Merge pull request #1894 from NotaRobotexe/power_panic
Power panic Z axis fix
This commit is contained in:
DRracer
GitHub
commit
33b2aa5e58
@ -1010,10 +1010,6 @@ void setup()
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{
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mmu_init();
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#ifdef UVLO_SUPPORT
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setup_uvlo_interrupt();
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#endif //UVLO_SUPPORT
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ultralcd_init();
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#if (LCD_BL_PIN != -1) && defined (LCD_BL_PIN)
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@ -1304,6 +1300,10 @@ void setup()
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st_init(); // Initialize stepper, this enables interrupts!
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#ifdef UVLO_SUPPORT
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setup_uvlo_interrupt();
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#endif //UVLO_SUPPORT
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#ifdef TMC2130
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tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
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update_mode_profile();
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@ -3134,7 +3134,6 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
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custom_message_type = CUSTOM_MSG_TYPE_STATUS;
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}
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//! @brief Rise Z if too low to avoid blob/jam before filament loading
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//!
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//! It doesn't plan_buffer_line(), as it expects plan_buffer_line() to be called after
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@ -8703,6 +8702,7 @@ extern uint32_t sdpos_atomic;
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void uvlo_()
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{
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printf_P(_N("******* UVLo 0 Current pos Z_AXIS:%.3f\nCurrent pos Z_AXIS:%.3f\n pos Z_AXIS:%.3f\n"), current_position[Z_AXIS], eeprom_read_float((float*)EEPROM_UVLO_TINY_CURRENT_POSITION_Z),eeprom_read_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z));
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unsigned long time_start = _millis();
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bool sd_print = card.sdprinting;
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// Conserve power as soon as possible.
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@ -8748,12 +8748,10 @@ void uvlo_()
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// Store the current extruder position.
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eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
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eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
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// Clean the input command queue.
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cmdqueue_reset();
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card.sdprinting = false;
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// card.closefile();
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// Enable stepper driver interrupt to move Z axis.
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// This should be fine as the planner and command queues are empty and the SD card printing is disabled.
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//FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
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@ -8776,6 +8774,16 @@ void uvlo_()
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current_position[E_AXIS] - default_retraction,
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40, active_extruder);
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st_synchronize();
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disable_e0();
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plan_buffer_line(
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS],
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current_position[E_AXIS] - default_retraction,
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40, active_extruder);
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st_synchronize();
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disable_e0();
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disable_z();
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// Move Z up to the next 0th full step.
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@ -8793,9 +8801,10 @@ void uvlo_()
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// for reaching the zero full step before powering off.
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eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
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// Store the current position.
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eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
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eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
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eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z), current_position[Z_AXIS]);
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eeprom_update_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z , current_position[Z_AXIS]);
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// Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
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EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
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eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
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@ -8829,7 +8838,6 @@ void uvlo_()
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plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
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st_synchronize();
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#endif
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wdt_enable(WDTO_500MS);
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WRITE(BEEPER,HIGH);
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while(1)
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@ -8855,22 +8863,26 @@ tmc2130_set_current_r(Z_AXIS, 20);
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#ifdef TMC2130
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z_microsteps=tmc2130_rd_MSCNT(Z_TMC2130_CS);
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#endif //TMC2130
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planner_abort_hard();
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disable_z();
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// Finaly store the "power outage" flag.
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//if(sd_print)
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if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)==1){
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if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)!=2){
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eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
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eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS),z_microsteps);
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eeprom_update_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS),z_microsteps);
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}
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if(eeprom_read_float((float*)EEPROM_UVLO_TINY_CURRENT_POSITION_Z) < 0.001f){
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eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), eeprom_read_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z));
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eeprom_update_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS), eeprom_read_word((uint16_t*)EEPROM_UVLO_Z_MICROSTEPS));
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}
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eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
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// Increment power failure counter
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eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
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eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
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wdt_enable(WDTO_500MS);
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WRITE(BEEPER,HIGH);
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while(1)
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@ -8932,7 +8944,7 @@ void setup_uvlo_interrupt() {
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ISR(INT4_vect) {
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EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
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SERIAL_ECHOLNPGM("INT4");
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if(IS_SD_PRINTING && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO))) ) uvlo_();
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if((IS_SD_PRINTING ) || (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO)))) uvlo_();
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if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
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}
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@ -8941,11 +8953,13 @@ void recover_print(uint8_t automatic) {
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lcd_update_enable(true);
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lcd_update(2);
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lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20 r=1
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bool bTiny=(eeprom_read_byte((uint8_t*)EEPROM_UVLO)==2);
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recover_machine_state_after_power_panic(bTiny); //recover position, temperatures and extrude_multipliers
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bool bTiny=(eeprom_read_byte((uint8_t*)EEPROM_UVLO)==2);
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recover_machine_state_after_power_panic(bTiny); //recover position, temperatures and extrude_multipliers
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// Lift the print head, so one may remove the excess priming material.
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if(!bTiny&&(current_position[Z_AXIS]<25))
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if(!bTiny&&(current_position[Z_AXIS]<25))
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enquecommand_P(PSTR("G1 Z25 F800"));
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// Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
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enquecommand_P(PSTR("G28 X Y"));
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// Set the target bed and nozzle temperatures and wait.
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@ -8975,14 +8989,32 @@ void recover_machine_state_after_power_panic(bool bTiny)
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// The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
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current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
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current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
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// 2) Restore the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
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mbl.active = false;
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for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
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uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
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uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
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// Scale the z value to 10u resolution.
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int16_t v;
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eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2);
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if (v != 0)
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mbl.active = true;
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mbl.z_values[iy][ix] = float(v) * 0.001f;
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}
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// Recover the logical coordinate of the Z axis at the time of the power panic.
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// The current position after power panic is moved to the next closest 0th full step.
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if(bTiny){
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current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z)) + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
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current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z))
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+ float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS))
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+ 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
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current_position[Z_AXIS] -= 0.4*mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
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}
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else{
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current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
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UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
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UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS))
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+ 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
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}
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if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
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current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
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@ -8996,21 +9028,8 @@ void recover_machine_state_after_power_panic(bool bTiny)
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SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
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print_world_coordinates();
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// 2) Initialize the logical to physical coordinate system transformation.
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// 3) Initialize the logical to physical coordinate system transformation.
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world2machine_initialize();
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// 3) Restore the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
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mbl.active = false;
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for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
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uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
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uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
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// Scale the z value to 10u resolution.
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int16_t v;
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eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2);
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if (v != 0)
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mbl.active = true;
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mbl.z_values[iy][ix] = float(v) * 0.001f;
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}
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// SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
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// print_mesh_bed_leveling_table();
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@ -9091,8 +9110,8 @@ void restore_print_from_eeprom() {
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strcat_P(cmd, PSTR(" F2000"));
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enquecommand(cmd);
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// Move the Z axis down to the print, in logical coordinates.
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strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32( eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) - (UVLO_Z_AXIS_SHIFT +
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float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS])));
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eeprom_update_byte((uint8_t*)EEPROM_UVLO,1);
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strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
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enquecommand(cmd);
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// Unretract.
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enquecommand_P(PSTR("G1 E" STRINGIFY(2*default_retraction)" F480"));
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