From c711701626d9309f391065b99aa78115a4d7f177 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jo=C3=A3o=20Br=C3=A1zio?= <jbrazio@gmail.com>
Date: Thu, 14 Jul 2016 16:29:04 +0100
Subject: [PATCH] Implements a nozzle parking command (G27)
---
.travis.yml | 10 +-
Marlin/Configuration.h | 24 +++++
Marlin/Marlin_main.cpp | 27 +++++-
Marlin/nozzle.h | 203 +++++++++++++++++++++++++----------------
4 files changed, 179 insertions(+), 85 deletions(-)
diff --git a/.travis.yml b/.travis.yml
index 4d003a95df..5d7b7b6f7f 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -211,10 +211,16 @@ script:
- opt_enable PRINTCOUNTER
- build_marlin
#
- # Test CLEAN_NOZZLE_FEATURE
+ # Test NOZZLE_PARK_FEATURE
#
- restore_configs
- - opt_enable AUTO_BED_LEVELING_FEATURE CLEAN_NOZZLE_FEATURE FIX_MOUNTED_PROBE
+ - opt_enable NOZZLE_PARK_FEATURE
+ - build_marlin
+ #
+ # Test NOZZLE_CLEAN_FEATURE
+ #
+ - restore_configs
+ - opt_enable AUTO_BED_LEVELING_FEATURE NOZZLE_CLEAN_FEATURE FIX_MOUNTED_PROBE
- build_marlin
#
#
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 96cb580689..27be90b7c0 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -787,6 +787,30 @@ 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
+//
+// Nozzle Park -- EXPERIMENTAL
+//
+// When enabled allows the user to define a special XYZ position, inside the
+// machine's topology, to park the nozzle when idle or when receiving the G27
+// command.
+//
+// The "P" paramenter controls what is the action applied to the Z axis:
+// P0: (Default) If current Z-pos is lower than Z-park then the nozzle will
+// be raised to reach Z-park height.
+//
+// P1: No matter the current Z-pos, the nozzle will be raised/lowered to
+// reach Z-park height.
+//
+// P2: The nozzle height will be raised by Z-park amount but never going over
+// the machine's limit of Z_MAX_POS.
+//
+//#define NOZZLE_PARK_FEATURE
+
+#if ENABLED(NOZZLE_PARK_FEATURE)
+ // Specify a park position as { X, Y, Z }
+ #define NOZZLE_PARK_POINT { (X_MIN_POS + 10), (Y_MAX_POS - 10), 20 }
+#endif
+
//
// Clean Nozzle Feature -- EXPERIMENTAL
//
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 5091c421c4..9960c02f21 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -2736,9 +2736,12 @@ inline void gcode_G4() {
#endif //FWRETRACT
-#if ENABLED(NOZZLE_CLEAN_FEATURE) && ENABLED(AUTO_BED_LEVELING_FEATURE)
+#if ENABLED(NOZZLE_CLEAN_FEATURE) && HAS_BED_PROBE
#include "nozzle.h"
+ /**
+ * G12: Clean the nozzle
+ */
inline void gcode_G12() {
// Don't allow nozzle cleaning without homing first
if (axis_unhomed_error(true, true, true)) { return; }
@@ -2795,6 +2798,20 @@ inline void gcode_G4() {
#endif // QUICK_HOME
+#if ENABLED(NOZZLE_PARK_FEATURE)
+ #include "nozzle.h"
+
+ /**
+ * G27: Park the nozzle
+ */
+ inline void gcode_G27() {
+ // Don't allow nozzle parking without homing first
+ if (axis_unhomed_error(true, true, true)) { return; }
+ uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0;
+ Nozzle::park(z_action);
+ }
+#endif // NOZZLE_PARK_FEATURE
+
/**
* G28: Home all axes according to settings
*
@@ -6884,7 +6901,7 @@ void process_next_command() {
#if ENABLED(NOZZLE_CLEAN_FEATURE) && HAS_BED_PROBE
case 12:
- gcode_G12(); // G12: Clean Nozzle
+ gcode_G12(); // G12: Nozzle Clean
break;
#endif // NOZZLE_CLEAN_FEATURE
@@ -6898,6 +6915,12 @@ void process_next_command() {
break;
#endif // INCH_MODE_SUPPORT
+ #if ENABLED(NOZZLE_PARK_FEATURE)
+ case 27: // G27: Nozzle Park
+ gcode_G27();
+ break;
+ #endif // NOZZLE_PARK_FEATURE
+
case 28: // G28: Home all axes, one at a time
gcode_G28();
break;
diff --git a/Marlin/nozzle.h b/Marlin/nozzle.h
index 02771a5164..3e9ae879c9 100644
--- a/Marlin/nozzle.h
+++ b/Marlin/nozzle.h
@@ -30,8 +30,6 @@
* @brief Nozzle class
*
* @todo: Do not ignore the end.z value and allow XYZ movements
- * @todo: Currently this feature needs HAS_BED_PROBE to be active
- * due to the do_blocking_move_to*() functions.
*/
class Nozzle {
private:
@@ -43,34 +41,40 @@ class Nozzle {
* @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"))) {
-
- #if ENABLED(NOZZLE_CLEAN_PARK)
- // Store the current coords
- point_t const initial = {
- current_position[X_AXIS],
- current_position[Y_AXIS],
- current_position[Z_AXIS],
- current_position[E_AXIS]
- };
- #endif
-
- // 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);
+ static void stroke(
+ __attribute__((unused)) point_t const &start,
+ __attribute__((unused)) point_t const &end,
+ __attribute__((unused)) uint8_t const &strokes
+ ) __attribute__((optimize ("Os"))) {
+ #if ENABLED(NOZZLE_CLEAN_FEATURE)
+
+ #if ENABLED(NOZZLE_CLEAN_PARK)
+ // Store the current coords
+ point_t const initial = {
+ current_position[X_AXIS],
+ current_position[Y_AXIS],
+ current_position[Z_AXIS],
+ current_position[E_AXIS]
+ };
+ #endif // NOZZLE_CLEAN_PARK
+
+ // Move to the starting point
do_blocking_move_to_xy(start.x, start.y);
- }
+ do_blocking_move_to_z(start.z);
- #if ENABLED(NOZZLE_CLEAN_PARK)
- // Move the nozzle to the initial point
- do_blocking_move_to_z(initial.z);
- do_blocking_move_to_xy(initial.x, initial.y);
- #endif
+ // 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);
+ }
+
+ #if ENABLED(NOZZLE_CLEAN_PARK)
+ // Move the nozzle to the initial point
+ do_blocking_move_to_z(initial.z);
+ do_blocking_move_to_xy(initial.x, initial.y);
+ #endif // NOZZLE_CLEAN_PARK
+
+ #endif // NOZZLE_CLEAN_FEATURE
}
/**
@@ -82,47 +86,53 @@ class Nozzle {
* @param strokes number of strokes to execute
* @param objects number of objects to create
*/
- static void zigzag(point_t const &start,
- point_t const &end, uint8_t const &strokes, uint8_t const &objects)
- __attribute__ ((optimize ("Os"))) {
- float A = fabs(end.y - start.y); // [twice the] Amplitude
- float P = fabs(end.x - start.x) / (objects << 1); // Period
-
- // Don't allow impossible triangles
- if (A <= 0.0f || P <= 0.0f ) return;
-
- #if ENABLED(NOZZLE_CLEAN_PARK)
- // Store the current coords
- point_t const initial = {
- current_position[X_AXIS],
- current_position[Y_AXIS],
- current_position[Z_AXIS],
- current_position[E_AXIS]
- };
- #endif
-
- for (uint8_t j = 0; j < strokes; j++) {
- for (uint8_t i = 0; i < (objects << 1); i++) {
- float const x = start.x + i * P;
- float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
-
- do_blocking_move_to_xy(x, y);
- if (i == 0) do_blocking_move_to_z(start.z);
+ static void zigzag(
+ __attribute__((unused)) point_t const &start,
+ __attribute__((unused)) point_t const &end,
+ __attribute__((unused)) uint8_t const &strokes,
+ __attribute__((unused)) uint8_t const &objects
+ ) __attribute__((optimize ("Os"))) {
+ #if ENABLED(NOZZLE_CLEAN_FEATURE)
+ float A = fabs(end.y - start.y); // [twice the] Amplitude
+ float P = fabs(end.x - start.x) / (objects << 1); // Period
+
+ // Don't allow impossible triangles
+ if (A <= 0.0f || P <= 0.0f ) return;
+
+ #if ENABLED(NOZZLE_CLEAN_PARK)
+ // Store the current coords
+ point_t const initial = {
+ current_position[X_AXIS],
+ current_position[Y_AXIS],
+ current_position[Z_AXIS],
+ current_position[E_AXIS]
+ };
+ #endif // NOZZLE_CLEAN_PARK
+
+ for (uint8_t j = 0; j < strokes; j++) {
+ for (uint8_t i = 0; i < (objects << 1); i++) {
+ float const x = start.x + i * P;
+ float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
+
+ do_blocking_move_to_xy(x, y);
+ if (i == 0) do_blocking_move_to_z(start.z);
+ }
+
+ for (int i = (objects << 1); i > -1; i--) {
+ float const x = start.x + i * P;
+ float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
+
+ do_blocking_move_to_xy(x, y);
+ }
}
- for (int i = (objects << 1); i > -1; i--) {
- float const x = start.x + i * P;
- float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
+ #if ENABLED(NOZZLE_CLEAN_PARK)
+ // Move the nozzle to the initial point
+ do_blocking_move_to_z(initial.z);
+ do_blocking_move_to_xy(initial.x, initial.y);
+ #endif // NOZZLE_CLEAN_PARK
- do_blocking_move_to_xy(x, y);
- }
- }
-
- #if ENABLED(NOZZLE_CLEAN_PARK)
- // Move the nozzle to the initial point
- do_blocking_move_to_z(initial.z);
- do_blocking_move_to_xy(initial.x, initial.y);
- #endif
+ #endif // NOZZLE_CLEAN_FEATURE
}
public:
@@ -133,21 +143,52 @@ class Nozzle {
* @param pattern one of the available patterns
* @param argument depends on the cleaning pattern
*/
- static void clean(uint8_t const &pattern,
- uint8_t const &strokes, uint8_t const &objects = 0)
- __attribute__ ((optimize ("Os"))) {
- switch (pattern) {
- case 1:
- Nozzle::zigzag(
- NOZZLE_CLEAN_START_PT,
- NOZZLE_CLEAN_END_PT, strokes, objects);
- break;
-
- default:
- Nozzle::stroke(
- NOZZLE_CLEAN_START_PT,
- NOZZLE_CLEAN_END_PT, strokes);
- }
+ static void clean(
+ __attribute__((unused)) uint8_t const &pattern,
+ __attribute__((unused)) uint8_t const &strokes,
+ __attribute__((unused)) uint8_t const &objects = 0
+ ) __attribute__((optimize ("Os"))) {
+ #if ENABLED(NOZZLE_CLEAN_FEATURE)
+ switch (pattern) {
+ case 1:
+ Nozzle::zigzag(
+ NOZZLE_CLEAN_START_PT,
+ NOZZLE_CLEAN_END_PT, strokes, objects);
+ break;
+
+ default:
+ Nozzle::stroke(
+ NOZZLE_CLEAN_START_PT,
+ NOZZLE_CLEAN_END_PT, strokes);
+ }
+ #endif // NOZZLE_CLEAN_FEATURE
+ }
+
+ static void park(
+ __attribute__((unused)) uint8_t const &z_action
+ ) __attribute__((optimize ("Os"))) {
+ #if ENABLED(NOZZLE_PARK_FEATURE)
+ float const z = current_position[Z_AXIS];
+ point_t const park = NOZZLE_PARK_POINT;
+
+ switch(z_action) {
+ case 1: // force Z-park height
+ do_blocking_move_to_z(park.z);
+ break;
+
+ case 2: // Raise by Z-park height
+ do_blocking_move_to_z(
+ (z + park.z > Z_MAX_POS) ? Z_MAX_POS : z + park.z);
+ break;
+
+ default: // Raise to Z-park height if lower
+ if (current_position[Z_AXIS] < park.z)
+ do_blocking_move_to_z(park.z);
+ }
+
+ do_blocking_move_to_xy(park.x, park.y);
+
+ #endif // NOZZLE_PARK_FEATURE
}
};
--
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