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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* fwretract.cpp - Implement firmware-based retraction
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(FWRETRACT)
#include "fwretract.h"
FWRetract fwretract; // Single instance - this calls the constructor
#include "../module/motion.h"
#include "../module/planner.h"
#include "../module/stepper.h"
#if ENABLED(RETRACT_SYNC_MIXING)
#include "mixing.h"
#endif
// private:
#if HAS_MULTI_EXTRUDER
bool FWRetract::retracted_swap[EXTRUDERS]; // Which extruders are swap-retracted
#endif
// public:
fwretract_settings_t FWRetract::settings; // M207 S F Z W, M208 S F W R
#if ENABLED(FWRETRACT_AUTORETRACT)
bool FWRetract::autoretract_enabled; // M209 S - Autoretract switch
#endif
bool FWRetract::retracted[EXTRUDERS]; // Which extruders are currently retracted
float FWRetract::current_retract[EXTRUDERS], // Retract value used by planner
FWRetract::current_hop;
void FWRetract::reset() {
TERN_(FWRETRACT_AUTORETRACT, autoretract_enabled = false);
settings.retract_length = RETRACT_LENGTH;
settings.retract_feedrate_mm_s = RETRACT_FEEDRATE;
settings.retract_zraise = RETRACT_ZRAISE;
settings.retract_recover_extra = RETRACT_RECOVER_LENGTH;
settings.retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
settings.swap_retract_length = RETRACT_LENGTH_SWAP;
settings.swap_retract_recover_extra = RETRACT_RECOVER_LENGTH_SWAP;
settings.swap_retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE_SWAP;
current_hop = 0.0;
LOOP_L_N(i, EXTRUDERS) {
retracted[i] = false;
TERN_(HAS_MULTI_EXTRUDER, retracted_swap[i] = false);
current_retract[i] = 0.0;
}
}
/**
* 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: 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 HAS_MULTI_EXTRUDER
, bool swapping/*=false*/
#endif
) {
// Prevent two retracts or recovers in a row
if (retracted[active_extruder] == retracting) return;
// Prevent two swap-retract or recovers in a row
#if HAS_MULTI_EXTRUDER
// Allow G10 S1 only after G11
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
constexpr bool swapping = false;
#endif
/* // debugging
SERIAL_ECHOLNPAIR(
"retracting ", retracting,
" swapping ", swapping,
" active extruder ", active_extruder
);
LOOP_L_N(i, EXTRUDERS) {
SERIAL_ECHOLNPAIR("retracted[", i, "] ", retracted[i]);
#if HAS_MULTI_EXTRUDER
SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", retracted_swap[i]);
#endif
}
SERIAL_ECHOLNPAIR("current_position.z ", current_position.z);
SERIAL_ECHOLNPAIR("current_position.e ", current_position.e);
SERIAL_ECHOLNPAIR("current_hop ", current_hop);
//*/
const float base_retract = TERN1(RETRACT_SYNC_MIXING, (MIXING_STEPPERS))
* (swapping ? settings.swap_retract_length : settings.retract_length);
// The current position will be the destination for E and Z moves
destination = current_position;
#if ENABLED(RETRACT_SYNC_MIXING)
const uint8_t old_mixing_tool = mixer.get_current_vtool();
mixer.T(MIXER_AUTORETRACT_TOOL);
#endif
const feedRate_t fr_max_z = planner.settings.max_feedrate_mm_s[Z_AXIS];
if (retracting) {
// Retract by moving from a faux E position back to the current E position
current_retract[active_extruder] = base_retract;
prepare_internal_move_to_destination( // set current from destination
settings.retract_feedrate_mm_s * TERN1(RETRACT_SYNC_MIXING, (MIXING_STEPPERS))
);
// Is a Z hop set, and has the hop not yet been done?
if (!current_hop && settings.retract_zraise > 0.01f) { // Apply hop only once
current_hop += settings.retract_zraise; // Add to the hop total (again, only once)
// Raise up, set_current_to_destination. Maximum Z feedrate
prepare_internal_move_to_destination(fr_max_z);
}
}
else {
// If a hop was done and Z hasn't changed, undo the Z hop
if (current_hop) {
current_hop = 0;
// Lower Z, set_current_to_destination. Maximum Z feedrate
prepare_internal_move_to_destination(fr_max_z);
}
const float extra_recover = swapping ? settings.swap_retract_recover_extra : settings.retract_recover_extra;
if (extra_recover) {
current_position.e -= extra_recover; // Adjust the current E position by the extra amount to recover
sync_plan_position_e(); // Sync the planner position so the extra amount is recovered
}
current_retract[active_extruder] = 0;
// Recover E, set_current_to_destination
prepare_internal_move_to_destination(
(swapping ? settings.swap_retract_recover_feedrate_mm_s : settings.retract_recover_feedrate_mm_s)
* TERN1(RETRACT_SYNC_MIXING, (MIXING_STEPPERS))
);
}
TERN_(RETRACT_SYNC_MIXING, mixer.T(old_mixing_tool)); // Restore original mixing tool
retracted[active_extruder] = retracting; // Active extruder now retracted / recovered
// If swap retract/recover update the retracted_swap flag too
#if HAS_MULTI_EXTRUDER
if (swapping) retracted_swap[active_extruder] = retracting;
#endif
/* // debugging
SERIAL_ECHOLNPAIR("retracting ", retracting);
SERIAL_ECHOLNPAIR("swapping ", swapping);
SERIAL_ECHOLNPAIR("active_extruder ", active_extruder);
LOOP_L_N(i, EXTRUDERS) {
SERIAL_ECHOLNPAIR("retracted[", i, "] ", retracted[i]);
#if HAS_MULTI_EXTRUDER
SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", retracted_swap[i]);
#endif
}
SERIAL_ECHOLNPAIR("current_position.z ", current_position.z);
SERIAL_ECHOLNPAIR("current_position.e ", current_position.e);
SERIAL_ECHOLNPAIR("current_hop ", current_hop);
//*/
}
#endif // FWRETRACT
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