Implements a nozzle parking command (G27)

.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
   #
   #

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
 //

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;

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)
+    static void stroke(
-    __attribute__ ((optimize ("Os"))) {
+      __attribute__((unused)) point_t const &start,
-
+      __attribute__((unused)) point_t const &end,
-      #if ENABLED(NOZZLE_CLEAN_PARK)
+      __attribute__((unused)) uint8_t const &strokes
-        // Store the current coords
+    ) __attribute__((optimize ("Os"))) {
-        point_t const initial = {
+      #if ENABLED(NOZZLE_CLEAN_FEATURE)
-          current_position[X_AXIS],
+
-          current_position[Y_AXIS],
+        #if ENABLED(NOZZLE_CLEAN_PARK)
-          current_position[Z_AXIS],
+          // Store the current coords
-          current_position[E_AXIS]
+          point_t const initial = {
-        };
+            current_position[X_AXIS],
-      #endif
+            current_position[Y_AXIS],
-
+            current_position[Z_AXIS],
-      // Move to the starting point
+            current_position[E_AXIS]
-      do_blocking_move_to_xy(start.x, start.y);
+          };
-      do_blocking_move_to_z(start.z);
+        #endif // NOZZLE_CLEAN_PARK
-
+
-      // Start the stroke pattern
+        // Move to the starting point
-      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_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 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"))) {
-      // Don't allow impossible triangles
+      #if ENABLED(NOZZLE_CLEAN_FEATURE)
-      if (A <= 0.0f || P <= 0.0f ) return;
+        float A = fabs(end.y - start.y); // [twice the] Amplitude
-
+        float P = fabs(end.x - start.x) / (objects << 1); // Period
-      #if ENABLED(NOZZLE_CLEAN_PARK)
+
-        // Store the current coords
+        // Don't allow impossible triangles
-        point_t const initial = {
+        if (A <= 0.0f || P <= 0.0f ) return;
-          current_position[X_AXIS],
+
-          current_position[Y_AXIS],
+        #if ENABLED(NOZZLE_CLEAN_PARK)
-          current_position[Z_AXIS],
+          // Store the current coords
-          current_position[E_AXIS]
+          point_t const initial = {
-        };
+            current_position[X_AXIS],
-      #endif
+            current_position[Y_AXIS],
-
+            current_position[Z_AXIS],
-      for (uint8_t j = 0; j < strokes; j++) {
+            current_position[E_AXIS]
-        for (uint8_t i = 0; i < (objects << 1); i++) {
+          };
-          float const x = start.x + i * P;
+        #endif // NOZZLE_CLEAN_PARK
-          float const y = start.y + (A/P) * (P - fabs(fmod((i*P), (2*P)) - P));
+
-
+        for (uint8_t j = 0; j < strokes; j++) {
-          do_blocking_move_to_xy(x, y);
+          for (uint8_t i = 0; i < (objects << 1); i++) {
-          if (i == 0) do_blocking_move_to_z(start.z);
+            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--) {
+        #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:
@@ -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,
+    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,
-        default:
+              NOZZLE_CLEAN_END_PT, strokes, objects);
-          Nozzle::stroke(
+            break;
-            NOZZLE_CLEAN_START_PT,
+
-            NOZZLE_CLEAN_END_PT, strokes);
+          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
     }
 };