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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 "../gcode/gcode.h"
-
- #if ENABLED(RETRACT_SYNC_MIXING)
- #include "mixing.h"
- #endif
-
- // private:
-
- #if HAS_MULTI_EXTRUDER
- Flags<EXTRUDERS> FWRetract::retracted_swap; // 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
-
- Flags<EXTRUDERS> FWRetract::retracted; // 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;
-
- retracted.reset();
- EXTRUDER_LOOP() {
- E_TERN_(retracted_swap.clear(e));
- current_retract[e] = 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 E_OPTARG(bool swapping/*=false*/)) {
- // 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_ECHOLNPGM(
- "retracting ", AS_DIGIT(retracting),
- " swapping ", swapping,
- " active extruder ", active_extruder
- );
- EXTRUDER_LOOP() {
- SERIAL_ECHOLNPGM("retracted[", e, "] ", AS_DIGIT(retracted[e]));
- #if HAS_MULTI_EXTRUDER
- SERIAL_ECHOLNPGM("retracted_swap[", e, "] ", AS_DIGIT(retracted_swap[e]));
- #endif
- }
- SERIAL_ECHOLNPGM("current_position.z ", current_position.z);
- SERIAL_ECHOLNPGM("current_position.e ", current_position.e);
- SERIAL_ECHOLNPGM("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.set(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.set(active_extruder, retracting);
- #endif
-
- /* // debugging
- SERIAL_ECHOLNPGM("retracting ", AS_DIGIT(retracting));
- SERIAL_ECHOLNPGM("swapping ", AS_DIGIT(swapping));
- SERIAL_ECHOLNPGM("active_extruder ", active_extruder);
- EXTRUDER_LOOP() {
- SERIAL_ECHOLNPGM("retracted[", e, "] ", AS_DIGIT(retracted[e]));
- #if HAS_MULTI_EXTRUDER
- SERIAL_ECHOLNPGM("retracted_swap[", e, "] ", AS_DIGIT(retracted_swap[e]));
- #endif
- }
- SERIAL_ECHOLNPGM("current_position.z ", current_position.z);
- SERIAL_ECHOLNPGM("current_position.e ", current_position.e);
- SERIAL_ECHOLNPGM("current_hop ", current_hop);
- //*/
- }
-
- //extern const char SP_Z_STR[];
-
- /**
- * M207: Set firmware retraction values
- *
- * S[+units] retract_length
- * W[+units] swap_retract_length (multi-extruder)
- * F[units/min] retract_feedrate_mm_s
- * Z[units] retract_zraise
- */
- void FWRetract::M207() {
- if (!parser.seen("FSWZ")) return M207_report();
- if (parser.seenval('S')) settings.retract_length = parser.value_axis_units(E_AXIS);
- if (parser.seenval('F')) settings.retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
- if (parser.seenval('Z')) settings.retract_zraise = parser.value_linear_units();
- if (parser.seenval('W')) settings.swap_retract_length = parser.value_axis_units(E_AXIS);
- }
-
- void FWRetract::M207_report() {
- SERIAL_ECHOLNPGM_P(
- PSTR(" M207 S"), LINEAR_UNIT(settings.retract_length)
- , PSTR(" W"), LINEAR_UNIT(settings.swap_retract_length)
- , PSTR(" F"), LINEAR_UNIT(MMS_TO_MMM(settings.retract_feedrate_mm_s))
- , SP_Z_STR, LINEAR_UNIT(settings.retract_zraise)
- );
- }
-
- /**
- * M208: Set firmware un-retraction values
- *
- * S[+units] retract_recover_extra (in addition to M207 S*)
- * W[+units] swap_retract_recover_extra (multi-extruder)
- * F[units/min] retract_recover_feedrate_mm_s
- * R[units/min] swap_retract_recover_feedrate_mm_s
- */
- void FWRetract::M208() {
- if (!parser.seen("FSRW")) return M208_report();
- if (parser.seen('S')) settings.retract_recover_extra = parser.value_axis_units(E_AXIS);
- if (parser.seen('F')) settings.retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
- if (parser.seen('R')) settings.swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
- if (parser.seen('W')) settings.swap_retract_recover_extra = parser.value_axis_units(E_AXIS);
- }
-
- void FWRetract::M208_report() {
- SERIAL_ECHOLNPGM(
- " M208 S", LINEAR_UNIT(settings.retract_recover_extra)
- , " W", LINEAR_UNIT(settings.swap_retract_recover_extra)
- , " F", LINEAR_UNIT(MMS_TO_MMM(settings.retract_recover_feedrate_mm_s))
- );
- }
-
- #if ENABLED(FWRETRACT_AUTORETRACT)
-
- /**
- * M209: Enable automatic retract (M209 S1)
- * For slicers that don't support G10/11, reversed extrude-only
- * moves will be classified as retraction.
- */
- void FWRetract::M209() {
- if (!parser.seen('S')) return M209_report();
- if (MIN_AUTORETRACT <= MAX_AUTORETRACT)
- enable_autoretract(parser.value_bool());
- }
-
- void FWRetract::M209_report() {
- SERIAL_ECHOLNPGM(" M209 S", AS_DIGIT(autoretract_enabled));
- }
-
- #endif // FWRETRACT_AUTORETRACT
-
-
- #endif // FWRETRACT
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