Make FWRetract class for 2.0.x parity

Marlin/fwretract.cpp

@@ -0,0 +1,196 @@
+/**
+ * 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 "MarlinConfig.h"
+
+#if ENABLED(FWRETRACT)
+
+#include "fwretract.h"
+#include "Marlin.h"
+#include "planner.h"
+#include "stepper.h"
+
+FWRetract fwretract; // Single instance - this calls the constructor
+
+// private:
+
+#if EXTRUDERS > 1
+  bool FWRetract::retracted_swap[EXTRUDERS];         // Which extruders are swap-retracted
+#endif
+
+// public:
+
+bool FWRetract::autoretract_enabled,                 // M209 S - Autoretract switch
+     FWRetract::retracted[EXTRUDERS];                // 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
+
+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;
+
+  for (uint8_t i = 0; i < EXTRUDERS; ++i) {
+    retracted[i] = false;
+    #if EXTRUDERS > 1
+      retracted_swap[i] = false;
+    #endif
+  }
+}
+
+/**
+ * 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_amount = 0.0;  // Total amount lifted, for use in recover
+
+  // 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
+    const bool swapping = false;
+  #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);
+  //*/
+
+  const bool has_zhop = retract_zlift > 0.01;     // Is there a hop set?
+  const float old_feedrate_mm_s = feedrate_mm_s;
+
+  // The current position will be the destination for E and Z moves
+  set_destination_from_current();
+  stepper.synchronize();  // Wait for buffered moves to complete
+
+  const float renormalize = 1.0 / planner.e_factor[active_extruder];
+
+  if (retracting) {
+    // 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) * renormalize;
+    sync_plan_position_e();
+    prepare_move_to_destination();
+
+    // Is a Z hop set, and has the hop not yet been done?
+    // No double zlifting
+    // Feedrate to the max
+    if (has_zhop && !hop_amount) {
+      hop_amount += retract_zlift;                        // Carriage is raised for retraction hop
+      feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];  // Z feedrate to max
+      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) {
+      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
+      feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];  // Z feedrate to max
+      prepare_move_to_destination();                      // Raise up to the old current pos
+      hop_amount = 0.0;                                   // Clear hop
+    }
+
+    // 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 * renormalize;
+    sync_plan_position_e();
+    prepare_move_to_destination();  // Recover E
+  }
+
+  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_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);
+  //*/
+
+}
+
+#endif // FWRETRACT