mirror of
https://github.com/MarlinFirmware/Marlin.git
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206 lines
7.9 KiB
C++
206 lines
7.9 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 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 <http://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 "MarlinConfig.h"
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#if ENABLED(FWRETRACT)
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#include "fwretract.h"
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#include "Marlin.h"
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#include "planner.h"
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#include "stepper.h"
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FWRetract fwretract; // Single instance - this calls the constructor
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// private:
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#if EXTRUDERS > 1
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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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bool FWRetract::autoretract_enabled, // M209 S - Autoretract switch
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FWRetract::retracted[EXTRUDERS]; // Which extruders are currently retracted
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float FWRetract::retract_length, // M207 S - G10 Retract length
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FWRetract::retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
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FWRetract::retract_zlift, // M207 Z - G10 Retract hop size
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FWRetract::retract_recover_length, // M208 S - G11 Recover length
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FWRetract::retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
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FWRetract::swap_retract_length, // M207 W - G10 Swap Retract length
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FWRetract::swap_retract_recover_length, // M208 W - G11 Swap Recover length
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FWRetract::swap_retract_recover_feedrate_mm_s, // M208 R - G11 Swap Recover feedrate
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FWRetract::hop_amount;
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void FWRetract::reset() {
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autoretract_enabled = false;
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retract_length = RETRACT_LENGTH;
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retract_feedrate_mm_s = RETRACT_FEEDRATE;
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retract_zlift = RETRACT_ZLIFT;
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retract_recover_length = RETRACT_RECOVER_LENGTH;
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retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
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swap_retract_length = RETRACT_LENGTH_SWAP;
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swap_retract_recover_length = RETRACT_RECOVER_LENGTH_SWAP;
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swap_retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE_SWAP;
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hop_amount = 0.0;
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for (uint8_t i = 0; i < EXTRUDERS; ++i) {
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retracted[i] = false;
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#if EXTRUDERS > 1
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retracted_swap[i] = false;
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#endif
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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: 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 FWRetract::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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#if EXTRUDERS > 1
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SERIAL_ECHOPAIR("retracted_swap[", i);
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SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
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#endif
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}
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SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
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SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
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SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
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//*/
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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(); // set_current_to_destination
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// Is a Z hop set, and has the hop not yet been done?
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// No double zlifting
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// Feedrate to the max
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if (retract_zlift > 0.01 && !hop_amount) { // Apply hop only once
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const float old_z = current_position[Z_AXIS];
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hop_amount += retract_zlift; // Add to the hop total (again, only once)
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destination[Z_AXIS] += retract_zlift; // Raise Z by the zlift (M207 Z) amount
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feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Maximum Z feedrate
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prepare_move_to_destination(); // Raise up, set_current_to_destination
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current_position[Z_AXIS] = old_z; // Spoof the Z position in the planner
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SYNC_PLAN_POSITION_KINEMATIC();
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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] += hop_amount; // Set actual Z (due to the prior hop)
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SYNC_PLAN_POSITION_KINEMATIC(); // Spoof the Z position in the planner
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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(); // Lower Z, set_current_to_destination
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hop_amount = 0.0; // Clear the hop amount
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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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current_position[E_AXIS] -= (swapping ? swap_retract_length + swap_retract_recover_length
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: retract_length + retract_recover_length) * renormalize;
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sync_plan_position_e();
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prepare_move_to_destination(); // Recover E, set_current_to_destination
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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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#if EXTRUDERS > 1
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SERIAL_ECHOPAIR("retracted_swap[", i);
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SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
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#endif
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}
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SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
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SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_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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