Implements a nozzle cleaning pattern generator (G12)

.travis.yml

   - 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

 #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 (Xs, Ys) and (Xe, Ye), "S"
+//       defines the number of zig-zag triangles to be done. Each "side"
+//       cannot be less than 5mm. As an example "G12 P1 S3" will execute:
+//
+//                                                /|   /|   /| (Xe, Ye)
+//                                               / |  / |  / |
+//                                              /  | /  | /  |
+//                                    (Xs, Ys) /   |/   |/   |
+//
+//
+// 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 CLEAN_NOZZLE_FEATURE
+
+#if ENABLED(CLEAN_NOZZLE_FEATURE)
+  #define CLEAN_NOZZLE_STROKES  12
+  #define CLEAN_NOZZLE_START_PT { 30, 30, (Z_MIN_POS + 1), 0}
+  #define CLEAN_NOZZLE_END_PT   {100, 60, (Z_MIN_POS + 1), 0}
+  //                            {  X,  Y,               Z, E}
+#endif
+
+//
 // Print job timer
 //
 // Enable this option to automatically start and stop the

Marlin/Marlin_main.cpp

  * 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
     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);
   }
 
 #endif //FWRETRACT
 
+#if ENABLED(CLEAN_NOZZLE_FEATURE) && ENABLED(AUTO_BED_LEVELING_FEATURE)
+  #include "clean_nozzle.h"
+
+  inline void gcode_G12() {
+    // Don't allow nozzle cleaning without homing first
+    if (!axis_homed[X_AXIS] || !axis_homed[Y_AXIS] || !axis_homed[Z_AXIS]) {
+      axis_unhomed_error(true);
+      return;
+    }
+
+    uint8_t const pattern = code_seen('P') ? code_value_ushort() : 0;
+    uint8_t const strokes = code_seen('S') ? code_value_ushort() : CLEAN_NOZZLE_STROKES;
+
+    CleanNozzle::start(pattern, strokes);
+  }
+#endif
+
 #if ENABLED(INCH_MODE_SUPPORT)
   /**
    * G20: Set input mode to inches
 
       // 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
         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(CLEAN_NOZZLE_FEATURE) && ENABLED(AUTO_BED_LEVELING_FEATURE)
+        case 12:
+          gcode_G12(); // G12: Clean Nozzle
+          break;
+      #endif // CLEAN_NOZZLE_FEATURE
+
       #if ENABLED(INCH_MODE_SUPPORT)
         case 20: //G20: Inch Mode
           gcode_G20();
         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();
         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
 
               break;
 
         #endif // Z_PROBE_SLED
-
       #endif // HAS_BED_PROBE
 
       case 90: // G90
         break;
 
       #if ENABLED(SDSUPPORT)
-
         case 20: // M20 - list SD card
           gcode_M20(); break;
         case 21: // M21 - init SD card
 
         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
       #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

   #error "ABS_PREHEAT_FAN_SPEED is now PREHEAT_2_FAN_SPEED. Please update your configuration."
 #endif
 
+/**
+ * Nozzle cleaning
+ */
+#if ENABLED(CLEAN_NOZZLE_FEATURE) && DISABLED(AUTO_BED_LEVELING_FEATURE)
+  #error You must enable AUTO_BED_LEVELING_FEATURE for CLEAN_NOZZLE_FEATURE to work
+#endif
+
 #endif //SANITYCHECK_H

Marlin/clean_nozzle.h

+/*
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef __CLEAN_NOZZLE_H__
+#define __CLEAN_NOZZLE_H__
+
+#include "Marlin.h"
+#include "point_t.h"
+
+/**
+ * @brief CleanNozzle class
+ *
+ * @todo: Do not ignore the end.z value and allow XYZ movements
+ * @todo: Currently this feature needs AUTO_BED_LEVELING_FEATURE to be active
+ *  due to the do_blocking_move_to*() functions.
+ */
+class CleanNozzle {
+  private:
+    /**
+     * @brief Stroke clean pattern
+     * @details Wipes the nozzle back and forth in a linear movement
+     *
+     * @param start point_t defining the starting point
+     * @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"))) {
+      // 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);
+      }
+    }
+
+    /**
+     * @brief Zig-zag clean pattern
+     * @details Apply a zig-zag cleanning pattern
+     *
+     * @param start point_t defining the starting point
+     * @param end point_t defining the ending point
+     * @param triangles number of triangles to execute
+     */
+    static void zigzag(point_t const &start, point_t const &end, uint8_t const &triangles)
+    __attribute__ ((optimize ("Os"))) {
+      // Move to the starting point
+      do_blocking_move_to_xy(start.x, start.y);
+      do_blocking_move_to_z(start.z);
+
+      // Calculate the triangle side
+      float const a = fabs(end.x - start.x) / triangles;
+
+      // Don't allow the sides (a, b) to be smaller than 5mm
+      if (a < 5 || fabs(end.y - start.y) < 5) return;
+
+      // Start the zig-zag pattern
+      for (uint8_t i = 0; i < triangles; i++) {
+        float const x = start.x + (a * (i + 1));
+        do_blocking_move_to_xy(x, end.y);
+        do_blocking_move_to_y(start.y);
+      }
+    }
+
+  public:
+    /**
+     * @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
+     */
+    static void start(uint8_t const &pattern, uint8_t const &argument)
+    __attribute__ ((optimize ("Os"))) {
+      switch (pattern) {
+        case 1:
+          CleanNozzle::zigzag(
+            CLEAN_NOZZLE_START_PT,
+            CLEAN_NOZZLE_END_PT, argument);
+          break;
+
+        default:
+          CleanNozzle::stroke(
+            CLEAN_NOZZLE_START_PT,
+            CLEAN_NOZZLE_END_PT, argument);
+      }
+    }
+};
+
+#endif

Marlin/point_t.h

+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef __POINT_T__
+#define __POINT_T__
+
+struct point_t {
+  float x;
+  float y;
+  float z;
+  float e;
+};
+
+#endif