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Implements a nozzle parking command (G27)

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This commit is contained in:
João Brázio 2016-07-14 16:29:04 +01:00
parent 7202383695
commit c711701626
4 changed files with 172 additions and 78 deletions
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10
.travis.yml
View file

@ -211,10 +211,16 @@ script:
- opt_enable PRINTCOUNTER - opt_enable PRINTCOUNTER
- build_marlin - build_marlin
# #
# Test CLEAN_NOZZLE_FEATURE # Test NOZZLE_PARK_FEATURE
# #
- restore_configs - 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 - build_marlin
# #
# #

24
Marlin/Configuration.h
View file

@ -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_TEMP_BED 110
#define PREHEAT_2_FAN_SPEED 0 // Value from 0 to 255 #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 // Clean Nozzle Feature -- EXPERIMENTAL
// //

27
Marlin/Marlin_main.cpp
View file

@ -2736,9 +2736,12 @@ inline void gcode_G4() {
#endif //FWRETRACT #endif //FWRETRACT
#if ENABLED(NOZZLE_CLEAN_FEATURE) && ENABLED(AUTO_BED_LEVELING_FEATURE) #if ENABLED(NOZZLE_CLEAN_FEATURE) && HAS_BED_PROBE
#include "nozzle.h" #include "nozzle.h"
/**
* G12: Clean the nozzle
*/
inline void gcode_G12() { inline void gcode_G12() {
// Don't allow nozzle cleaning without homing first // Don't allow nozzle cleaning without homing first
if (axis_unhomed_error(true, true, true)) { return; } if (axis_unhomed_error(true, true, true)) { return; }
@ -2795,6 +2798,20 @@ inline void gcode_G4() {
#endif // QUICK_HOME #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 * G28: Home all axes according to settings
* *
@ -6884,7 +6901,7 @@ void process_next_command() {
#if ENABLED(NOZZLE_CLEAN_FEATURE) && HAS_BED_PROBE #if ENABLED(NOZZLE_CLEAN_FEATURE) && HAS_BED_PROBE
case 12: case 12:
gcode_G12(); // G12: Clean Nozzle gcode_G12(); // G12: Nozzle Clean
break; break;
#endif // NOZZLE_CLEAN_FEATURE #endif // NOZZLE_CLEAN_FEATURE
@ -6898,6 +6915,12 @@ void process_next_command() {
break; break;
#endif // INCH_MODE_SUPPORT #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 case 28: // G28: Home all axes, one at a time
gcode_G28(); gcode_G28();
break; break;

189
Marlin/nozzle.h
View file

@ -30,8 +30,6 @@
* @brief Nozzle class * @brief Nozzle class
* *
* @todo: Do not ignore the end.z value and allow XYZ movements * @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 { class Nozzle {
private: private:
@ -43,34 +41,40 @@ class Nozzle {
* @param end point_t defining the ending point * @param end point_t defining the ending point
* @param strokes number of strokes to execute * @param strokes number of strokes to execute
*/ */
static void stroke(point_t const &start, point_t const &end, uint8_t const &strokes) static void stroke(
__attribute__ ((optimize ("Os"))) { __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) #if ENABLED(NOZZLE_CLEAN_PARK)
// Store the current coords // Store the current coords
point_t const initial = { point_t const initial = {
current_position[X_AXIS], current_position[X_AXIS],
current_position[Y_AXIS], current_position[Y_AXIS],
current_position[Z_AXIS], current_position[Z_AXIS],
current_position[E_AXIS] current_position[E_AXIS]
}; };
#endif #endif // NOZZLE_CLEAN_PARK
// Move to the starting point // 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); do_blocking_move_to_xy(start.x, start.y);
} do_blocking_move_to_z(start.z);
#if ENABLED(NOZZLE_CLEAN_PARK) // Start the stroke pattern
// Move the nozzle to the initial point for (uint8_t i = 0; i < (strokes >>1); i++) {
do_blocking_move_to_z(initial.z); do_blocking_move_to_xy(end.x, end.y);
do_blocking_move_to_xy(initial.x, initial.y); do_blocking_move_to_xy(start.x, start.y);
#endif }
#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 strokes number of strokes to execute
* @param objects number of objects to create * @param objects number of objects to create
*/ */
static void zigzag(point_t const &start, static void zigzag(
point_t const &end, uint8_t const &strokes, uint8_t const &objects) __attribute__((unused)) point_t const &start,
__attribute__ ((optimize ("Os"))) { __attribute__((unused)) point_t const &end,
float A = fabs(end.y - start.y); // [twice the] Amplitude __attribute__((unused)) uint8_t const &strokes,
float P = fabs(end.x - start.x) / (objects << 1); // Period __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 // Don't allow impossible triangles
if (A <= 0.0f || P <= 0.0f ) return; if (A <= 0.0f || P <= 0.0f ) return;
#if ENABLED(NOZZLE_CLEAN_PARK) #if ENABLED(NOZZLE_CLEAN_PARK)
// Store the current coords // Store the current coords
point_t const initial = { point_t const initial = {
current_position[X_AXIS], current_position[X_AXIS],
current_position[Y_AXIS], current_position[Y_AXIS],
current_position[Z_AXIS], current_position[Z_AXIS],
current_position[E_AXIS] current_position[E_AXIS]
}; };
#endif #endif // NOZZLE_CLEAN_PARK
for (uint8_t j = 0; j < strokes; j++) { for (uint8_t j = 0; j < strokes; j++) {
for (uint8_t i = 0; i < (objects << 1); i++) { for (uint8_t i = 0; i < (objects << 1); i++) {
float const x = start.x + i * P; float const x = start.x + i * P;
float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)); float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
do_blocking_move_to_xy(x, y); do_blocking_move_to_xy(x, y);
if (i == 0) do_blocking_move_to_z(start.z); 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--) { #if ENABLED(NOZZLE_CLEAN_PARK)
float const x = start.x + i * P; // Move the nozzle to the initial point
float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P)); 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); #endif // NOZZLE_CLEAN_FEATURE
}
}
#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
} }
public: public:
@ -133,21 +143,52 @@ class Nozzle {
* @param pattern one of the available patterns * @param pattern one of the available patterns
* @param argument depends on the cleaning pattern * @param argument depends on the cleaning pattern
*/ */
static void clean(uint8_t const &pattern, static void clean(
uint8_t const &strokes, uint8_t const &objects = 0) __attribute__((unused)) uint8_t const &pattern,
__attribute__ ((optimize ("Os"))) { __attribute__((unused)) uint8_t const &strokes,
switch (pattern) { __attribute__((unused)) uint8_t const &objects = 0
case 1: ) __attribute__((optimize ("Os"))) {
Nozzle::zigzag( #if ENABLED(NOZZLE_CLEAN_FEATURE)
NOZZLE_CLEAN_START_PT, switch (pattern) {
NOZZLE_CLEAN_END_PT, strokes, objects); case 1:
break; Nozzle::zigzag(
NOZZLE_CLEAN_START_PT,
NOZZLE_CLEAN_END_PT, strokes, objects);
break;
default: default:
Nozzle::stroke( Nozzle::stroke(
NOZZLE_CLEAN_START_PT, NOZZLE_CLEAN_START_PT,
NOZZLE_CLEAN_END_PT, strokes); 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
} }
}; };