From b05a75655a202518e1cdac412d6af076c943420b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jo=C3=A3o=20Br=C3=A1zio?= Date: Thu, 16 Jun 2016 05:18:44 +0100 Subject: [PATCH] Implements a nozzle cleaning pattern generator (G12) --- .travis.yml | 6 +++ Marlin/Configuration.h | 38 ++++++++++++++ Marlin/Marlin_main.cpp | 47 +++++++++++------ Marlin/SanityCheck.h | 7 +++ Marlin/clean_nozzle.h | 112 +++++++++++++++++++++++++++++++++++++++++ Marlin/point_t.h | 33 ++++++++++++ 6 files changed, 228 insertions(+), 15 deletions(-) create mode 100644 Marlin/clean_nozzle.h create mode 100644 Marlin/point_t.h diff --git a/.travis.yml b/.travis.yml index eb471fd11e4a..4d003a95df2f 100644 --- a/.travis.yml +++ b/.travis.yml @@ -211,6 +211,12 @@ script: - opt_enable PRINTCOUNTER - build_marlin # + # Test CLEAN_NOZZLE_FEATURE + # + - restore_configs + - opt_enable AUTO_BED_LEVELING_FEATURE CLEAN_NOZZLE_FEATURE FIX_MOUNTED_PROBE + - build_marlin + # # ######## STANDARD LCD/PANELS ############## # diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 94c1d32e9e8b..6c170ccf33d1 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -787,6 +787,44 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l #define PREHEAT_2_TEMP_BED 110 #define PREHEAT_2_FAN_SPEED 0 // Value from 0 to 255 +// +// Clean Nozzle Feature -- EXPERIMENTAL +// +// When enabled allows the user to send G12 to start the nozzle cleaning +// process, the G-Code accepts two parameters: +// "P" for pattern selection +// "S" for defining the number of strokes/repetitions +// +// Available list of patterns: +// P0: This is the default pattern, this process requires a sponge type +// material at a fixed bed location, the cleaning process is based on +// "strokes" i.e. back-and-forth movements between the starting and end +// points. +// +// P1: This starts a zig-zag pattern between (Xs, Ys) and (Xe, Ye), "S" +// defines the number of zig-zag triangles to be done. Each "side" +// cannot be less than 5mm. As an example "G12 P1 S3" will execute: +// +// /| /| /| (Xe, Ye) +// / | / | / | +// / | / | / | +// (Xs, Ys) / |/ |/ | +// +// +// Caveats: End point Z should use the same value as Start point Z. +// +// Attention: This is an EXPERIMENTAL feature, in the future the G-code arguments +// may change to add new functionality like different wipe patterns. +// +//#define CLEAN_NOZZLE_FEATURE + +#if ENABLED(CLEAN_NOZZLE_FEATURE) + #define CLEAN_NOZZLE_STROKES 12 + #define CLEAN_NOZZLE_START_PT { 30, 30, (Z_MIN_POS + 1), 0} + #define CLEAN_NOZZLE_END_PT {100, 60, (Z_MIN_POS + 1), 0} + // { X, Y, Z, E} +#endif + // // Print job timer // diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 95b8a5c76420..ac7c5f19ee5d 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -106,8 +106,9 @@ * G3 - CCW ARC * G4 - Dwell S or P * G5 - Cubic B-spline with XYZE destination and IJPQ offsets - * G10 - retract filament according to settings of M207 - * G11 - retract recover filament according to settings of M208 + * G10 - Retract filament according to settings of M207 + * G11 - Retract recover filament according to settings of M208 + * G12 - Clean tool * G20 - Set input units to inches * G21 - Set input units to millimeters * G28 - Home one or more axes @@ -1703,6 +1704,10 @@ static void clean_up_after_endstop_or_probe_move() { do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], feed_rate); } + inline void do_blocking_move_to_y(float y) { + do_blocking_move_to(current_position[X_AXIS], y, current_position[Z_AXIS]); + } + inline void do_blocking_move_to_z(float z, float feed_rate = 0.0) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, feed_rate); } @@ -2712,6 +2717,23 @@ inline void gcode_G4() { #endif //FWRETRACT +#if ENABLED(CLEAN_NOZZLE_FEATURE) && ENABLED(AUTO_BED_LEVELING_FEATURE) + #include "clean_nozzle.h" + + inline void gcode_G12() { + // Don't allow nozzle cleaning without homing first + if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) { + axis_unhomed_error(true); + return; + } + + uint8_t const pattern = code_seen('P') ? code_value_ushort() : 0; + uint8_t const strokes = code_seen('S') ? code_value_ushort() : CLEAN_NOZZLE_STROKES; + + CleanNozzle::start(pattern, strokes); + } +#endif + #if ENABLED(INCH_MODE_SUPPORT) /** * G20: Set input mode to inches @@ -6748,12 +6770,10 @@ void process_next_command() { // G2, G3 #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA) - case 2: // G2 - CW ARC case 3: // G3 - CCW ARC gcode_G2_G3(codenum == 2); break; - #endif // G4 Dwell @@ -6762,23 +6782,25 @@ void process_next_command() { break; #if ENABLED(BEZIER_CURVE_SUPPORT) - // G5 case 5: // G5 - Cubic B_spline gcode_G5(); break; - #endif // BEZIER_CURVE_SUPPORT #if ENABLED(FWRETRACT) - case 10: // G10: retract case 11: // G11: retract_recover gcode_G10_G11(codenum == 10); break; - #endif // FWRETRACT + #if ENABLED(CLEAN_NOZZLE_FEATURE) && ENABLED(AUTO_BED_LEVELING_FEATURE) + case 12: + gcode_G12(); // G12: Clean Nozzle + break; + #endif // CLEAN_NOZZLE_FEATURE + #if ENABLED(INCH_MODE_SUPPORT) case 20: //G20: Inch Mode gcode_G20(); @@ -6787,7 +6809,7 @@ void process_next_command() { case 21: //G21: MM Mode gcode_G21(); break; - #endif + #endif // INCH_MODE_SUPPORT case 28: // G28: Home all axes, one at a time gcode_G28(); @@ -6797,7 +6819,7 @@ void process_next_command() { case 29: // G29 Detailed Z probe, probes the bed at 3 or more points. gcode_G29(); break; - #endif + #endif // AUTO_BED_LEVELING_FEATURE #if HAS_BED_PROBE @@ -6816,7 +6838,6 @@ void process_next_command() { break; #endif // Z_PROBE_SLED - #endif // HAS_BED_PROBE case 90: // G90 @@ -6845,7 +6866,6 @@ void process_next_command() { break; #if ENABLED(SDSUPPORT) - case 20: // M20 - list SD card gcode_M20(); break; case 21: // M21 - init SD card @@ -6878,7 +6898,6 @@ void process_next_command() { case 928: //M928 - Start SD write gcode_M928(); break; - #endif //SDSUPPORT case 31: //M31 take time since the start of the SD print or an M109 command @@ -6948,11 +6967,9 @@ void process_next_command() { #endif #if ENABLED(HOST_KEEPALIVE_FEATURE) - case 113: // M113: Set Host Keepalive interval gcode_M113(); break; - #endif case 140: // M140: Set bed temp diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h index 3dc330885e06..81205006624a 100644 --- a/Marlin/SanityCheck.h +++ b/Marlin/SanityCheck.h @@ -646,4 +646,11 @@ #error "ABS_PREHEAT_FAN_SPEED is now PREHEAT_2_FAN_SPEED. Please update your configuration." #endif +/** + * Nozzle cleaning + */ +#if ENABLED(CLEAN_NOZZLE_FEATURE) && DISABLED(AUTO_BED_LEVELING_FEATURE) + #error You must enable AUTO_BED_LEVELING_FEATURE for CLEAN_NOZZLE_FEATURE to work +#endif + #endif //SANITYCHECK_H diff --git a/Marlin/clean_nozzle.h b/Marlin/clean_nozzle.h new file mode 100644 index 000000000000..9670605b0c46 --- /dev/null +++ b/Marlin/clean_nozzle.h @@ -0,0 +1,112 @@ +/* + * 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 . + * + */ + +#ifndef __CLEAN_NOZZLE_H__ +#define __CLEAN_NOZZLE_H__ + +#include "Marlin.h" +#include "point_t.h" + +/** + * @brief CleanNozzle class + * + * @todo: Do not ignore the end.z value and allow XYZ movements + * @todo: Currently this feature needs AUTO_BED_LEVELING_FEATURE to be active + * due to the do_blocking_move_to*() functions. + */ +class CleanNozzle { + private: + /** + * @brief Stroke clean pattern + * @details Wipes the nozzle back and forth in a linear movement + * + * @param start point_t defining the starting point + * @param end point_t defining the ending point + * @param strokes number of strokes to execute + */ + static void stroke(point_t const &start, point_t const &end, uint8_t const &strokes) + __attribute__ ((optimize ("Os"))) { + // Move to the starting point + do_blocking_move_to_xy(start.x, start.y); + do_blocking_move_to_z(start.z); + + // Start the stroke pattern + for (uint8_t i = 0; i < (strokes >>1); i++) { + do_blocking_move_to_xy(end.x, end.y); + do_blocking_move_to_xy(start.x, start.y); + } + } + + /** + * @brief Zig-zag clean pattern + * @details Apply a zig-zag cleanning pattern + * + * @param start point_t defining the starting point + * @param end point_t defining the ending point + * @param triangles number of triangles to execute + */ + static void zigzag(point_t const &start, point_t const &end, uint8_t const &triangles) + __attribute__ ((optimize ("Os"))) { + // Move to the starting point + do_blocking_move_to_xy(start.x, start.y); + do_blocking_move_to_z(start.z); + + // Calculate the triangle side + float const a = fabs(end.x - start.x) / triangles; + + // Don't allow the sides (a, b) to be smaller than 5mm + if (a < 5 || fabs(end.y - start.y) < 5) return; + + // Start the zig-zag pattern + for (uint8_t i = 0; i < triangles; i++) { + float const x = start.x + (a * (i + 1)); + do_blocking_move_to_xy(x, end.y); + do_blocking_move_to_y(start.y); + } + } + + public: + /** + * @brief Clean the nozzle + * @details Starts the selected clean procedure pattern + * + * @param pattern one of the available patterns + * @param argument depends on the cleaning pattern + */ + static void start(uint8_t const &pattern, uint8_t const &argument) + __attribute__ ((optimize ("Os"))) { + switch (pattern) { + case 1: + CleanNozzle::zigzag( + CLEAN_NOZZLE_START_PT, + CLEAN_NOZZLE_END_PT, argument); + break; + + default: + CleanNozzle::stroke( + CLEAN_NOZZLE_START_PT, + CLEAN_NOZZLE_END_PT, argument); + } + } +}; + +#endif diff --git a/Marlin/point_t.h b/Marlin/point_t.h new file mode 100644 index 000000000000..18dfe09c8f41 --- /dev/null +++ b/Marlin/point_t.h @@ -0,0 +1,33 @@ +/** + * 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 . + * + */ + +#ifndef __POINT_T__ +#define __POINT_T__ + +struct point_t { + float x; + float y; + float z; + float e; +}; + +#endif