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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2019 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 "../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 EXTRUDERS > 1
- 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() {
- #if ENABLED(FWRETRACT_AUTORETRACT)
- autoretract_enabled = false;
- #endif
- settings.retract_length = RETRACT_LENGTH;
- settings.retract_feedrate_mm_s = RETRACT_FEEDRATE;
- settings.retract_zraise = RETRACT_ZRAISE;
- settings.retract_recover_length = RETRACT_RECOVER_LENGTH;
- settings.retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
- settings.swap_retract_length = RETRACT_LENGTH_SWAP;
- settings.swap_retract_recover_length = RETRACT_RECOVER_LENGTH_SWAP;
- settings.swap_retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE_SWAP;
- current_hop = 0.0;
-
- for (uint8_t i = 0; i < EXTRUDERS; ++i) {
- retracted[i] = false;
- #if EXTRUDERS > 1
- retracted_swap[i] = false;
- #endif
- 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 EXTRUDERS > 1
- , 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 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
- constexpr bool swapping = false;
- #endif
-
- /* // debugging
- SERIAL_ECHOLNPAIR(
- "retracting ", retracting,
- "swapping ", swapping
- "active extruder ", active_extruder
- );
- for (uint8_t i = 0; i < EXTRUDERS; ++i) {
- SERIAL_ECHOLNPAIR("retracted[", i, "] ", retracted[i]);
- #if EXTRUDERS > 1
- SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", retracted_swap[i]);
- #endif
- }
- SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
- SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
- SERIAL_ECHOLNPAIR("current_hop ", current_hop);
- //*/
-
- const float old_feedrate_mm_s = feedrate_mm_s,
- unscale_e = RECIPROCAL(planner.e_factor[active_extruder]),
- unscale_fr = 100.0 / feedrate_percentage, // Disable feedrate scaling for retract moves
- base_retract = (
- (swapping ? settings.swap_retract_length : settings.retract_length)
- #if ENABLED(RETRACT_SYNC_MIXING)
- * (MIXING_STEPPERS)
- #endif
- );
-
- // The current position will be the destination for E and Z moves
- set_destination_from_current();
-
- #if ENABLED(RETRACT_SYNC_MIXING)
- const uint8_t old_mixing_tool = mixer.get_current_vtool();
- mixer.T(MIXER_AUTORETRACT_TOOL);
- #endif
-
- if (retracting) {
- // Retract by moving from a faux E position back to the current E position
- feedrate_mm_s = (
- settings.retract_feedrate_mm_s * unscale_fr
- #if ENABLED(RETRACT_SYNC_MIXING)
- * (MIXING_STEPPERS)
- #endif
- );
- current_retract[active_extruder] = base_retract * unscale_e;
- prepare_move_to_destination(); // set_current_to_destination
- planner.synchronize(); // Wait for move to complete
-
- // Is a Z hop set, and has the hop not yet been done?
- if (settings.retract_zraise > 0.01 && !current_hop) { // Apply hop only once
- current_hop += settings.retract_zraise; // Add to the hop total (again, only once)
- feedrate_mm_s = planner.settings.max_feedrate_mm_s[Z_AXIS] * unscale_fr; // Maximum Z feedrate
- prepare_move_to_destination(); // Raise up, set_current_to_destination
- planner.synchronize(); // Wait for move to complete
- }
- }
- else {
- // If a hop was done and Z hasn't changed, undo the Z hop
- if (current_hop) {
- current_hop = 0.0;
- feedrate_mm_s = planner.settings.max_feedrate_mm_s[Z_AXIS] * unscale_fr; // Z feedrate to max
- prepare_move_to_destination(); // Lower Z, set_current_to_destination
- planner.synchronize(); // Wait for move to complete
- }
-
- const float extra_recover = swapping ? settings.swap_retract_recover_length : settings.retract_recover_length;
- if (extra_recover != 0.0) {
- current_position[E_AXIS] -= 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] = 0.0;
- feedrate_mm_s = (
- (swapping ? settings.swap_retract_recover_feedrate_mm_s : settings.retract_recover_feedrate_mm_s) * unscale_fr
- #if ENABLED(RETRACT_SYNC_MIXING)
- * (MIXING_STEPPERS)
- #endif
- );
- prepare_move_to_destination(); // Recover E, set_current_to_destination
- planner.synchronize(); // Wait for move to complete
- }
-
- #if ENABLED(RETRACT_SYNC_MIXING)
- mixer.T(old_mixing_tool); // Restore original mixing tool
- #endif
-
- 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_ECHOLNPAIR("retracted[", i, "] ", retracted[i]);
- #if EXTRUDERS > 1
- SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", retracted_swap[i]);
- #endif
- }
- SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
- SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
- SERIAL_ECHOLNPAIR("current_hop ", current_hop);
- //*/
- }
-
- #endif // FWRETRACT
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