zlift);
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EEPROM_WRITE(fwretract.retract_recover_length);
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EEPROM_WRITE(fwretract.retract_recover_feedrate_mm_s);
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EEPROM_WRITE(fwretract.swap_retract_length);
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EEPROM_WRITE(fwretract.swap_retract_recover_length);
|
||||
EEPROM_WRITE(fwretract.swap_retract_recover_feedrate_mm_s);
|
||||
#endif
|
||||
|
||||
//
|
||||
// Volumetric & Filament Size
|
||||
@ -1070,15 +1070,15 @@ void MarlinSettings::postprocess() {
|
||||
//
|
||||
|
||||
#if ENABLED(FWRETRACT)
|
||||
EEPROM_READ(autoretract_enabled);
|
||||
EEPROM_READ(retract_length);
|
||||
EEPROM_READ(retract_feedrate_mm_s);
|
||||
EEPROM_READ(retract_zlift);
|
||||
EEPROM_READ(retract_recover_length);
|
||||
EEPROM_READ(retract_recover_feedrate_mm_s);
|
||||
EEPROM_READ(swap_retract_length);
|
||||
EEPROM_READ(swap_retract_recover_length);
|
||||
EEPROM_READ(swap_retract_recover_feedrate_mm_s);
|
||||
EEPROM_READ(fwretract.autoretract_enabled);
|
||||
EEPROM_READ(fwretract.retract_length);
|
||||
EEPROM_READ(fwretract.retract_feedrate_mm_s);
|
||||
EEPROM_READ(fwretract.retract_zlift);
|
||||
EEPROM_READ(fwretract.retract_recover_length);
|
||||
EEPROM_READ(fwretract.retract_recover_feedrate_mm_s);
|
||||
EEPROM_READ(fwretract.swap_retract_length);
|
||||
EEPROM_READ(fwretract.swap_retract_recover_length);
|
||||
EEPROM_READ(fwretract.swap_retract_recover_feedrate_mm_s);
|
||||
#else
|
||||
EEPROM_READ(dummyb);
|
||||
for (uint8_t q=8; q--;) EEPROM_READ(dummy);
|
||||
@ -1549,16 +1549,8 @@ void MarlinSettings::reset() {
|
||||
#endif
|
||||
|
||||
#if ENABLED(FWRETRACT)
|
||||
autoretract_enabled = false;
|
||||
retract_length = RETRACT_LENGTH;
|
||||
retract_feedrate_mm_s = RETRACT_FEEDRATE;
|
||||
retract_zlift = RETRACT_ZLIFT;
|
||||
retract_recover_length = RETRACT_RECOVER_LENGTH;
|
||||
retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
|
||||
swap_retract_length = RETRACT_LENGTH_SWAP;
|
||||
swap_retract_recover_length = RETRACT_RECOVER_LENGTH_SWAP;
|
||||
swap_retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE_SWAP;
|
||||
#endif // FWRETRACT
|
||||
fwretract.reset();
|
||||
#endif
|
||||
|
||||
#if DISABLED(NO_VOLUMETRICS)
|
||||
|
||||
@ -2052,26 +2044,26 @@ void MarlinSettings::reset() {
|
||||
SERIAL_ECHOLNPGM("Retract: S<length> F<units/m> Z<lift>");
|
||||
}
|
||||
CONFIG_ECHO_START;
|
||||
SERIAL_ECHOPAIR(" M207 S", LINEAR_UNIT(retract_length));
|
||||
SERIAL_ECHOPAIR(" W", LINEAR_UNIT(swap_retract_length));
|
||||
SERIAL_ECHOPAIR(" F", MMS_TO_MMM(LINEAR_UNIT(retract_feedrate_mm_s)));
|
||||
SERIAL_ECHOLNPAIR(" Z", LINEAR_UNIT(retract_zlift));
|
||||
SERIAL_ECHOPAIR(" M207 S", LINEAR_UNIT(fwretract.retract_length));
|
||||
SERIAL_ECHOPAIR(" W", LINEAR_UNIT(fwretract.swap_retract_length));
|
||||
SERIAL_ECHOPAIR(" F", MMS_TO_MMM(LINEAR_UNIT(fwretract.retract_feedrate_mm_s)));
|
||||
SERIAL_ECHOLNPAIR(" Z", LINEAR_UNIT(fwretract.retract_zlift));
|
||||
|
||||
if (!forReplay) {
|
||||
CONFIG_ECHO_START;
|
||||
SERIAL_ECHOLNPGM("Recover: S<length> F<units/m>");
|
||||
}
|
||||
CONFIG_ECHO_START;
|
||||
SERIAL_ECHOPAIR(" M208 S", LINEAR_UNIT(retract_recover_length));
|
||||
SERIAL_ECHOPAIR(" W", LINEAR_UNIT(swap_retract_recover_length));
|
||||
SERIAL_ECHOLNPAIR(" F", MMS_TO_MMM(LINEAR_UNIT(retract_recover_feedrate_mm_s)));
|
||||
SERIAL_ECHOPAIR(" M208 S", LINEAR_UNIT(fwretract.retract_recover_length));
|
||||
SERIAL_ECHOPAIR(" W", LINEAR_UNIT(fwretract.swap_retract_recover_length));
|
||||
SERIAL_ECHOLNPAIR(" F", MMS_TO_MMM(LINEAR_UNIT(fwretract.retract_recover_feedrate_mm_s)));
|
||||
|
||||
if (!forReplay) {
|
||||
CONFIG_ECHO_START;
|
||||
SERIAL_ECHOLNPGM("Auto-Retract: S=0 to disable, 1 to interpret E-only moves as retract/recover");
|
||||
}
|
||||
CONFIG_ECHO_START;
|
||||
SERIAL_ECHOLNPAIR(" M209 S", autoretract_enabled ? 1 : 0);
|
||||
SERIAL_ECHOLNPAIR(" M209 S", fwretract.autoretract_enabled ? 1 : 0);
|
||||
|
||||
#endif // FWRETRACT
|
||||
|
||||
@ -2210,7 +2202,7 @@ void MarlinSettings::reset() {
|
||||
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
||||
if (!forReplay) {
|
||||
CONFIG_ECHO_START;
|
||||
SERIAL_ECHOLNPGM("Filament load & unload lengths:");
|
||||
SERIAL_ECHOLNPGM("Filament load/unload lengths:");
|
||||
}
|
||||
CONFIG_ECHO_START;
|
||||
#if EXTRUDERS == 1
|
||||
|
||||
196
Marlin/fwretract.cpp
Normal file
196
Marlin/fwretract.cpp
Normal file
@ -0,0 +1,196 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* fwretract.cpp - Implement firmware-based retraction
|
||||
*/
|
||||
|
||||
#include "MarlinConfig.h"
|
||||
|
||||
#if ENABLED(FWRETRACT)
|
||||
|
||||
#include "fwretract.h"
|
||||
#include "Marlin.h"
|
||||
#include "planner.h"
|
||||
#include "stepper.h"
|
||||
|
||||
FWRetract fwretract; // Single instance - this calls the constructor
|
||||
|
||||
// private:
|
||||
|
||||
#if EXTRUDERS > 1
|
||||
bool FWRetract::retracted_swap[EXTRUDERS]; // Which extruders are swap-retracted
|
||||
#endif
|
||||
|
||||
// public:
|
||||
|
||||
bool FWRetract::autoretract_enabled, // M209 S - Autoretract switch
|
||||
FWRetract::retracted[EXTRUDERS]; // Which extruders are currently retracted
|
||||
float FWRetract::retract_length, // M207 S - G10 Retract length
|
||||
FWRetract::retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
|
||||
FWRetract::retract_zlift, // M207 Z - G10 Retract hop size
|
||||
FWRetract::retract_recover_length, // M208 S - G11 Recover length
|
||||
FWRetract::retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
|
||||
FWRetract::swap_retract_length, // M207 W - G10 Swap Retract length
|
||||
FWRetract::swap_retract_recover_length, // M208 W - G11 Swap Recover length
|
||||
FWRetract::swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
|
||||
|
||||
void FWRetract::reset() {
|
||||
autoretract_enabled = false;
|
||||
retract_length = RETRACT_LENGTH;
|
||||
retract_feedrate_mm_s = RETRACT_FEEDRATE;
|
||||
retract_zlift = RETRACT_ZLIFT;
|
||||
retract_recover_length = RETRACT_RECOVER_LENGTH;
|
||||
retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
|
||||
swap_retract_length = RETRACT_LENGTH_SWAP;
|
||||
swap_retract_recover_length = RETRACT_RECOVER_LENGTH_SWAP;
|
||||
swap_retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE_SWAP;
|
||||
|
||||
for (uint8_t i = 0; i < EXTRUDERS; ++i) {
|
||||
retracted[i] = false;
|
||||
#if EXTRUDERS > 1
|
||||
retracted_swap[i] = false;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Retract or recover according to firmware settings
|
||||
*
|
||||
* This function handles retract/recover moves for G10 and G11,
|
||||
* plus auto-retract moves sent from G0/G1 when E-only moves are done.
|
||||
*
|
||||
* To simplify the logic, doubled retract/recover moves are ignored.
|
||||
*
|
||||
* Note: Z lift is done transparently to the planner. Aborting
|
||||
* a print between G10 and G11 may corrupt the Z position.
|
||||
*
|
||||
* Note: Auto-retract will apply the set Z hop in addition to any Z hop
|
||||
* included in the G-code. Use M207 Z0 to to prevent double hop.
|
||||
*/
|
||||
void FWRetract::retract(const bool retracting
|
||||
#if EXTRUDERS > 1
|
||||
, bool swapping /* =false */
|
||||
#endif
|
||||
) {
|
||||
|
||||
static float hop_amount = 0.0; // Total amount lifted, for use in recover
|
||||
|
||||
// Prevent two retracts or recovers in a row
|
||||
if (retracted[active_extruder] == retracting) return;
|
||||
|
||||
// Prevent two swap-retract or recovers in a row
|
||||
#if EXTRUDERS > 1
|
||||
// Allow G10 S1 only after G10
|
||||
if (swapping && retracted_swap[active_extruder] == retracting) return;
|
||||
// G11 priority to recover the long retract if activated
|
||||
if (!retracting) swapping = retracted_swap[active_extruder];
|
||||
#else
|
||||
const bool swapping = false;
|
||||
#endif
|
||||
|
||||
/* // debugging
|
||||
SERIAL_ECHOLNPAIR("retracting ", retracting);
|
||||
SERIAL_ECHOLNPAIR("swapping ", swapping);
|
||||
SERIAL_ECHOLNPAIR("active extruder ", active_extruder);
|
||||
for (uint8_t i = 0; i < EXTRUDERS; ++i) {
|
||||
SERIAL_ECHOPAIR("retracted[", i);
|
||||
SERIAL_ECHOLNPAIR("] ", retracted[i]);
|
||||
SERIAL_ECHOPAIR("retracted_swap[", i);
|
||||
SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
|
||||
}
|
||||
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
|
||||
SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
|
||||
//*/
|
||||
|
||||
const bool has_zhop = retract_zlift > 0.01; // Is there a hop set?
|
||||
const float old_feedrate_mm_s = feedrate_mm_s;
|
||||
|
||||
// The current position will be the destination for E and Z moves
|
||||
set_destination_from_current();
|
||||
stepper.synchronize(); // Wait for buffered moves to complete
|
||||
|
||||
const float renormalize = 1.0 / planner.e_factor[active_extruder];
|
||||
|
||||
if (retracting) {
|
||||
// Retract by moving from a faux E position back to the current E position
|
||||
feedrate_mm_s = retract_feedrate_mm_s;
|
||||
current_position[E_AXIS] += (swapping ? swap_retract_length : retract_length) * renormalize;
|
||||
sync_plan_position_e();
|
||||
prepare_move_to_destination();
|
||||
|
||||
// Is a Z hop set, and has the hop not yet been done?
|
||||
// No double zlifting
|
||||
// Feedrate to the max
|
||||
if (has_zhop && !hop_amount) {
|
||||
hop_amount += retract_zlift; // Carriage is raised for retraction hop
|
||||
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
|
||||
current_position[Z_AXIS] -= retract_zlift; // Pretend current pos is lower. Next move raises Z.
|
||||
SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
|
||||
prepare_move_to_destination(); // Raise up to the old current pos
|
||||
}
|
||||
}
|
||||
else {
|
||||
// If a hop was done and Z hasn't changed, undo the Z hop
|
||||
if (hop_amount) {
|
||||
current_position[Z_AXIS] += retract_zlift; // Pretend current pos is lower. Next move raises Z.
|
||||
SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
|
||||
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
|
||||
prepare_move_to_destination(); // Raise up to the old current pos
|
||||
hop_amount = 0.0; // Clear hop
|
||||
}
|
||||
|
||||
// A retract multiplier has been added here to get faster swap recovery
|
||||
feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
|
||||
|
||||
const float move_e = swapping ? swap_retract_length + swap_retract_recover_length : retract_length + retract_recover_length;
|
||||
current_position[E_AXIS] -= move_e * renormalize;
|
||||
sync_plan_position_e();
|
||||
prepare_move_to_destination(); // Recover E
|
||||
}
|
||||
|
||||
feedrate_mm_s = old_feedrate_mm_s; // Restore original feedrate
|
||||
|
||||
retracted[active_extruder] = retracting; // Active extruder now retracted / recovered
|
||||
|
||||
// If swap retract/recover update the retracted_swap flag too
|
||||
#if EXTRUDERS > 1
|
||||
if (swapping) retracted_swap[active_extruder] = retracting;
|
||||
#endif
|
||||
|
||||
/* // debugging
|
||||
SERIAL_ECHOLNPAIR("retracting ", retracting);
|
||||
SERIAL_ECHOLNPAIR("swapping ", swapping);
|
||||
SERIAL_ECHOLNPAIR("active_extruder ", active_extruder);
|
||||
for (uint8_t i = 0; i < EXTRUDERS; ++i) {
|
||||
SERIAL_ECHOPAIR("retracted[", i);
|
||||
SERIAL_ECHOLNPAIR("] ", retracted[i]);
|
||||
SERIAL_ECHOPAIR("retracted_swap[", i);
|
||||
SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
|
||||
}
|
||||
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
|
||||
SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
|
||||
//*/
|
||||
|
||||
}
|
||||
|
||||
#endif // FWRETRACT
|
||||
70
Marlin/fwretract.h
Normal file
70
Marlin/fwretract.h
Normal file
@ -0,0 +1,70 @@
|
||||
/**
|
||||
* Marlin 3D Printer Firmware
|
||||
* Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* fwretract.h - Define firmware-based retraction interface
|
||||
*/
|
||||
|
||||
#ifndef FWRETRACT_H
|
||||
#define FWRETRACT_H
|
||||
|
||||
#include "MarlinConfig.h"
|
||||
|
||||
class FWRetract {
|
||||
public:
|
||||
static bool autoretract_enabled, // M209 S - Autoretract switch
|
||||
retracted[EXTRUDERS]; // Which extruders are currently retracted
|
||||
#if EXTRUDERS > 1
|
||||
static bool retracted_swap[EXTRUDERS]; // Which extruders are swap-retracted
|
||||
#endif
|
||||
static float retract_length, // M207 S - G10 Retract length
|
||||
retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
|
||||
retract_zlift, // M207 Z - G10 Retract hop size
|
||||
retract_recover_length, // M208 S - G11 Recover length
|
||||
retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
|
||||
swap_retract_length, // M207 W - G10 Swap Retract length
|
||||
swap_retract_recover_length, // M208 W - G11 Swap Recover length
|
||||
swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
|
||||
|
||||
FWRetract() { reset(); }
|
||||
|
||||
static void reset();
|
||||
|
||||
static void refresh_autoretract() {
|
||||
for (uint8_t i = 0; i < EXTRUDERS; i++) retracted[i] = false;
|
||||
}
|
||||
|
||||
static void enable_autoretract(const bool enable) {
|
||||
autoretract_enabled = enable;
|
||||
refresh_autoretract();
|
||||
}
|
||||
|
||||
static void retract(const bool retracting
|
||||
#if EXTRUDERS > 1
|
||||
, bool swapping = false
|
||||
#endif
|
||||
);
|
||||
};
|
||||
|
||||
extern FWRetract fwretract;
|
||||
|
||||
#endif // FWRETRACT_H
|
||||
@ -56,6 +56,10 @@
|
||||
#include "mesh_bed_leveling.h"
|
||||
#endif
|
||||
|
||||
#if ENABLED(FWRETRACT)
|
||||
#include "fwretract.h"
|
||||
#endif
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(G26_MESH_VALIDATION)
|
||||
bool lcd_external_control; // = false
|
||||
#endif
|
||||
@ -2348,7 +2352,6 @@ void kill_screen(const char* lcd_msg) {
|
||||
* UBL LCD "radar" map
|
||||
*/
|
||||
void set_current_from_steppers_for_axis(const AxisEnum axis);
|
||||
void sync_plan_position();
|
||||
|
||||
void _lcd_do_nothing() {}
|
||||
void _lcd_hard_stop() {
|
||||
@ -3748,20 +3751,20 @@ void kill_screen(const char* lcd_msg) {
|
||||
void lcd_control_retract_menu() {
|
||||
START_MENU();
|
||||
MENU_BACK(MSG_CONTROL);
|
||||
MENU_ITEM_EDIT(bool, MSG_AUTORETRACT, &autoretract_enabled);
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT, &retract_length, 0, 100);
|
||||
MENU_ITEM_EDIT(bool, MSG_AUTORETRACT, &fwretract.autoretract_enabled);
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT, &fwretract.retract_length, 0, 100);
|
||||
#if EXTRUDERS > 1
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_SWAP, &swap_retract_length, 0, 100);
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_SWAP, &fwretract.swap_retract_length, 0, 100);
|
||||
#endif
|
||||
MENU_ITEM_EDIT(float3, MSG_CONTROL_RETRACTF, &retract_feedrate_mm_s, 1, 999);
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_ZLIFT, &retract_zlift, 0, 999);
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_RECOVER, &retract_recover_length, -100, 100);
|
||||
MENU_ITEM_EDIT(float3, MSG_CONTROL_RETRACTF, &fwretract.retract_feedrate_mm_s, 1, 999);
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_ZLIFT, &fwretract.retract_zlift, 0, 999);
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_RECOVER, &fwretract.retract_recover_length, -100, 100);
|
||||
#if EXTRUDERS > 1
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_RECOVER_SWAP, &swap_retract_recover_length, -100, 100);
|
||||
MENU_ITEM_EDIT(float52, MSG_CONTROL_RETRACT_RECOVER_SWAP, &fwretract.swap_retract_recover_length, -100, 100);
|
||||
#endif
|
||||
MENU_ITEM_EDIT(float3, MSG_CONTROL_RETRACT_RECOVERF, &retract_recover_feedrate_mm_s, 1, 999);
|
||||
MENU_ITEM_EDIT(float3, MSG_CONTROL_RETRACT_RECOVERF, &fwretract.retract_recover_feedrate_mm_s, 1, 999);
|
||||
#if EXTRUDERS > 1
|
||||
MENU_ITEM_EDIT(float3, MSG_CONTROL_RETRACT_RECOVER_SWAPF, &swap_retract_recover_feedrate_mm_s, 1, 999);
|
||||
MENU_ITEM_EDIT(float3, MSG_CONTROL_RETRACT_RECOVER_SWAPF, &fwretract.swap_retract_recover_feedrate_mm_s, 1, 999);
|
||||
#endif
|
||||
END_MENU();
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user