From fee696db5d293d9a93997e25facc6448f6ee4abf Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Mon, 17 Jul 2017 22:01:41 -0500 Subject: [PATCH] Improve retract() for G10/G11/autoretract --- Marlin/Marlin.h | 13 ++- Marlin/Marlin_main.cpp | 161 +++++++++++++++++++++++---------- Marlin/configuration_store.cpp | 138 +++++++++++++--------------- 3 files changed, 185 insertions(+), 127 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 543fbcc5ee..33c813645a 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -383,10 +383,15 @@ extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ]; #endif #if ENABLED(FWRETRACT) - extern bool autoretract_enabled; - extern bool retracted[EXTRUDERS]; // extruder[n].retracted - extern float retract_length, retract_length_swap, retract_feedrate_mm_s, retract_zlift; - extern float retract_recover_length, retract_recover_length_swap, retract_recover_feedrate_mm_s; + extern bool autoretract_enabled; // M209 S - Autoretract switch + extern 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 + retract_length_swap, // M207 W - G10 Swap Retract length + retract_recover_length_swap, // M208 W - G11 Swap Recover length + swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate #endif // Print job timer diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 51e4c4b5f5..20c71945ec 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -557,20 +557,22 @@ static uint8_t target_extruder; baricuda_e_to_p_pressure = 0; #endif -#if ENABLED(FWRETRACT) - - bool autoretract_enabled = false; - bool retracted[EXTRUDERS] = { false }; - bool retracted_swap[EXTRUDERS] = { false }; - - float retract_length = RETRACT_LENGTH; - float retract_length_swap = RETRACT_LENGTH_SWAP; - float retract_feedrate_mm_s = RETRACT_FEEDRATE; - float retract_zlift = RETRACT_ZLIFT; - float retract_recover_length = RETRACT_RECOVER_LENGTH; - float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP; - float retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE; - +#if ENABLED(FWRETRACT) // Initialized by settings.load()... + bool autoretract_enabled, // M209 S - Autoretract switch + retracted[EXTRUDERS] = { false }; // Which extruders are currently retracted + 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 + retract_length_swap, // M207 W - G10 Swap Retract length + retract_recover_length_swap, // M208 W - G11 Swap Recover length + swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate + #if EXTRUDERS > 1 + bool retracted_swap[EXTRUDERS] = { false }; // Which extruders are swap-retracted + #else + constexpr bool retracted_swap[1] = { false }; + #endif #endif // FWRETRACT #if HAS_POWER_SWITCH @@ -3100,55 +3102,120 @@ static void homeaxis(const AxisEnum axis) { #if ENABLED(FWRETRACT) - void retract(const bool retracting, const bool swapping = false) { + /** + * 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 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 - static float hop_height; + // 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); + //*/ - if (retracting == retracted[active_extruder]) return; + 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_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 ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder]; sync_plan_position_e(); prepare_move_to_destination(); - if (retract_zlift > 0.01) { - hop_height = current_position[Z_AXIS]; - // Pretend current position is lower - current_position[Z_AXIS] -= retract_zlift; - SYNC_PLAN_POSITION_KINEMATIC(); - // Raise up to the old current_position - 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 the height hasn't been lowered, undo the Z hop - if (retract_zlift > 0.01 && hop_height <= current_position[Z_AXIS]) { - // Pretend current position is higher. Z will lower on the next move - current_position[Z_AXIS] += retract_zlift; - SYNC_PLAN_POSITION_KINEMATIC(); - // Lower Z - prepare_move_to_destination(); + // 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; } - feedrate_mm_s = retract_recover_feedrate_mm_s; + // 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 ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length; current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder]; sync_plan_position_e(); - // Recover E - prepare_move_to_destination(); + prepare_move_to_destination(); // Recover E } 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 @@ -3277,18 +3344,16 @@ inline void gcode_G0_G1( gcode_get_destination(); // For X Y Z E F #if ENABLED(FWRETRACT) - - if (autoretract_enabled && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z')) && parser.seen('E')) { + // When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves + if (autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) { const float echange = destination[E_AXIS] - current_position[E_AXIS]; - // Is this move an attempt to retract or recover? + // Is this a retract or recover move? if (WITHIN(FABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && retracted[active_extruder] == (echange > 0.0)) { - current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations - sync_plan_position_e(); // AND from the planner - retract(!retracted[active_extruder]); - return; + current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations + sync_plan_position_e(); // AND from the planner + return retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored) } } - #endif // FWRETRACT #if IS_SCARA @@ -8489,9 +8554,7 @@ inline void gcode_M205() { if (parser.seen('S')) retract_length = parser.value_axis_units(E_AXIS); if (parser.seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS)); if (parser.seen('Z')) retract_zlift = parser.value_linear_units(); - #if EXTRUDERS > 1 - if (parser.seen('W')) retract_length_swap = parser.value_axis_units(E_AXIS); - #endif + if (parser.seen('W')) retract_length_swap = parser.value_axis_units(E_AXIS); } /** @@ -8500,13 +8563,13 @@ inline void gcode_M205() { * S[+units] retract_recover_length (in addition to M207 S*) * W[+units] retract_recover_length_swap (multi-extruder) * F[units/min] retract_recover_feedrate_mm_s + * R[units/min] swap_retract_recover_feedrate_mm_s */ inline void gcode_M208() { if (parser.seen('S')) retract_recover_length = parser.value_axis_units(E_AXIS); if (parser.seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS)); - #if EXTRUDERS > 1 - if (parser.seen('W')) retract_recover_length_swap = parser.value_axis_units(E_AXIS); - #endif + if (parser.seen('R')) swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS)); + if (parser.seen('W')) retract_recover_length_swap = parser.value_axis_units(E_AXIS); } /** diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index c86ba08599..6fa2ff9692 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -36,7 +36,7 @@ * */ -#define EEPROM_VERSION "V39" +#define EEPROM_VERSION "V40" // Change EEPROM version if these are changed: #define EEPROM_OFFSET 100 @@ -125,44 +125,45 @@ * DOGLCD: 2 bytes * 502 M250 C lcd_contrast (uint16_t) * - * FWRETRACT: 29 bytes + * FWRETRACT: 33 bytes * 504 M209 S autoretract_enabled (bool) * 505 M207 S retract_length (float) - * 509 M207 W retract_length_swap (float) - * 513 M207 F retract_feedrate_mm_s (float) - * 517 M207 Z retract_zlift (float) - * 521 M208 S retract_recover_length (float) - * 525 M208 W retract_recover_length_swap (float) - * 529 M208 F retract_recover_feedrate_mm_s (float) + * 509 M207 F retract_feedrate_mm_s (float) + * 513 M207 Z retract_zlift (float) + * 517 M208 S retract_recover_length (float) + * 521 M208 F retract_recover_feedrate_mm_s (float) + * 525 M207 W retract_length_swap (float) + * 529 M208 W retract_recover_length_swap (float) + * 533 M208 R swap_retract_recover_feedrate_mm_s (float) * * Volumetric Extrusion: 21 bytes - * 533 M200 D volumetric_enabled (bool) - * 534 M200 T D filament_size (float x5) (T0..3) + * 537 M200 D volumetric_enabled (bool) + * 538 M200 T D filament_size (float x5) (T0..3) * * HAVE_TMC2130: 20 bytes - * 554 M906 X Stepper X current (uint16_t) - * 556 M906 Y Stepper Y current (uint16_t) - * 558 M906 Z Stepper Z current (uint16_t) - * 560 M906 X2 Stepper X2 current (uint16_t) - * 562 M906 Y2 Stepper Y2 current (uint16_t) - * 564 M906 Z2 Stepper Z2 current (uint16_t) - * 566 M906 E0 Stepper E0 current (uint16_t) - * 568 M906 E1 Stepper E1 current (uint16_t) - * 570 M906 E2 Stepper E2 current (uint16_t) - * 572 M906 E3 Stepper E3 current (uint16_t) - * 576 M906 E4 Stepper E4 current (uint16_t) + * 558 M906 X Stepper X current (uint16_t) + * 560 M906 Y Stepper Y current (uint16_t) + * 562 M906 Z Stepper Z current (uint16_t) + * 564 M906 X2 Stepper X2 current (uint16_t) + * 566 M906 Y2 Stepper Y2 current (uint16_t) + * 568 M906 Z2 Stepper Z2 current (uint16_t) + * 570 M906 E0 Stepper E0 current (uint16_t) + * 572 M906 E1 Stepper E1 current (uint16_t) + * 574 M906 E2 Stepper E2 current (uint16_t) + * 576 M906 E3 Stepper E3 current (uint16_t) + * 580 M906 E4 Stepper E4 current (uint16_t) * * LIN_ADVANCE: 8 bytes - * 580 M900 K extruder_advance_k (float) - * 584 M900 WHD advance_ed_ratio (float) + * 584 M900 K extruder_advance_k (float) + * 588 M900 WHD advance_ed_ratio (float) * * HAS_MOTOR_CURRENT_PWM: - * 588 M907 X Stepper XY current (uint32_t) - * 592 M907 Z Stepper Z current (uint32_t) - * 596 M907 E Stepper E current (uint32_t) + * 592 M907 X Stepper XY current (uint32_t) + * 596 M907 Z Stepper Z current (uint32_t) + * 600 M907 E Stepper E current (uint32_t) * - * 600 Minimum end-point - * 1921 (600 + 36 + 9 + 288 + 988) Maximum end-point + * 604 Minimum end-point + * 1925 (604 + 36 + 9 + 288 + 988) Maximum end-point * * ======================================================================== * meshes_begin (between max and min end-point, directly above) @@ -520,26 +521,26 @@ void MarlinSettings::postprocess() { #endif EEPROM_WRITE(lcd_contrast); - #if ENABLED(FWRETRACT) - EEPROM_WRITE(autoretract_enabled); - EEPROM_WRITE(retract_length); - #if EXTRUDERS > 1 - EEPROM_WRITE(retract_length_swap); - #else - dummy = 0.0f; - EEPROM_WRITE(dummy); - #endif - EEPROM_WRITE(retract_feedrate_mm_s); - EEPROM_WRITE(retract_zlift); - EEPROM_WRITE(retract_recover_length); - #if EXTRUDERS > 1 - EEPROM_WRITE(retract_recover_length_swap); - #else - dummy = 0.0f; - EEPROM_WRITE(dummy); - #endif - EEPROM_WRITE(retract_recover_feedrate_mm_s); - #endif // FWRETRACT + #if DISABLED(FWRETRACT) + const bool autoretract_enabled = false; + const float retract_length = 3, + retract_feedrate_mm_s = 45, + retract_zlift = 0, + retract_recover_length = 0, + retract_recover_feedrate_mm_s = 0, + retract_length_swap = 13, + retract_recover_length_swap = 0, + swap_retract_recover_feedrate_mm_s = 8; + #endif + EEPROM_WRITE(autoretract_enabled); + EEPROM_WRITE(retract_length); + EEPROM_WRITE(retract_feedrate_mm_s); + EEPROM_WRITE(retract_zlift); + EEPROM_WRITE(retract_recover_length); + EEPROM_WRITE(retract_recover_feedrate_mm_s); + EEPROM_WRITE(retract_length_swap); + EEPROM_WRITE(retract_recover_length_swap); + EEPROM_WRITE(swap_retract_recover_feedrate_mm_s); EEPROM_WRITE(volumetric_enabled); @@ -620,7 +621,7 @@ void MarlinSettings::postprocess() { EEPROM_WRITE(val); #else val = 0; - for (uint8_t q = 0; q < 11; ++q) EEPROM_WRITE(val); + for (uint8_t q = 11; q--;) EEPROM_WRITE(val); #endif // @@ -701,6 +702,7 @@ void MarlinSettings::postprocess() { } else { float dummy = 0; + bool dummyb; working_crc = 0; //clear before reading first "real data" @@ -830,7 +832,6 @@ void MarlinSettings::postprocess() { EEPROM_READ(ubl.state.z_offset); EEPROM_READ(ubl.state.storage_slot); #else - bool dummyb; uint8_t dummyui8; EEPROM_READ(dummyb); EEPROM_READ(dummy); @@ -915,21 +916,17 @@ void MarlinSettings::postprocess() { #if ENABLED(FWRETRACT) EEPROM_READ(autoretract_enabled); EEPROM_READ(retract_length); - #if EXTRUDERS > 1 - EEPROM_READ(retract_length_swap); - #else - EEPROM_READ(dummy); - #endif EEPROM_READ(retract_feedrate_mm_s); EEPROM_READ(retract_zlift); EEPROM_READ(retract_recover_length); - #if EXTRUDERS > 1 - EEPROM_READ(retract_recover_length_swap); - #else - EEPROM_READ(dummy); - #endif EEPROM_READ(retract_recover_feedrate_mm_s); - #endif // FWRETRACT + EEPROM_READ(retract_length_swap); + EEPROM_READ(retract_recover_length_swap); + EEPROM_READ(swap_retract_recover_feedrate_mm_s); + #else + EEPROM_READ(dummyb); + for (uint8_t q=8; q--;) EEPROM_READ(dummy); + #endif EEPROM_READ(volumetric_enabled); @@ -1291,17 +1288,14 @@ void MarlinSettings::reset() { #if ENABLED(FWRETRACT) autoretract_enabled = false; retract_length = RETRACT_LENGTH; - #if EXTRUDERS > 1 - retract_length_swap = RETRACT_LENGTH_SWAP; - #endif retract_feedrate_mm_s = RETRACT_FEEDRATE; retract_zlift = RETRACT_ZLIFT; retract_recover_length = RETRACT_RECOVER_LENGTH; - #if EXTRUDERS > 1 - retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP; - #endif retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE; - #endif + retract_length_swap = RETRACT_LENGTH_SWAP; + retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP; + swap_retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE_SWAP; + #endif // FWRETRACT volumetric_enabled = #if ENABLED(VOLUMETRIC_DEFAULT_ON) @@ -1753,9 +1747,7 @@ void MarlinSettings::reset() { } CONFIG_ECHO_START; SERIAL_ECHOPAIR(" M207 S", LINEAR_UNIT(retract_length)); - #if EXTRUDERS > 1 - SERIAL_ECHOPAIR(" W", LINEAR_UNIT(retract_length_swap)); - #endif + SERIAL_ECHOPAIR(" W", LINEAR_UNIT(retract_length_swap)); SERIAL_ECHOPAIR(" F", MMS_TO_MMM(LINEAR_UNIT(retract_feedrate_mm_s))); SERIAL_ECHOLNPAIR(" Z", LINEAR_UNIT(retract_zlift)); @@ -1765,9 +1757,7 @@ void MarlinSettings::reset() { } CONFIG_ECHO_START; SERIAL_ECHOPAIR(" M208 S", LINEAR_UNIT(retract_recover_length)); - #if EXTRUDERS > 1 - SERIAL_ECHOPAIR(" W", LINEAR_UNIT(retract_recover_length_swap)); - #endif + SERIAL_ECHOPAIR(" W", LINEAR_UNIT(retract_recover_length_swap)); SERIAL_ECHOLNPAIR(" F", MMS_TO_MMM(LINEAR_UNIT(retract_recover_feedrate_mm_s))); if (!forReplay) {