FWRETRACT as a feature
Scott Lahteine
7 years ago
parent
722786966a
commit
a98e9874db
@ -0,0 +1,185 @@
|
|||||||
|
/**
|
||||||
|
* 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 "../inc/MarlinConfig.h"
|
||||||
|
|
||||||
|
#if ENABLED(FWRETRACT)
|
||||||
|
|
||||||
|
#include "fwretract.h"
|
||||||
|
|
||||||
|
FWRetract fwretract; // Single instance
|
||||||
|
|
||||||
|
#include "../module/motion.h"
|
||||||
|
|
||||||
|
bool FWRetract::autoretract_enabled, // M209 S - Autoretract switch
|
||||||
|
FWRetract::retracted[EXTRUDERS] = { false }; // 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
|
||||||
|
#if EXTRUDERS > 1
|
||||||
|
bool FWRetract::retracted_swap[EXTRUDERS] = { false }; // Which extruders are swap-retracted
|
||||||
|
#endif
|
||||||
|
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 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_height, // Remember where the Z height started
|
||||||
|
hop_amount = 0.0; // Total amount lifted, for use in recover
|
||||||
|
|
||||||
|
// Simply never allow two retracts or recovers in a row
|
||||||
|
if (retracted[active_extruder] == retracting) return;
|
||||||
|
|
||||||
|
#if EXTRUDERS < 2
|
||||||
|
bool swapping = false;
|
||||||
|
#endif
|
||||||
|
if (!retracting) swapping = retracted_swap[active_extruder];
|
||||||
|
|
||||||
|
/* // 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]);
|
||||||
|
SERIAL_ECHOPAIR("retracted_swap[", i);
|
||||||
|
SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
|
||||||
|
}
|
||||||
|
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
|
||||||
|
SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
|
||||||
|
//*/
|
||||||
|
|
||||||
|
const bool has_zhop = retract_zlift > 0.01; // Is there a hop set?
|
||||||
|
|
||||||
|
const float old_feedrate_mm_s = feedrate_mm_s;
|
||||||
|
const int16_t old_flow = flow_percentage[active_extruder];
|
||||||
|
|
||||||
|
// Don't apply flow multiplication to retract/recover
|
||||||
|
flow_percentage[active_extruder] = 100;
|
||||||
|
|
||||||
|
// The current position will be the destination for E and Z moves
|
||||||
|
set_destination_to_current();
|
||||||
|
|
||||||
|
if (retracting) {
|
||||||
|
// Remember the Z height since G-code may include its own Z-hop
|
||||||
|
// For best results turn off Z hop if G-code already includes it
|
||||||
|
hop_height = destination[Z_AXIS];
|
||||||
|
|
||||||
|
// 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) / volumetric_multiplier[active_extruder];
|
||||||
|
sync_plan_position_e();
|
||||||
|
prepare_move_to_destination();
|
||||||
|
|
||||||
|
// Is a Z hop set, and has the hop not yet been done?
|
||||||
|
if (has_zhop) {
|
||||||
|
hop_amount += retract_zlift; // Carriage is raised for retraction hop
|
||||||
|
current_position[Z_AXIS] -= retract_zlift; // Pretend current pos is lower. Next move raises Z.
|
||||||
|
SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
|
||||||
|
prepare_move_to_destination(); // Raise up to the old current pos
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
// If a hop was done and Z hasn't changed, undo the Z hop
|
||||||
|
if (hop_amount && NEAR(hop_height, destination[Z_AXIS])) {
|
||||||
|
current_position[Z_AXIS] += hop_amount; // Pretend current pos is higher. Next move lowers Z.
|
||||||
|
SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
|
||||||
|
prepare_move_to_destination(); // Lower to the old current pos
|
||||||
|
hop_amount = 0.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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;
|
||||||
|
|
||||||
|
const float move_e = swapping ? swap_retract_length + swap_retract_recover_length : retract_length + retract_recover_length;
|
||||||
|
current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
|
||||||
|
sync_plan_position_e();
|
||||||
|
|
||||||
|
prepare_move_to_destination(); // Recover E
|
||||||
|
}
|
||||||
|
|
||||||
|
// Restore flow and feedrate
|
||||||
|
flow_percentage[active_extruder] = old_flow;
|
||||||
|
feedrate_mm_s = old_feedrate_mm_s;
|
||||||
|
|
||||||
|
// The active extruder is now retracted or recovered
|
||||||
|
retracted[active_extruder] = retracting;
|
||||||
|
|
||||||
|
// If swap retract/recover then 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]);
|
||||||
|
SERIAL_ECHOPAIR("retracted_swap[", i);
|
||||||
|
SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
|
||||||
|
}
|
||||||
|
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
|
||||||
|
SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
|
||||||
|
//*/
|
||||||
|
|
||||||
|
} // retract()
|
||||||
|
|
||||||
|
#endif // FWRETRACT
|
||||||
@ -0,0 +1,65 @@
|
|||||||
|
/**
|
||||||
|
* 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.h - Define firmware-based retraction interface
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef FWRETRACT_H
|
||||||
|
#define FWRETRACT_H
|
||||||
|
|
||||||
|
#include "../inc/MarlinConfig.h"
|
||||||
|
|
||||||
|
class FWRetract {
|
||||||
|
public:
|
||||||
|
static bool autoretract_enabled, // M209 S - Autoretract switch
|
||||||
|
retracted[EXTRUDERS]; // Which extruders are currently retracted
|
||||||
|
static float retract_length, // M207 S - G10 Retract length
|
||||||
|
retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
|
||||||
|
retract_zlift, // M207 Z - G10 Retract hop size
|
||||||
|
retract_recover_length, // M208 S - G11 Recover length
|
||||||
|
retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
|
||||||
|
swap_retract_length, // M207 W - G10 Swap Retract length
|
||||||
|
swap_retract_recover_length, // M208 W - G11 Swap Recover length
|
||||||
|
swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
|
||||||
|
|
||||||
|
#if EXTRUDERS > 1
|
||||||
|
static bool retracted_swap[EXTRUDERS]; // Which extruders are swap-retracted
|
||||||
|
#else
|
||||||
|
static bool constexpr retracted_swap[1] = { false };
|
||||||
|
#endif
|
||||||
|
|
||||||
|
FWRetract() {}
|
||||||
|
|
||||||
|
static void reset();
|
||||||
|
|
||||||
|
static void retract(const bool retracting
|
||||||
|
#if EXTRUDERS > 1
|
||||||
|
, bool swapping = false
|
||||||
|
#endif
|
||||||
|
);
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
extern FWRetract fwretract;
|
||||||
|
|
||||||
|
#endif // FWRETRACT_H
|
||||||
Loading…
Reference in New Issue