added firmware retract. disabled by default

Marlin/Configuration_adv.h

@@ -179,6 +179,16 @@ const int dropsegments=5; //everything with less than this number of steps will
 #define MAX_CMD_SIZE 96
 #define BUFSIZE 4
 
+
+// Firmware based and LCD controled retract
+// M207 and M208 can be used to define parameters for the retraction. 
+// The retraction can be called by the slicer using G10 and G11
+// until then, intended retractions can be detected by moves that only extrude and the direction. 
+// the moves are than replaced by the firmware controlled ones.
+
+// #define FWRETRACT  //ONLY PARTIALLY TESTED
+#define MIN_RETRACT 0.1 //minimum extruded mm to accept a automatic gcode retraction attempt
+
 //===========================================================================
 //=============================  Define Defines  ============================
 //===========================================================================

Marlin/Marlin.pde

@@ -50,6 +50,8 @@
 // G2  - CW ARC
 // G3  - CCW ARC
 // G4  - Dwell S<seconds> or P<milliseconds>
+// G10 - retract filament according to settings of M207
+// G11 - retract recover filament according to settings of M208
 // G28 - Home all Axis
 // G90 - Use Absolute Coordinates
 // G91 - Use Relative Coordinates
@@ -102,6 +104,9 @@
 // M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2  also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
 // M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
 // M206 - set additional homeing offset
+// M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
+// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
+// M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
 // M220 S<factor in percent>- set speed factor override percentage
 // M221 S<factor in percent>- set extrude factor override percentage
 // M240 - Trigger a camera to take a photograph
@@ -139,6 +144,12 @@ float add_homeing[3]={0,0,0};
 uint8_t active_extruder = 0;
 unsigned char FanSpeed=0;
 
+#ifdef FWRETRACT
+  bool autoretract_enabled=true;
+  bool retracted=false;
+  float retract_length=3, retract_feedrate=17*60, retract_zlift=0.8;
+  float retract_recover_length=0, retract_recover_feedrate=8*60;
+#endif
 
 //===========================================================================
 //=============================private variables=============================
@@ -179,6 +190,7 @@ static unsigned long stoptime=0;
 
 static uint8_t tmp_extruder;
 
+
 bool Stopped=false;
 
 //===========================================================================
@@ -601,6 +613,36 @@ void process_commands()
 		LCD_STATUS;
       }
       break;
+      #ifdef FWRETRACT  
+      case 10: // G10 retract
+      if(!retracted) 
+      {
+        destination[X_AXIS]=current_position[X_AXIS];
+        destination[Y_AXIS]=current_position[Y_AXIS];
+        destination[Z_AXIS]=current_position[Z_AXIS]; 
+        current_position[Z_AXIS]+=-retract_zlift;
+        destination[E_AXIS]=current_position[E_AXIS]-retract_length; 
+        feedrate=retract_feedrate;
+        retracted=true;
+        prepare_move();
+      }
+      
+      break;
+      case 11: // G10 retract_recover
+      if(!retracted) 
+      {
+        destination[X_AXIS]=current_position[X_AXIS];
+        destination[Y_AXIS]=current_position[Y_AXIS];
+        destination[Z_AXIS]=current_position[Z_AXIS]; 
+        
+        current_position[Z_AXIS]+=retract_zlift;
+        current_position[E_AXIS]+=-retract_recover_length; 
+        feedrate=retract_recover_feedrate;
+        retracted=false;
+        prepare_move();
+      }
+      break;
+      #endif //FWRETRACT
     case 28: //G28 Home all Axis one at a time
       saved_feedrate = feedrate;
       saved_feedmultiply = feedmultiply;
@@ -1212,6 +1254,53 @@ void process_commands()
         if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
       }
       break;
+    #ifdef FWRETRACT
+    case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
+    {
+      if(code_seen('S')) 
+      {
+        retract_length = code_value() ;
+      }
+      if(code_seen('F')) 
+      {
+        retract_feedrate = code_value() ;
+      }
+      if(code_seen('Z')) 
+      {
+        retract_zlift = code_value() ;
+      }
+    }break;
+    case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
+    {
+      if(code_seen('S')) 
+      {
+        retract_recover_length = code_value() ;
+      }
+      if(code_seen('F')) 
+      {
+        retract_recover_feedrate = code_value() ;
+      }
+    }break;
+    
+    case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
+    {
+      if(code_seen('S')) 
+      {
+        int t= code_value() ;
+        switch(t)
+        {
+          case 0: autoretract_enabled=false;retracted=false;break;
+          case 1: autoretract_enabled=true;retracted=false;break;
+          default: 
+            SERIAL_ECHO_START;
+            SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
+            SERIAL_ECHO(cmdbuffer[bufindr]);
+            SERIAL_ECHOLNPGM("\"");
+        }
+      }
+      
+    }break;
+    #endif
     case 220: // M220 S<factor in percent>- set speed factor override percentage
     {
       if(code_seen('S')) 
@@ -1373,14 +1462,55 @@ void ClearToSend()
 
 void get_coordinates()
 {
+  bool seen[4]={false,false,false,false};
   for(int8_t i=0; i < NUM_AXIS; i++) {
-    if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
+    if(code_seen(axis_codes[i])) 
+    {
+      destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
+      seen[i]=true;
+    }
     else destination[i] = current_position[i]; //Are these else lines really needed?
   }
   if(code_seen('F')) {
     next_feedrate = code_value();
     if(next_feedrate > 0.0) feedrate = next_feedrate;
   }
+  #ifdef FWRETRACT
+  if(autoretract_enabled)
+  if( !(seen[X_AXIS] || seen[Y_AXIS] || seen[Z_AXIS]) && seen[E_AXIS])
+  {
+    float echange=destination[E_AXIS]-current_position[E_AXIS];
+    if(echange<-MIN_RETRACT) //retract
+    {
+      if(!retracted) 
+      {
+      
+      destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work.
+      //if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally
+      float correctede=-echange-retract_length;
+      //to generate the additional steps, not the destination is changed, but inversely the current position
+      destination[E_AXIS]+=correctede; 
+      feedrate=retract_feedrate;
+      retracted=true;
+      }
+      
+    }
+    else 
+      if(echange>MIN_RETRACT) //retract_recover
+    {
+      if(retracted) 
+      {
+      //current_position[Z_AXIS]+=-retract_zlift;
+      //if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally
+      float correctede=-echange+0*retract_length+retract_recover_length; //total unretract=retract_length+retract_recover_length[surplus]
+      current_position[E_AXIS]+=-correctede; //to generate the additional steps, not the destination is changed, but inversely the current position
+      feedrate=retract_recover_feedrate;
+      retracted=false;
+      }
+    }
+    
+  }
+  #endif //FWRETRACT
 }
 
 void get_arc_coordinates()

Marlin/language.h

@@ -73,6 +73,7 @@
 	#define MSG_ZSTEPS " Zsteps/mm:"
 	#define MSG_ESTEPS " Esteps/mm:"
 	#define MSG_MAIN_WIDE " Main        \003"
+	#define MSG_RECTRACT_WIDE " Rectract    \x7E"
 	#define MSG_TEMPERATURE_WIDE " Temperature \x7E"
 	#define MSG_MOTION_WIDE " Motion      \x7E"
 	#define MSG_STORE_EPROM " Store memory"
@@ -83,6 +84,7 @@
 	#define MSG_PREPARE " Prepare \x7E"
 	#define MSG_PREPARE_ALT " Prepare \003"
 	#define MSG_CONTROL_ARROW " Control \x7E"
+	#define MSG_RETRACT_ARROW " Control \x7E"
 	#define MSG_TUNE " Tune    \x7E"
 	#define MSG_STOP_PRINT " Stop Print   \x7E"
 	#define MSG_CARD_MENU " Card Menu    \x7E"
@@ -97,7 +99,12 @@
 	#define MSG_PREHEAT_PLA " Preheat PLA"
 	#define MSG_PREHEAT_ABS " Preheat ABS"
 	#define MSG_STEPPER_RELEASED "Released."
-
+  #define MSG_CONTROL_RETRACT  " Retract mm:"
+  #define MSG_CONTROL_RETRACTF " Retract  F:"
+  #define MSG_CONTROL_RETRACT_ZLIFT " Hop mm:"
+  #define MSG_CONTROL_RETRACT_RECOVER " UnRet +mm:"
+  #define MSG_CONTROL_RETRACT_RECOVERF " UnRet  F:"
+  #define MSG_AUTORETRACT " AutoRetr.:"
 
 // Serial Console Messages
 
@@ -231,6 +238,7 @@
 	#define MSG_PREPARE " Prepare \x7E"
 	#define MSG_PREPARE_ALT " Prepare \003"
 	#define MSG_CONTROL_ARROW " Control \x7E"
+	
 	#define MSG_TUNE " Tune    \x7E"
 	#define MSG_STOP_PRINT " Druck stoppen   \x7E"
 	#define MSG_CARD_MENU " SDKarten Menue    \x7E"
@@ -246,6 +254,7 @@
 	#define MSG_STEPPER_RELEASED "Released."
 	
 
+
 // Serial Console Messages
 
 	#define MSG_Enqueing "enqueing \""

Marlin/ultralcd.h

@@ -51,7 +51,7 @@
   #define blocktime 500
   #define lcdslow 5
     
-  enum MainStatus{Main_Status, Main_Menu, Main_Prepare,Sub_PrepareMove, Main_Control, Main_SD,Sub_TempControl,Sub_MotionControl};
+  enum MainStatus{Main_Status, Main_Menu, Main_Prepare,Sub_PrepareMove, Main_Control, Main_SD,Sub_TempControl,Sub_MotionControl,Sub_RetractControl};
 
   class MainMenu{
   public:
@@ -68,6 +68,7 @@
     void showControl();
     void showControlMotion();
     void showControlTemp();
+    void showControlRetract();
     void showAxisMove();
     void showSD();
     bool force_lcd_update;

Marlin/ultralcd.pde

@@ -1688,6 +1688,8 @@ void MainMenu::showControlMotion()
         }
         
       }break;
+     
+    
     case ItemCM_aret://float retract_acceleration = 7000;
     {
         if(force_lcd_update)
@@ -1884,8 +1886,252 @@ void MainMenu::showControlMotion()
 }
 
 
+enum {
+  ItemR_exit,
+  ItemR_autoretract,
+  ItemR_retract_length,ItemR_retract_feedrate,ItemR_retract_zlift,
+  ItemR_unretract_length,ItemR_unretract_feedrate,
+  
+};
+
+
+
+void MainMenu::showControlRetract()
+{
+#ifdef FWRETRACT
+ uint8_t line=0;
+ clearIfNecessary();
+ for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++)
+ {
+  switch(i)
+  {
+    case ItemR_exit:
+      MENUITEM(  lcdprintPGM(MSG_CONTROL)  ,  BLOCK;status=Main_Control;beepshort(); ) ;
+      break;
+    
+      //float retract_length=2, retract_feedrate=1200, retract_zlift=0.4;
+  //float retract_recover_length=0, retract_recover_feedrate=500;
+      case ItemR_autoretract:
+      {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_AUTORETRACT);
+          lcd.setCursor(13,line);
+          if(autoretract_enabled)
+            lcdprintPGM(MSG_ON);
+          else
+            lcdprintPGM(MSG_OFF);
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          autoretract_enabled=!autoretract_enabled;
+          lcd.setCursor(13,line);
+          if(autoretract_enabled)
+            lcdprintPGM(MSG_ON);
+          else
+            lcdprintPGM(MSG_OFF);
+          BLOCK;
+        }
+        
+      }break;  
+    
+      case ItemR_retract_length:
+    {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACT);
+          lcd.setCursor(13,line);lcd.print(ftostr52(retract_length));
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          linechanging=!linechanging;
+          if(linechanging)
+          {
+              encoderpos=(long)(retract_length*100);
+          }
+          else
+          {
+            retract_length= encoderpos/100.;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
+        }
+        if(linechanging)
+        {
+          if(encoderpos<1) encoderpos=1;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(ftostr52(encoderpos/100.));
+        }
+        
+      }break;
+      case ItemR_retract_feedrate:
+    {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACTF);
+          lcd.setCursor(13,line);lcd.print(itostr4(retract_feedrate));
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          linechanging=!linechanging;
+          if(linechanging)
+          {
+              encoderpos=(long)(retract_feedrate/5);
+          }
+          else
+          {
+            retract_feedrate= encoderpos*5.;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
+        }
+        if(linechanging)
+        {
+          if(encoderpos<1) encoderpos=1;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(itostr4(encoderpos*5));
+        }
+        
+      }break;
+      case ItemR_retract_zlift://float retract_acceleration = 7000;
+    {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACT_ZLIFT);
+          lcd.setCursor(13,line);lcd.print(ftostr52(retract_zlift));;
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          linechanging=!linechanging;
+          if(linechanging)
+          {
+              encoderpos=(long)(retract_zlift*10);
+          }
+          else
+          {
+            retract_zlift= encoderpos/10.;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
+        }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(ftostr52(encoderpos/10.));
+        }
+        
+      }break;
+      case ItemR_unretract_length:
+    {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACT_RECOVER);
+          lcd.setCursor(13,line);lcd.print(ftostr52(retract_recover_length));;
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          linechanging=!linechanging;
+          if(linechanging)
+          {
+              encoderpos=(long)(retract_recover_length*100);
+          }
+          else
+          {
+            retract_recover_length= encoderpos/100.;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
+        }
+        if(linechanging)
+        {
+          if(encoderpos<0) encoderpos=0;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(ftostr52(encoderpos/100.));
+        }
+        
+      }break;
+      
+      case ItemR_unretract_feedrate:
+    {
+        if(force_lcd_update)
+        {
+          lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACT_RECOVERF);
+          lcd.setCursor(13,line);lcd.print(itostr4(retract_recover_feedrate));
+        }
+        
+        if((activeline!=line) )
+          break;
+        
+        if(CLICKED)
+        {
+          linechanging=!linechanging;
+          if(linechanging)
+          {
+              encoderpos=(long)retract_recover_feedrate/5;
+          }
+          else
+          {
+            retract_recover_feedrate= encoderpos*5.;
+            encoderpos=activeline*lcdslow;
+              
+          }
+          BLOCK;
+          beepshort();
+        }
+        if(linechanging)
+        {
+          if(encoderpos<1) encoderpos=1;
+          if(encoderpos>990) encoderpos=990;
+          lcd.setCursor(13,line);lcd.print(itostr4(encoderpos*5));
+        }
+        
+      }break;
+    
+    default:   
+      break;
+  }
+  line++;
+ }
+ updateActiveLines(ItemR_unretract_feedrate,encoderpos);
+#endif
+}
+
+
+
 enum {
   ItemC_exit,ItemC_temp,ItemC_move,
+#ifdef FWRETRACT
+  ItemC_rectract,
+#endif
   ItemC_store, ItemC_load,ItemC_failsafe
 };
 
@@ -1906,6 +2152,11 @@ void MainMenu::showControl()
    case ItemC_move:
       MENUITEM(  lcdprintPGM(MSG_MOTION_WIDE)  ,  BLOCK;status=Sub_MotionControl;beepshort(); ) ;
       break;
+#ifdef FWRETRACT
+    case ItemC_rectract:
+      MENUITEM(  lcdprintPGM(MSG_RECTRACT_WIDE)  ,  BLOCK;status=Sub_RetractControl;beepshort(); ) ;
+      break;
+#endif
     case ItemC_store:
     {
       if(force_lcd_update)
@@ -2250,6 +2501,10 @@ void MainMenu::update()
       {
         showControlMotion(); 
       }break;
+      case Sub_RetractControl:
+      {
+        showControlRetract(); 
+      }break;
       case Sub_TempControl:
       {
         showControlTemp();