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Diffstat (limited to 'Marlin/src/libs/nozzle.cpp')
| -rw-r--r-- | Marlin/src/libs/nozzle.cpp | 256 |
1 files changed, 256 insertions, 0 deletions
diff --git a/Marlin/src/libs/nozzle.cpp b/Marlin/src/libs/nozzle.cpp new file mode 100644 index 0000000..4277e8d --- /dev/null +++ b/Marlin/src/libs/nozzle.cpp @@ -0,0 +1,256 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>. + * + */ + +#include "../inc/MarlinConfig.h" + +#if EITHER(NOZZLE_CLEAN_FEATURE, NOZZLE_PARK_FEATURE) + +#include "nozzle.h" + +Nozzle nozzle; + +#include "../MarlinCore.h" +#include "../module/motion.h" + +#if NOZZLE_CLEAN_MIN_TEMP > 20 + #include "../module/temperature.h" +#endif + +#if ENABLED(NOZZLE_CLEAN_FEATURE) + + /** + * @brief Stroke clean pattern + * @details Wipes the nozzle back and forth in a linear movement + * + * @param start xyz_pos_t defining the starting point + * @param end xyz_pos_t defining the ending point + * @param strokes number of strokes to execute + */ + void Nozzle::stroke(const xyz_pos_t &start, const xyz_pos_t &end, const uint8_t &strokes) { + TERN_(NOZZLE_CLEAN_GOBACK, const xyz_pos_t oldpos = current_position); + + // Move to the starting point + #if ENABLED(NOZZLE_CLEAN_NO_Z) + #if ENABLED(NOZZLE_CLEAN_NO_Y) + do_blocking_move_to_x(start.x); + #else + do_blocking_move_to_xy(start); + #endif + #else + do_blocking_move_to(start); + #endif + + // Start the stroke pattern + LOOP_L_N(i, strokes >> 1) { + #if ENABLED(NOZZLE_CLEAN_NO_Y) + do_blocking_move_to_x(end.x); + do_blocking_move_to_x(start.x); + #else + do_blocking_move_to_xy(end); + do_blocking_move_to_xy(start); + #endif + } + + TERN_(NOZZLE_CLEAN_GOBACK, do_blocking_move_to(oldpos)); + } + + /** + * @brief Zig-zag clean pattern + * @details Apply a zig-zag cleaning pattern + * + * @param start xyz_pos_t defining the starting point + * @param end xyz_pos_t defining the ending point + * @param strokes number of strokes to execute + * @param objects number of triangles to do + */ + void Nozzle::zigzag(const xyz_pos_t &start, const xyz_pos_t &end, const uint8_t &strokes, const uint8_t &objects) { + const xy_pos_t diff = end - start; + if (!diff.x || !diff.y) return; + + TERN_(NOZZLE_CLEAN_GOBACK, const xyz_pos_t back = current_position); + + #if ENABLED(NOZZLE_CLEAN_NO_Z) + do_blocking_move_to_xy(start); + #else + do_blocking_move_to(start); + #endif + + const uint8_t zigs = objects << 1; + const bool horiz = ABS(diff.x) >= ABS(diff.y); // Do a horizontal wipe? + const float P = (horiz ? diff.x : diff.y) / zigs; // Period of each zig / zag + const xyz_pos_t *side; + LOOP_L_N(j, strokes) { + for (int8_t i = 0; i < zigs; i++) { + side = (i & 1) ? &end : &start; + if (horiz) + do_blocking_move_to_xy(start.x + i * P, side->y); + else + do_blocking_move_to_xy(side->x, start.y + i * P); + } + for (int8_t i = zigs; i >= 0; i--) { + side = (i & 1) ? &end : &start; + if (horiz) + do_blocking_move_to_xy(start.x + i * P, side->y); + else + do_blocking_move_to_xy(side->x, start.y + i * P); + } + } + + TERN_(NOZZLE_CLEAN_GOBACK, do_blocking_move_to(back)); + } + + /** + * @brief Circular clean pattern + * @details Apply a circular cleaning pattern + * + * @param start xyz_pos_t defining the middle of circle + * @param strokes number of strokes to execute + * @param radius radius of circle + */ + void Nozzle::circle(const xyz_pos_t &start, const xyz_pos_t &middle, const uint8_t &strokes, const float &radius) { + if (strokes == 0) return; + + TERN_(NOZZLE_CLEAN_GOBACK, const xyz_pos_t back = current_position); + TERN(NOZZLE_CLEAN_NO_Z, do_blocking_move_to_xy, do_blocking_move_to)(start); + + LOOP_L_N(s, strokes) + LOOP_L_N(i, NOZZLE_CLEAN_CIRCLE_FN) + do_blocking_move_to_xy( + middle.x + sin((RADIANS(360) / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius, + middle.y + cos((RADIANS(360) / NOZZLE_CLEAN_CIRCLE_FN) * i) * radius + ); + + // Let's be safe + do_blocking_move_to_xy(start); + + TERN_(NOZZLE_CLEAN_GOBACK, do_blocking_move_to(back)); + } + + /** + * @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 + */ + void Nozzle::clean(const uint8_t &pattern, const uint8_t &strokes, const float &radius, const uint8_t &objects, const uint8_t cleans) { + xyz_pos_t start[HOTENDS] = NOZZLE_CLEAN_START_POINT, end[HOTENDS] = NOZZLE_CLEAN_END_POINT, middle[HOTENDS] = NOZZLE_CLEAN_CIRCLE_MIDDLE; + + const uint8_t arrPos = ANY(SINGLENOZZLE, MIXING_EXTRUDER) ? 0 : active_extruder; + + #if NOZZLE_CLEAN_MIN_TEMP > 20 + if (thermalManager.degTargetHotend(arrPos) < NOZZLE_CLEAN_MIN_TEMP) { + #if ENABLED(NOZZLE_CLEAN_HEATUP) + SERIAL_ECHOLNPGM("Nozzle too Cold - Heating"); + thermalManager.setTargetHotend(NOZZLE_CLEAN_MIN_TEMP, arrPos); + thermalManager.wait_for_hotend(arrPos); + #else + SERIAL_ECHOLNPGM("Nozzle too cold - Skipping wipe"); + return; + #endif + } + #endif + + #if HAS_SOFTWARE_ENDSTOPS + + #define LIMIT_AXIS(A) do{ \ + LIMIT( start[arrPos].A, soft_endstop.min.A, soft_endstop.max.A); \ + LIMIT(middle[arrPos].A, soft_endstop.min.A, soft_endstop.max.A); \ + LIMIT( end[arrPos].A, soft_endstop.min.A, soft_endstop.max.A); \ + }while(0) + + if (soft_endstop.enabled()) { + + LIMIT_AXIS(x); + LIMIT_AXIS(y); + LIMIT_AXIS(z); + const bool radiusOutOfRange = (middle[arrPos].x + radius > soft_endstop.max.x) + || (middle[arrPos].x - radius < soft_endstop.min.x) + || (middle[arrPos].y + radius > soft_endstop.max.y) + || (middle[arrPos].y - radius < soft_endstop.min.y); + if (radiusOutOfRange && pattern == 2) { + SERIAL_ECHOLNPGM("Warning: Radius Out of Range"); + return; + } + + } + + #endif + + if (pattern == 2) { + if (!(cleans & (_BV(X_AXIS) | _BV(Y_AXIS)))) { + SERIAL_ECHOLNPGM("Warning: Clean Circle requires XY"); + return; + } + } + else { + if (!TEST(cleans, X_AXIS)) start[arrPos].x = end[arrPos].x = current_position.x; + if (!TEST(cleans, Y_AXIS)) start[arrPos].y = end[arrPos].y = current_position.y; + } + if (!TEST(cleans, Z_AXIS)) start[arrPos].z = end[arrPos].z = current_position.z; + + switch (pattern) { + case 1: zigzag(start[arrPos], end[arrPos], strokes, objects); break; + case 2: circle(start[arrPos], middle[arrPos], strokes, radius); break; + default: stroke(start[arrPos], end[arrPos], strokes); + } + } + +#endif // NOZZLE_CLEAN_FEATURE + +#if ENABLED(NOZZLE_PARK_FEATURE) + + void Nozzle::park(const uint8_t z_action, const xyz_pos_t &park/*=NOZZLE_PARK_POINT*/) { + constexpr feedRate_t fr_xy = NOZZLE_PARK_XY_FEEDRATE, fr_z = NOZZLE_PARK_Z_FEEDRATE; + + switch (z_action) { + case 1: // Go to Z-park height + do_blocking_move_to_z(park.z, fr_z); + break; + + case 2: // Raise by Z-park height + do_blocking_move_to_z(_MIN(current_position.z + park.z, Z_MAX_POS), fr_z); + break; + + default: { + // Apply a minimum raise, overriding G27 Z + const float min_raised_z =_MIN(Z_MAX_POS, current_position.z + #ifdef NOZZLE_PARK_Z_RAISE_MIN + + NOZZLE_PARK_Z_RAISE_MIN + #endif + ); + do_blocking_move_to_z(_MAX(park.z, min_raised_z), fr_z); + } break; + } + + do_blocking_move_to_xy( + TERN(NOZZLE_PARK_Y_ONLY, current_position, park).x, + TERN(NOZZLE_PARK_X_ONLY, current_position, park).y, + fr_xy + ); + + report_current_position(); + } + +#endif // NOZZLE_PARK_FEATURE + +#endif // NOZZLE_CLEAN_FEATURE || NOZZLE_PARK_FEATURE |