Implements clean nozzle feature (Lulzbot's REWIPE)

.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 ##############
   #

Marlin/Configuration.h

@@ -787,6 +787,54 @@ 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 (X0, Y0) and (X1, Y1), "T"
+//       defines the number of zig-zag triangles to be done. "S" defines the
+//       number of strokes aka one back-and-forth movement. As an example
+//       sending "G12 P1 S1 T3" will execute:
+//
+//          --
+//         |  (X0, Y1) |     /\        /\        /\     | (X1, Y1)
+//         |           |    /  \      /  \      /  \    |
+//       A |           |   /    \    /    \    /    \   |
+//         |           |  /      \  /      \  /      \  |
+//         |  (X0, Y0) | /        \/        \/        \ | (X1, Y0)
+//          --         +--------------------------------+
+//                       |________|_________|_________|
+//                           T1        T2        T3
+//
+// 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 NOZZLE_CLEAN_FEATURE
+
+#if ENABLED(NOZZLE_CLEAN_FEATURE)
+  // Number of pattern repetitions
+  #define NOZZLE_CLEAN_STROKES  12
+
+  //                            {  X,  Y,               Z}
+  #define NOZZLE_CLEAN_START_PT { 30, 30, (Z_MIN_POS + 5)}
+  #define NOZZLE_CLEAN_END_PT   {100, 60, (Z_MIN_POS + 5)}
+
+  // Moves the nozzle to the parked position
+  #define NOZZLE_CLEAN_PARK
+#endif
+
 //
 // Print job timer
 //

Marlin/Marlin_main.cpp

@@ -106,8 +106,9 @@
  * G3  - CCW ARC
  * G4  - Dwell S<seconds> or P<milliseconds>
  * 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 +2717,21 @@ inline void gcode_G4() {
 
 #endif //FWRETRACT
 
+#if ENABLED(NOZZLE_CLEAN_FEATURE) && ENABLED(AUTO_BED_LEVELING_FEATURE)
+  #include "nozzle.h"
+
+  inline void gcode_G12() {
+    // Don't allow nozzle cleaning without homing first
+    if (axis_unhomed_error(true, true, true)) { return; }
+
+    uint8_t const pattern = code_seen('P') ? code_value_ushort() : 0;
+    uint8_t const strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES;
+    uint8_t const objects = code_seen('T') ? code_value_ushort() : 3;
+
+    Nozzle::clean(pattern, strokes, objects);
+  }
+#endif
+
 #if ENABLED(INCH_MODE_SUPPORT)
   /**
    * G20: Set input mode to inches
@@ -6748,12 +6768,10 @@ 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 +6780,25 @@ 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(NOZZLE_CLEAN_FEATURE) && HAS_BED_PROBE
+        case 12:
+          gcode_G12(); // G12: Clean Nozzle
+          break;
+      #endif // NOZZLE_CLEAN_FEATURE
+
       #if ENABLED(INCH_MODE_SUPPORT)
         case 20: //G20: Inch Mode
           gcode_G20();
@@ -6787,7 +6807,7 @@ 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 +6817,7 @@ 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 +6836,6 @@ void process_next_command() {
               break;
 
         #endif // Z_PROBE_SLED
-
       #endif // HAS_BED_PROBE
 
       case 90: // G90
@@ -6845,7 +6864,6 @@ 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 +6896,6 @@ 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 +6965,9 @@ 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

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(NOZZLE_CLEAN_FEATURE) && !HAS_BED_PROBE
+  #error Due to internal dependencies you must have a bed probe for NOZZLE_CLEAN_FEATURE to work
+#endif
+
 #endif //SANITYCHECK_H

Marlin/example_configurations/Cartesio/Configuration.h

@@ -268,12 +268,12 @@
     #define  DEFAULT_Kp 18
     #define  DEFAULT_Ki 1
     #define  DEFAULT_Kd 100
-    
+
     // Cartesio extruderV6 40W Volcano
     //#define  DEFAULT_Kp 50
     //#define  DEFAULT_Ki 9
     //#define  DEFAULT_Kd 70
-    
+
     // Cartesio extruderV6 40W Cyclops
     //#define  DEFAULT_Kp 18
     //#define  DEFAULT_Ki 1
@@ -313,7 +313,7 @@
     #define  DEFAULT_bedKp 390
     #define  DEFAULT_bedKi 70
     #define  DEFAULT_bedKd 546
-   
+
     //24V 250W silicone heater on to 4mm glass CartesioM
     //#define  DEFAULT_bedKp 303
     //#define  DEFAULT_bedKi 42
@@ -786,6 +786,54 @@ 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 (X0, Y0) and (X1, Y1), "T"
+//       defines the number of zig-zag triangles to be done. "S" defines the
+//       number of strokes aka one back-and-forth movement. As an example
+//       sending "G12 P1 S1 T3" will execute:
+//
+//          --
+//         |  (X0, Y1) |     /\        /\        /\     | (X1, Y1)
+//         |           |    /  \      /  \      /  \    |
+//       A |           |   /    \    /    \    /    \   |
+//         |           |  /      \  /      \  /      \  |
+//         |  (X0, Y0) | /        \/        \/        \ | (X1, Y0)
+//          --         +--------------------------------+
+//                       |________|_________|_________|
+//                           T1        T2        T3
+//
+// 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 NOZZLE_CLEAN_FEATURE
+
+#if ENABLED(NOZZLE_CLEAN_FEATURE)
+  // Number of pattern repetitions
+  #define NOZZLE_CLEAN_STROKES  12
+
+  //                            {  X,  Y,               Z}
+  #define NOZZLE_CLEAN_START_PT { 30, 30, (Z_MIN_POS + 5)}
+  #define NOZZLE_CLEAN_END_PT   {100, 60, (Z_MIN_POS + 5)}
+
+  // Moves the nozzle to the parked position
+  #define NOZZLE_CLEAN_PARK
+#endif
+
 //
 // Print job timer
 //

Marlin/example_configurations/Felix/Configuration.h

@@ -770,6 +770,54 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 #define PREHEAT_2_TEMP_BED    100
 #define PREHEAT_2_FAN_SPEED   255 // 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 (X0, Y0) and (X1, Y1), "T"
+//       defines the number of zig-zag triangles to be done. "S" defines the
+//       number of strokes aka one back-and-forth movement. As an example
+//       sending "G12 P1 S1 T3" will execute:
+//
+//          --
+//         |  (X0, Y1) |     /\        /\        /\     | (X1, Y1)
+//         |           |    /  \      /  \      /  \    |
+//       A |           |   /    \    /    \    /    \   |
+//         |           |  /      \  /      \  /      \  |
+//         |  (X0, Y0) | /        \/        \/        \ | (X1, Y0)
+//          --         +--------------------------------+
+//                       |________|_________|_________|
+//                           T1        T2        T3
+//
+// 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 NOZZLE_CLEAN_FEATURE
+
+#if ENABLED(NOZZLE_CLEAN_FEATURE)
+  // Number of pattern repetitions
+  #define NOZZLE_CLEAN_STROKES  12
+
+  //                            {  X,  Y,               Z}
+  #define NOZZLE_CLEAN_START_PT { 30, 30, (Z_MIN_POS + 5)}
+  #define NOZZLE_CLEAN_END_PT   {100, 60, (Z_MIN_POS + 5)}
+
+  // Moves the nozzle to the parked position
+  #define NOZZLE_CLEAN_PARK
+#endif
+
 //
 // Print job timer
 //