/**
* 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
FWRetract::hop_amount;
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;
hop_amount = 0.0;
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]);
#if EXTRUDERS > 1
SERIAL_ECHOPAIR("retracted_swap[", i);
SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
#endif
}
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
//*/
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(); // set_current_to_destination
// Is a Z hop set, and has the hop not yet been done?
// No double zlifting
// Feedrate to the max
if (retract_zlift > 0.01 && !hop_amount) { // Apply hop only once
const float old_z = current_position[Z_AXIS];
hop_amount += retract_zlift; // Add to the hop total (again, only once)
destination[Z_AXIS] += retract_zlift; // Raise Z by the zlift (M207 Z) amount
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Maximum Z feedrate
prepare_move_to_destination(); // Raise up, set_current_to_destination
current_position[Z_AXIS] = old_z; // Spoof the Z position in the planner
SYNC_PLAN_POSITION_KINEMATIC();
}
}
else {
// If a hop was done and Z hasn't changed, undo the Z hop
if (hop_amount) {
current_position[Z_AXIS] += hop_amount; // Set actual Z (due to the prior hop)
SYNC_PLAN_POSITION_KINEMATIC(); // Spoof the Z position in the planner
feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
prepare_move_to_destination(); // Lower Z, set_current_to_destination
hop_amount = 0.0; // Clear the hop amount
}
// 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;
current_position[E_AXIS] -= (swapping ? swap_retract_length + swap_retract_recover_length
: retract_length + retract_recover_length) * renormalize;
sync_plan_position_e();
prepare_move_to_destination(); // Recover E, set_current_to_destination
}
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]);
#if EXTRUDERS > 1
SERIAL_ECHOPAIR("retracted_swap[", i);
SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
#endif
}
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
//*/
}
#endif // FWRETRACT