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Merge pull request #56 from XPila/MK3

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Fixed homing (mbl and babystep - crashdetection recovery work fine now).
This commit is contained in:
XPila 2017-09-23 16:35:26 +02:00 committed by GitHub
commit e44adfc71b
7 changed files with 271 additions and 85 deletions
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2
Firmware/Configuration.h
View File

@ -57,6 +57,8 @@
#define EEPROM_UVLO_FEEDRATE (EEPROM_UVLO_TARGET_BED - 2)
#define EEPROM_UVLO_FAN_SPEED (EEPROM_UVLO_FEEDRATE - 1)
#define EEPROM_FAN_CHECK_ENABLED (EEPROM_UVLO_FAN_SPEED - 1)
#define EEPROM_UVLO_MESH_BED_LEVELING (EEPROM_FAN_CHECK_ENABLED - 9*2)
#define EEPROM_UVLO_Z_MICROSTEPS (EEPROM_UVLO_MESH_BED_LEVELING - 2)
// Currently running firmware, each digit stored as uint16_t.

8
Firmware/Configuration_prusa.h
View File

@ -480,7 +480,13 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
#endif
#define UVLO_Z_AXIS_SHIFT 2
// How much shall the print head be lifted on power panic?
// Ideally the Z axis will reach a zero phase of the stepper driver on power outage. To simplify this,
// UVLO_Z_AXIS_SHIFT shall be an integer multiply of the stepper driver cycle, that is 4x full step.
// For example, the Prusa i3 MK2 with 16 microsteps per full step has Z stepping of 400 microsteps per mm.
// At 400 microsteps per mm, a full step lifts the Z axis by 0.04mm, and a stepper driver cycle is 0.16mm.
// The following example, 12 * (4 * 16 / 400) = 12 * 0.16mm = 1.92mm.
#define UVLO_Z_AXIS_SHIFT 1.92
#define HEATBED_V2

5
Firmware/Marlin.h
View File

@ -374,8 +374,13 @@ void recover_print();
void setup_uvlo_interrupt();
extern void save_print_to_eeprom();
extern void recover_machine_state_after_power_panic();
extern void restore_print_from_eeprom();
extern void position_menu();
extern void print_world_coordinates();
extern void print_physical_coordinates();
extern void print_mesh_bed_leveling_table();
#define UVLO !(PINE & (1<<4))

283
Firmware/Marlin_main.cpp
View File

@ -418,7 +418,6 @@ static float delta[3] = {0.0, 0.0, 0.0};
// For tracing an arc
static float offset[3] = {0.0, 0.0, 0.0};
static bool home_all_axis = true;
static float feedrate = 1500.0, next_feedrate, saved_feedrate;
// Determines Absolute or Relative Coordinates.
@ -1027,6 +1026,25 @@ void setup()
eeprom_write_byte((uint8_t*)EEPROM_UVLO, 0);
}
{
SERIAL_ECHOPGM("power up "); print_world_coordinates();
SERIAL_ECHOPGM("power up "); print_physical_coordinates();
SERIAL_ECHOPGM("initial zsteps on power up: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
float z0 = current_position[Z_AXIS];
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], z0 + 0.04, current_position[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
SERIAL_ECHOPGM("full step: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], z0 + 0.08, current_position[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
SERIAL_ECHOPGM("two full steps: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], z0 + 0.16 - 0.01, current_position[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
SERIAL_ECHOPGM("nearly full cycle: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], z0 + 0.16, current_position[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
SERIAL_ECHOPGM("full cycle: "); MYSERIAL.println(tmc2130_rd_MSCNT(Z_TMC2130_CS));
}
#ifndef DEBUG_DISABLE_STARTMSGS
check_babystep(); //checking if Z babystep is in allowed range
setup_uvlo_interrupt();
@ -2107,25 +2125,49 @@ void process_commands()
break;
#endif //FWRETRACT
case 28: //G28 Home all Axis one at a time
{
st_synchronize();
#if 1
SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
#endif
// Flag for the display update routine and to disable the print cancelation during homing.
homing_flag = true;
// Which axes should be homed?
bool home_x = code_seen(axis_codes[X_AXIS]);
bool home_y = code_seen(axis_codes[Y_AXIS]);
bool home_z = code_seen(axis_codes[Z_AXIS]);
// Either all X,Y,Z codes are present, or none of them.
bool home_all_axes = home_x == home_y && home_x == home_z;
if (home_all_axes)
// No X/Y/Z code provided means to home all axes.
home_x = home_y = home_z = true;
#ifdef ENABLE_AUTO_BED_LEVELING
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#endif //ENABLE_AUTO_BED_LEVELING
// For mesh bed leveling deactivate the matrix temporarily
#ifdef MESH_BED_LEVELING
mbl.active = 0;
#endif
// Reset world2machine_rotation_and_skew and world2machine_shift, therefore
// the planner will not perform any adjustments in the XY plane.
// Wait for the motors to stop and update the current position with the absolute values.
world2machine_revert_to_uncorrected();
// For mesh bed leveling deactivate the matrix temporarily.
// It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
// in a single axis only.
// In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
#ifdef MESH_BED_LEVELING
uint8_t mbl_was_active = mbl.active;
mbl.active = 0;
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
#endif
// Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
// consumed during the first movements following this statement.
if (home_z)
babystep_undo();
saved_feedrate = feedrate;
@ -2135,21 +2177,17 @@ void process_commands()
enable_endstops(true);
for(int8_t i=0; i < NUM_AXIS; i++)
destination[i] = current_position[i];
memcpy(destination, current_position, sizeof(destination));
feedrate = 0.0;
home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])));
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
if(home_z)
homeaxis(Z_AXIS);
}
#endif
#ifdef QUICK_HOME
// In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
if(home_x && home_y) //first diagonal move
{
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
@ -2185,10 +2223,10 @@ void process_commands()
#endif /* QUICK_HOME */
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
if(home_x)
homeaxis(X_AXIS);
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS])))
if(home_y)
homeaxis(Y_AXIS);
if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
@ -2199,7 +2237,7 @@ void process_commands()
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
#ifndef Z_SAFE_HOMING
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
if(home_z) {
#if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
@ -2235,7 +2273,7 @@ void process_commands()
#endif // MESH_BED_LEVELING
}
#else // defined(Z_SAFE_HOMING): Z Safe mode activated.
if(home_all_axis) {
if(home_all_axes) {
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
@ -2251,7 +2289,7 @@ void process_commands()
homeaxis(Z_AXIS);
}
// Let's see if X and Y are homed and probe is inside bed area.
if(code_seen(axis_codes[Z_AXIS])) {
if(home_z) {
if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
@ -2279,17 +2317,16 @@ void process_commands()
#endif // Z_SAFE_HOMING
#endif // Z_HOME_DIR < 0
if(code_seen(axis_codes[Z_AXIS])) {
if(code_value_long() != 0) {
if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
}
}
#ifdef ENABLE_AUTO_BED_LEVELING
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
if(home_z)
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
}
#endif
// Set the planner and stepper routine positions.
// At this point the mesh bed leveling and world2machine corrections are disabled and current_position
// contains the machine coordinates.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#ifdef ENDSTOPS_ONLY_FOR_HOMING
@ -2309,12 +2346,18 @@ void process_commands()
// Load the machine correction matrix
world2machine_initialize();
// and correct the current_position to match the transformed coordinate system.
// and correct the current_position XY axes to match the transformed coordinate system.
world2machine_update_current();
#if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
{
if (! home_z && mbl_was_active) {
// Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
mbl.active = true;
// and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
}
}
else
{
@ -2331,13 +2374,11 @@ void process_commands()
homing_flag = false;
SERIAL_ECHOLNPGM("Homing happened");
SERIAL_ECHOPGM("Current position X AXIS:");
MYSERIAL.println(current_position[X_AXIS]);
SERIAL_ECHOPGM("Current position Y_AXIS:");
MYSERIAL.println(current_position[Y_AXIS]);
SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
break;
}
#ifdef ENABLE_AUTO_BED_LEVELING
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
{
@ -6835,12 +6876,19 @@ void serialecho_temperatures() {
void uvlo_() {
SERIAL_ECHOLNPGM("UVLO");
// Saves the current position of the start of the command queue in the file,
// the mesh bed leveling table and the current Z axis micro steps value into EEPROM.
save_print_to_eeprom();
// feedrate in mm/min
int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate;
disable_x();
disable_y();
// After this call, the planner queue is emptied and the current_position is set to a current logical coordinate.
// The logical coordinate will likely differ from the machine coordinate if the skew calibration and mesh bed leveling
// are in action.
planner_abort_hard();
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
@ -6862,7 +6910,8 @@ void uvlo_() {
sei(); //enable stepper driver interrupt to move Z axis
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
st_synchronize();
current_position[Z_AXIS] += UVLO_Z_AXIS_SHIFT;
// Move Z up to the next 0th full step.
current_position[Z_AXIS] += UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 8) >> 4) / axis_steps_per_unit[Z_AXIS];
eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 40, active_extruder);
// Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
@ -6927,6 +6976,21 @@ void save_print_to_eeprom() {
SERIAL_ECHOPGM("sd position after correction:");
MYSERIAL.println(sd_position);*/
eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
// Store the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
// Scale the z value to 1u resolution.
int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy*3][ix*3] * 1000.f + 0.5f)) : 0;
eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
}
SERIAL_ECHOPGM("INT4 ");
print_mesh_bed_leveling_table();
// Read out the current Z motor microstep counter. This will be later used
// for reaching the zero full step before powering off.
eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), tmc2130_rd_MSCNT(Z_TMC2130_CS));
}
void recover_print() {
@ -6935,19 +6999,14 @@ void recover_print() {
lcd_update(2);
lcd_setstatuspgm(MSG_RECOVERING_PRINT);
target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
float z_pos = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z));
z_pos = z_pos + UVLO_Z_AXIS_SHIFT;
recover_machine_state_after_power_panic();
current_position[Z_AXIS] = z_pos;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
if (current_position[Z_AXIS] < 25)
// Lift the print head, so one may remove the excess priming material.
if (current_position[Z_AXIS] < 25)
enquecommand_P(PSTR("G1 Z25 F800"));
enquecommand_P(PSTR("G28 X"));
enquecommand_P(PSTR("G28 Y"));
// Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
enquecommand_P(PSTR("G28 X Y"));
// Set the target bed and nozzle temperatures.
sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
enquecommand(cmd);
sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
@ -6955,6 +7014,7 @@ void recover_print() {
enquecommand_P(PSTR("M83")); //E axis relative mode
enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
enquecommand_P(PSTR("G1 E" STRINGIFY(-DEFAULT_RETRACTION)" F480"));
// Mark the power panic status as inactive.
eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
/*while ((abs(degHotend(0)- target_temperature[0])>5) || (abs(degBed() -target_temperature_bed)>3)) { //wait for heater and bed to reach target temp
delay_keep_alive(1000);
@ -6964,11 +7024,70 @@ void recover_print() {
MYSERIAL.println(current_position[X_AXIS]);
SERIAL_ECHOPGM("Current position Y_AXIS:");
MYSERIAL.println(current_position[Y_AXIS]);
// Restart the print.
restore_print_from_eeprom();
SERIAL_ECHOPGM("current_position[Z_AXIS]:");
MYSERIAL.print(current_position[Z_AXIS]);
}
void recover_machine_state_after_power_panic()
{
// 1) Recover the logical cordinates at the time of the power panic.
// The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling.
current_position[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
// Recover the logical coordinate of the Z axis at the time of the power panic.
// The current position after power panic is moved to the next closest 0th full step.
current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)) +
UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 8) >> 4) / axis_steps_per_unit[Z_AXIS];
memcpy(destination, current_position, sizeof(destination));
SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
print_world_coordinates();
// 2) Initialize the logical to physical coordinate system transformation.
world2machine_initialize();
// 3) Restore the mesh bed leveling offsets. This is 2*9=18 bytes, which takes 18*3.4us=52us in worst case.
mbl.active = false;
for (int8_t mesh_point = 0; mesh_point < 9; ++ mesh_point) {
uint8_t ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
uint8_t iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
// Scale the z value to 10u resolution.
int16_t v;
eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING+2*mesh_point), 2);
if (v != 0)
mbl.active = true;
mbl.z_values[iy][ix] = float(v) * 0.001f;
}
if (mbl.active)
mbl.upsample_3x3();
SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
print_mesh_bed_leveling_table();
// 4) Load the baby stepping value, which is expected to be active at the time of power panic.
// The baby stepping value is used to reset the physical Z axis when rehoming the Z axis.
babystep_load();
// 5) Set the physical positions from the logical positions using the world2machine transformation and the active bed leveling.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
// 6) Power up the motors, mark their positions as known.
//FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
axis_known_position[X_AXIS] = true; enable_x();
axis_known_position[Y_AXIS] = true; enable_y();
axis_known_position[Z_AXIS] = true; enable_z();
SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
print_physical_coordinates();
// 7) Recover the target temperatures.
target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
}
void restore_print_from_eeprom() {
float x_rec, y_rec, z_pos;
int feedrate_rec;
@ -6976,10 +7095,7 @@ void restore_print_from_eeprom() {
char cmd[30];
char* c;
char filename[13];
char str[5] = ".gco";
x_rec = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
y_rec = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
z_pos = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z));
fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
EEPROM_read_B(EEPROM_UVLO_FEEDRATE, &feedrate_rec);
SERIAL_ECHOPGM("Feedrate:");
@ -6991,7 +7107,7 @@ void restore_print_from_eeprom() {
filename[8] = '\0';
MYSERIAL.print(filename);
strcat(filename, str);
strcat_P(filename, PSTR(".gco"));
sprintf_P(cmd, PSTR("M23 %s"), filename);
for (c = &cmd[4]; *c; c++)
*c = tolower(*c);
@ -7000,28 +7116,31 @@ void restore_print_from_eeprom() {
SERIAL_ECHOPGM("Position read from eeprom:");
MYSERIAL.println(position);
sprintf_P(cmd, PSTR("M26 S%lu"), position);
// E axis relative mode.
enquecommand_P(PSTR("M83"));
// Move to the XY print position in logical coordinates, where the print has been killed.
strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
strcat_P(cmd, PSTR(" Y")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
strcat_P(cmd, PSTR(" F2000"));
enquecommand(cmd);
enquecommand_P(PSTR("M24")); //M24 - Start SD print
enquecommand_P(PSTR("M83")); //E axis relative mode
strcpy(cmd, "G1 X");
strcat(cmd, ftostr32(x_rec));
strcat(cmd, " Y");
strcat(cmd, ftostr32(y_rec));
strcat(cmd, " F2000");
// Move the Z axis down to the print, in logical coordinates.
strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
enquecommand(cmd);
strcpy(cmd, "G1 Z");
strcat(cmd, ftostr32(z_pos));
enquecommand(cmd);
// Unretract.
enquecommand_P(PSTR("G1 E" STRINGIFY(DEFAULT_RETRACTION)" F480"));
//enquecommand_P(PSTR("G1 E0.5"));
// Set the feedrate saved at the power panic.
sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
enquecommand(cmd);
strcpy(cmd, "M106 S");
// Set the fan speed saved at the power panic.
strcpy_P(cmd, PSTR("M106 S"));
strcat(cmd, itostr3(int(fan_speed_rec)));
enquecommand(cmd);
// Set a position in the file.
sprintf_P(cmd, PSTR("M26 S%lu"), position);
enquecommand(cmd);
// Start SD print.
enquecommand_P(PSTR("M24"));
}
@ -7200,3 +7319,41 @@ void restore_print_from_ram_and_continue(float e_move)
card.sdprinting = true;
saved_printing = false;
}
void print_world_coordinates()
{
SERIAL_ECHOPGM("world coordinates: (");
MYSERIAL.print(current_position[X_AXIS], 3);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(current_position[Y_AXIS], 3);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(current_position[Z_AXIS], 3);
SERIAL_ECHOLNPGM(")");
}
void print_physical_coordinates()
{
SERIAL_ECHOPGM("physical coordinates: (");
MYSERIAL.print(st_get_position_mm(X_AXIS), 3);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(st_get_position_mm(Y_AXIS), 3);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(st_get_position_mm(Z_AXIS), 3);
SERIAL_ECHOLNPGM(")");
}
void print_mesh_bed_leveling_table()
{
SERIAL_ECHOPGM("mesh bed leveling: ");
for (int8_t y = 0; y < MESH_NUM_Y_POINTS; ++ y)
for (int8_t x = 0; x < MESH_NUM_Y_POINTS; ++ x) {
SERIAL_ECHOPGM("(");
MYSERIAL.print(st_get_position_mm(X_AXIS), 3);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(st_get_position_mm(Y_AXIS), 3);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(st_get_position_mm(Z_AXIS), 3);
SERIAL_ECHOPGM(") ");
}
SERIAL_ECHOLNPGM("");
}

17
Firmware/mesh_bed_calibration.cpp
View File

@ -2420,7 +2420,7 @@ static void shift_z(float delta)
// Number of baby steps applied
static int babystepLoadZ = 0;
void babystep_apply()
void babystep_load()
{
// Apply Z height correction aka baby stepping before mesh bed leveling gets activated.
if(calibration_status() < CALIBRATION_STATUS_LIVE_ADJUST)
@ -2439,14 +2439,19 @@ void babystep_apply()
SERIAL_ECHO(float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS]));
SERIAL_ECHOLN("");
#endif
#ifdef BABYSTEP_LOADZ_BY_PLANNER
shift_z(- float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS]));
#else
babystepsTodoZadd(babystepLoadZ);
#endif /* BABYSTEP_LOADZ_BY_PLANNER */
}
}
void babystep_apply()
{
babystep_load();
#ifdef BABYSTEP_LOADZ_BY_PLANNER
shift_z(- float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS]));
#else
babystepsTodoZadd(babystepLoadZ);
#endif /* BABYSTEP_LOADZ_BY_PLANNER */
}
void babystep_undo()
{
#ifdef BABYSTEP_LOADZ_BY_PLANNER

5
Firmware/mesh_bed_calibration.h
View File

@ -173,6 +173,11 @@ extern bool is_bed_z_jitter_data_valid();
// Useful for visualizing the behavior of the bed induction detector.
extern bool scan_bed_induction_points(int8_t verbosity_level);
// Load Z babystep value from the EEPROM into babystepLoadZ,
// but don't apply it through the planner. This is useful on wake up
// after power panic, when it is expected, that the baby step has been already applied.
extern void babystep_load();
// Apply Z babystep value from the EEPROM through the planner.
extern void babystep_apply();

16
Firmware/planner.cpp
View File

@ -575,6 +575,12 @@ void planner_abort_hard()
// Apply the mesh bed leveling correction to the Z axis.
#ifdef MESH_BED_LEVELING
if (mbl.active) {
#if 1
// Undo the bed level correction so the current Z position is reversible wrt. the machine coordinates.
// This does not necessary mean that the Z position will be the same as linearly interpolated from the source G-code line.
current_position[Z_AXIS] -= mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
#else
// Undo the bed level correction so that the current Z position is the same as linearly interpolated from the source G-code line.
if (current_block == NULL || (current_block->steps_x == 0 && current_block->steps_y == 0))
current_position[Z_AXIS] -= mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
else {
@ -595,6 +601,7 @@ void planner_abort_hard()
pos2[Z_AXIS] -= mbl.get_z(pos2[X_AXIS], pos2[Y_AXIS]);
current_position[Z_AXIS] = pos1[Z_AXIS] * t + pos2[Z_AXIS] * (1.f - t);
}
#endif
}
#endif
// Clear the planner queue.
@ -1250,6 +1257,7 @@ void plan_set_position(float x, float y, float z, const float &e)
#endif // ENABLE_AUTO_BED_LEVELING
// Apply the machine correction matrix.
if (world2machine_correction_mode != WORLD2MACHINE_CORRECTION_NONE)
{
float tmpx = x;
float tmpy = y;
@ -1260,11 +1268,9 @@ void plan_set_position(float x, float y, float z, const float &e)
position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
#ifdef MESH_BED_LEVELING
if (mbl.active){
position[Z_AXIS] = lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]);
}else{
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
}
position[Z_AXIS] = mbl.active ?
lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]) :
lround(z*axis_steps_per_unit[Z_AXIS]);
#else
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
#endif // ENABLE_MESH_BED_LEVELING