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Merge pull request #3100 from wavexx/powerpanic_state_fixes

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Fix PowerPanic and Crash Detection during homing and bed leveling
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DRracer 2021-04-07 18:19:50 +02:00 committed by GitHub
commit f9f6284c50
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 460 additions and 429 deletions
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882
Firmware/Marlin_main.cpp
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@ -219,7 +219,7 @@ unsigned int heating_status;
unsigned int heating_status_counter;
bool loading_flag = false;
#define XY_NO_RESTORE_FLAG (mesh_bed_leveling_flag || homing_flag)
char snmm_filaments_used = 0;
@ -305,7 +305,12 @@ bool no_response = false;
uint8_t important_status;
uint8_t saved_filament_type;
#define SAVED_TARGET_UNSET (X_MIN_POS-1)
// Define some coordinates outside the clamp limits (making them invalid past the parsing stage) so
// that they can be used later for various logical checks
#define X_COORD_INVALID (X_MIN_POS-1)
#define Y_COORD_INVALID (Y_MIN_POS-1)
#define SAVED_TARGET_UNSET X_COORD_INVALID
float saved_target[NUM_AXIS] = {SAVED_TARGET_UNSET, 0, 0, 0};
// save/restore printing in case that mmu was not responding
@ -375,7 +380,7 @@ boolean chdkActive = false;
bool saved_printing = false; //!< Print is paused and saved in RAM
static uint32_t saved_sdpos = 0; //!< SD card position, or line number in case of USB printing
uint8_t saved_printing_type = PRINTING_TYPE_SD;
static float saved_pos[4] = { 0, 0, 0, 0 };
static float saved_pos[4] = { X_COORD_INVALID, 0, 0, 0 };
static uint16_t saved_feedrate2 = 0; //!< Default feedrate (truncated from float)
static int saved_feedmultiply2 = 0;
static uint8_t saved_active_extruder = 0;
@ -588,19 +593,6 @@ void crashdet_restore_print_and_continue()
// babystep_apply();
}
void crashdet_stop_and_save_print2()
{
cli();
planner_abort_hard(); //abort printing
cmdqueue_reset(); //empty cmdqueue
card.sdprinting = false;
card.closefile();
// Reset and re-enable the stepper timer just before the global interrupts are enabled.
st_reset_timer();
sei();
}
void crashdet_detected(uint8_t mask)
{
st_synchronize();
@ -2954,6 +2946,416 @@ static void gcode_G28(bool home_x_axis, bool home_y_axis, bool home_z_axis)
#endif //TMC2130
}
// G80 - Automatic mesh bed leveling
static void gcode_G80()
{
mesh_bed_leveling_flag = true;
#ifndef PINDA_THERMISTOR
static bool run = false; // thermistor-less PINDA temperature compensation is running
#endif // ndef PINDA_THERMISTOR
#ifdef SUPPORT_VERBOSITY
int8_t verbosity_level = 0;
if (code_seen('V')) {
// Just 'V' without a number counts as V1.
char c = strchr_pointer[1];
verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
}
#endif //SUPPORT_VERBOSITY
// Firstly check if we know where we are
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
// We don't know where we are! HOME!
// Push the commands to the front of the message queue in the reverse order!
// There shall be always enough space reserved for these commands.
repeatcommand_front(); // repeat G80 with all its parameters
enquecommand_front_P(G28W0);
return;
}
uint8_t nMeasPoints = MESH_MEAS_NUM_X_POINTS;
if (code_seen('N')) {
nMeasPoints = code_value_uint8();
if (nMeasPoints != 7) {
nMeasPoints = 3;
}
}
else {
nMeasPoints = eeprom_read_byte((uint8_t*)EEPROM_MBL_POINTS_NR);
}
uint8_t nProbeRetry = 3;
if (code_seen('R')) {
nProbeRetry = code_value_uint8();
if (nProbeRetry > 10) {
nProbeRetry = 10;
}
}
else {
nProbeRetry = eeprom_read_byte((uint8_t*)EEPROM_MBL_PROBE_NR);
}
bool magnet_elimination = (eeprom_read_byte((uint8_t*)EEPROM_MBL_MAGNET_ELIMINATION) > 0);
#ifndef PINDA_THERMISTOR
if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50)
{
temp_compensation_start();
run = true;
repeatcommand_front(); // repeat G80 with all its parameters
enquecommand_front_P(G28W0);
break;
}
run = false;
#endif //PINDA_THERMISTOR
// Save custom message state, set a new custom message state to display: Calibrating point 9.
CustomMsg custom_message_type_old = custom_message_type;
unsigned int custom_message_state_old = custom_message_state;
custom_message_type = CustomMsg::MeshBedLeveling;
custom_message_state = (nMeasPoints * nMeasPoints) + 10;
lcd_update(1);
mbl.reset(); //reset mesh bed leveling
// Reset baby stepping to zero, if the babystepping has already been loaded before.
babystep_undo();
// Cycle through all points and probe them
// First move up. During this first movement, the babystepping will be reverted.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
// The move to the first calibration point.
current_position[X_AXIS] = BED_X0;
current_position[Y_AXIS] = BED_Y0;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1)
{
bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
}
#else //SUPPORT_VERBOSITY
world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
#endif //SUPPORT_VERBOSITY
int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
// Wait until the move is finished.
st_synchronize();
if (waiting_inside_plan_buffer_line_print_aborted)
{
custom_message_type = custom_message_type_old;
custom_message_state = custom_message_state_old;
return;
}
uint8_t mesh_point = 0; //index number of calibration point
int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
bool has_z = is_bed_z_jitter_data_valid(); //checks if we have data from Z calibration (offsets of the Z heiths of the 8 calibration points from the first point)
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
}
#endif // SUPPORT_VERBOSITY
int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
while (mesh_point != nMeasPoints * nMeasPoints) {
// Get coords of a measuring point.
uint8_t ix = mesh_point % nMeasPoints; // from 0 to MESH_NUM_X_POINTS - 1
uint8_t iy = mesh_point / nMeasPoints;
/*if (!mbl_point_measurement_valid(ix, iy, nMeasPoints, true)) {
printf_P(PSTR("Skipping point [%d;%d] \n"), ix, iy);
custom_message_state--;
mesh_point++;
continue; //skip
}*/
if (iy & 1) ix = (nMeasPoints - 1) - ix; // Zig zag
if (nMeasPoints == 7) //if we have 7x7 mesh, compare with Z-calibration for points which are in 3x3 mesh
{
has_z = ((ix % 3 == 0) && (iy % 3 == 0)) && is_bed_z_jitter_data_valid();
}
float z0 = 0.f;
if (has_z && (mesh_point > 0)) {
uint16_t z_offset_u = 0;
if (nMeasPoints == 7) {
z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * ((ix/3) + iy - 1)));
}
else {
z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
}
z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
printf_P(PSTR("Bed leveling, point: %d, calibration Z stored in eeprom: %d, calibration z: %f \n"), mesh_point, z_offset_u, z0);
}
#endif // SUPPORT_VERBOSITY
}
// Move Z up to MESH_HOME_Z_SEARCH.
if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster.
float init_z_bckp = current_position[Z_AXIS];
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize();
// Move to XY position of the sensor point.
current_position[X_AXIS] = BED_X(ix, nMeasPoints);
current_position[Y_AXIS] = BED_Y(iy, nMeasPoints);
//printf_P(PSTR("[%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
SERIAL_PROTOCOL(mesh_point);
clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
}
#else //SUPPORT_VERBOSITY
world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
#endif // SUPPORT_VERBOSITY
//printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
st_synchronize();
if (waiting_inside_plan_buffer_line_print_aborted)
{
custom_message_type = custom_message_type_old;
custom_message_state = custom_message_state_old;
return;
}
// Go down until endstop is hit
const float Z_CALIBRATION_THRESHOLD = 1.f;
if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
break;
}
if (init_z_bckp - current_position[Z_AXIS] < 0.1f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases.
//printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]);
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize();
if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
break;
}
if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
puts_P(PSTR("Bed leveling failed. Sensor disconnected or cable broken."));
break;
}
}
if (has_z && fabs(z0 - current_position[Z_AXIS]) > Z_CALIBRATION_THRESHOLD) { //if we have data from z calibration, max. allowed difference is 1mm for each point
puts_P(PSTR("Bed leveling failed. Sensor triggered too high."));
break;
}
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 10) {
SERIAL_ECHOPGM("X: ");
MYSERIAL.print(current_position[X_AXIS], 5);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("Y: ");
MYSERIAL.print(current_position[Y_AXIS], 5);
SERIAL_PROTOCOLPGM("\n");
}
#endif // SUPPORT_VERBOSITY
float offset_z = 0;
#ifdef PINDA_THERMISTOR
offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
#endif //PINDA_THERMISTOR
// #ifdef SUPPORT_VERBOSITY
/* if (verbosity_level >= 1)
{
SERIAL_ECHOPGM("mesh bed leveling: ");
MYSERIAL.print(current_position[Z_AXIS], 5);
SERIAL_ECHOPGM(" offset: ");
MYSERIAL.print(offset_z, 5);
SERIAL_ECHOLNPGM("");
}*/
// #endif // SUPPORT_VERBOSITY
mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
custom_message_state--;
mesh_point++;
lcd_update(1);
}
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) {
SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
MYSERIAL.print(current_position[Z_AXIS], 5);
}
#endif // SUPPORT_VERBOSITY
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize();
if (mesh_point != nMeasPoints * nMeasPoints) {
Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
bool bState;
do { // repeat until Z-leveling o.k.
lcd_display_message_fullscreen_P(_i("Some problem encountered, Z-leveling enforced ..."));
#ifdef TMC2130
lcd_wait_for_click_delay(MSG_BED_LEVELING_FAILED_TIMEOUT);
calibrate_z_auto(); // Z-leveling (X-assembly stay up!!!)
#else // TMC2130
lcd_wait_for_click_delay(0); // ~ no timeout
lcd_calibrate_z_end_stop_manual(true); // Z-leveling (X-assembly stay up!!!)
#endif // TMC2130
// ~ Z-homing (can not be used "G28", because X & Y-homing would have been done before (Z-homing))
bState=enable_z_endstop(false);
current_position[Z_AXIS] -= 1;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
st_synchronize();
enable_z_endstop(true);
#ifdef TMC2130
tmc2130_home_enter(Z_AXIS_MASK);
#endif // TMC2130
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
st_synchronize();
#ifdef TMC2130
tmc2130_home_exit();
#endif // TMC2130
enable_z_endstop(bState);
} while (st_get_position_mm(Z_AXIS) > MESH_HOME_Z_SEARCH); // i.e. Z-leveling not o.k.
// plan_set_z_position(MESH_HOME_Z_SEARCH); // is not necessary ('do-while' loop always ends at the expected Z-position)
custom_message_type = custom_message_type_old;
custom_message_state = custom_message_state_old;
lcd_update_enable(true); // display / status-line recovery
gcode_G28(true, true, true); // X & Y & Z-homing (must be after individual Z-homing (problem with spool-holder)!)
repeatcommand_front(); // re-run (i.e. of "G80")
return;
}
clean_up_after_endstop_move(l_feedmultiply);
// SERIAL_ECHOLNPGM("clean up finished ");
#ifndef PINDA_THERMISTOR
if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
#endif
babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
// SERIAL_ECHOLNPGM("babystep applied");
bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
}
#endif // SUPPORT_VERBOSITY
for (uint8_t i = 0; i < 4; ++i) {
unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
long correction = 0;
if (code_seen(codes[i]))
correction = code_value_long();
else if (eeprom_bed_correction_valid) {
unsigned char *addr = (i < 2) ?
((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
correction = eeprom_read_int8(addr);
}
if (correction == 0)
continue;
if (labs(correction) > BED_ADJUSTMENT_UM_MAX) {
SERIAL_ERROR_START;
SERIAL_ECHOPGM("Excessive bed leveling correction: ");
SERIAL_ECHO(correction);
SERIAL_ECHOLNPGM(" microns");
}
else {
float offset = float(correction) * 0.001f;
switch (i) {
case 0:
for (uint8_t row = 0; row < nMeasPoints; ++row) {
for (uint8_t col = 0; col < nMeasPoints - 1; ++col) {
mbl.z_values[row][col] += offset * (nMeasPoints - 1 - col) / (nMeasPoints - 1);
}
}
break;
case 1:
for (uint8_t row = 0; row < nMeasPoints; ++row) {
for (uint8_t col = 1; col < nMeasPoints; ++col) {
mbl.z_values[row][col] += offset * col / (nMeasPoints - 1);
}
}
break;
case 2:
for (uint8_t col = 0; col < nMeasPoints; ++col) {
for (uint8_t row = 0; row < nMeasPoints; ++row) {
mbl.z_values[row][col] += offset * (nMeasPoints - 1 - row) / (nMeasPoints - 1);
}
}
break;
case 3:
for (uint8_t col = 0; col < nMeasPoints; ++col) {
for (uint8_t row = 1; row < nMeasPoints; ++row) {
mbl.z_values[row][col] += offset * row / (nMeasPoints - 1);
}
}
break;
}
}
}
// SERIAL_ECHOLNPGM("Bed leveling correction finished");
if (nMeasPoints == 3) {
mbl.upsample_3x3(); //interpolation from 3x3 to 7x7 points using largrangian polynomials while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
}
/*
SERIAL_PROTOCOLPGM("Num X,Y: ");
SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
SERIAL_PROTOCOLPGM(",");
SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
SERIAL_PROTOCOLPGM("\nZ search height: ");
SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
SERIAL_PROTOCOLPGM(" ");
SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
}
SERIAL_PROTOCOLPGM("\n");
}
*/
if (nMeasPoints == 7 && magnet_elimination) {
mbl_interpolation(nMeasPoints);
}
/*
SERIAL_PROTOCOLPGM("Num X,Y: ");
SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
SERIAL_PROTOCOLPGM(",");
SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
SERIAL_PROTOCOLPGM("\nZ search height: ");
SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
SERIAL_PROTOCOLPGM(" ");
SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
}
SERIAL_PROTOCOLPGM("\n");
}
*/
// SERIAL_ECHOLNPGM("Upsample finished");
mbl.active = 1; //activate mesh bed leveling
// SERIAL_ECHOLNPGM("Mesh bed leveling activated");
go_home_with_z_lift();
// SERIAL_ECHOLNPGM("Go home finished");
//unretract (after PINDA preheat retraction)
if ((degHotend(active_extruder) > EXTRUDE_MINTEMP) && eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() && (target_temperature_bed >= 50)) {
current_position[E_AXIS] += default_retraction;
plan_buffer_line_curposXYZE(400);
}
KEEPALIVE_STATE(NOT_BUSY);
// Restore custom message state
lcd_setstatuspgm(_T(WELCOME_MSG));
custom_message_type = custom_message_type_old;
custom_message_state = custom_message_state_old;
mesh_bed_leveling_flag = false;
mesh_bed_run_from_menu = false;
lcd_update(2);
}
void adjust_bed_reset()
{
eeprom_update_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID, 1);
@ -4530,9 +4932,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
gcode_G28(home_x, home_x_value, home_y, home_y_value, home_z, home_z_value, without_mbl);
#endif //TMC2130
if ((home_x || home_y || without_mbl || home_z) == false) {
// Push the commands to the front of the message queue in the reverse order!
// There shall be always enough space reserved for these commands.
goto case_G80;
gcode_G80();
}
break;
}
@ -5084,404 +5484,11 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
* v Y-axis
*/
case 80:
case 80: {
#ifdef MK1BP
break;
#endif //MK1BP
case_G80:
{
mesh_bed_leveling_flag = true;
#ifndef PINDA_THERMISTOR
static bool run = false; // thermistor-less PINDA temperature compensation is running
#endif // ndef PINDA_THERMISTOR
#ifdef SUPPORT_VERBOSITY
int8_t verbosity_level = 0;
if (code_seen('V')) {
// Just 'V' without a number counts as V1.
char c = strchr_pointer[1];
verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
}
#endif //SUPPORT_VERBOSITY
// Firstly check if we know where we are
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
// We don't know where we are! HOME!
// Push the commands to the front of the message queue in the reverse order!
// There shall be always enough space reserved for these commands.
repeatcommand_front(); // repeat G80 with all its parameters
enquecommand_front_P(G28W0);
break;
}
uint8_t nMeasPoints = MESH_MEAS_NUM_X_POINTS;
if (code_seen('N')) {
nMeasPoints = code_value_uint8();
if (nMeasPoints != 7) {
nMeasPoints = 3;
}
}
else {
nMeasPoints = eeprom_read_byte((uint8_t*)EEPROM_MBL_POINTS_NR);
}
uint8_t nProbeRetry = 3;
if (code_seen('R')) {
nProbeRetry = code_value_uint8();
if (nProbeRetry > 10) {
nProbeRetry = 10;
}
}
else {
nProbeRetry = eeprom_read_byte((uint8_t*)EEPROM_MBL_PROBE_NR);
}
bool magnet_elimination = (eeprom_read_byte((uint8_t*)EEPROM_MBL_MAGNET_ELIMINATION) > 0);
#ifndef PINDA_THERMISTOR
if (run == false && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50)
{
temp_compensation_start();
run = true;
repeatcommand_front(); // repeat G80 with all its parameters
enquecommand_front_P(G28W0);
break;
}
run = false;
#endif //PINDA_THERMISTOR
// Save custom message state, set a new custom message state to display: Calibrating point 9.
CustomMsg custom_message_type_old = custom_message_type;
unsigned int custom_message_state_old = custom_message_state;
custom_message_type = CustomMsg::MeshBedLeveling;
custom_message_state = (nMeasPoints * nMeasPoints) + 10;
lcd_update(1);
mbl.reset(); //reset mesh bed leveling
// Reset baby stepping to zero, if the babystepping has already been loaded before.
babystep_undo();
// Cycle through all points and probe them
// First move up. During this first movement, the babystepping will be reverted.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60);
// The move to the first calibration point.
current_position[X_AXIS] = BED_X0;
current_position[Y_AXIS] = BED_Y0;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1)
{
bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
}
#else //SUPPORT_VERBOSITY
world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
#endif //SUPPORT_VERBOSITY
plan_buffer_line_curposXYZE(homing_feedrate[X_AXIS] / 30);
// Wait until the move is finished.
st_synchronize();
uint8_t mesh_point = 0; //index number of calibration point
int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
bool has_z = is_bed_z_jitter_data_valid(); //checks if we have data from Z calibration (offsets of the Z heiths of the 8 calibration points from the first point)
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
}
#endif // SUPPORT_VERBOSITY
int l_feedmultiply = setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
while (mesh_point != nMeasPoints * nMeasPoints) {
// Get coords of a measuring point.
uint8_t ix = mesh_point % nMeasPoints; // from 0 to MESH_NUM_X_POINTS - 1
uint8_t iy = mesh_point / nMeasPoints;
/*if (!mbl_point_measurement_valid(ix, iy, nMeasPoints, true)) {
printf_P(PSTR("Skipping point [%d;%d] \n"), ix, iy);
custom_message_state--;
mesh_point++;
continue; //skip
}*/
if (iy & 1) ix = (nMeasPoints - 1) - ix; // Zig zag
if (nMeasPoints == 7) //if we have 7x7 mesh, compare with Z-calibration for points which are in 3x3 mesh
{
has_z = ((ix % 3 == 0) && (iy % 3 == 0)) && is_bed_z_jitter_data_valid();
}
float z0 = 0.f;
if (has_z && (mesh_point > 0)) {
uint16_t z_offset_u = 0;
if (nMeasPoints == 7) {
z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * ((ix/3) + iy - 1)));
}
else {
z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
}
z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
printf_P(PSTR("Bed leveling, point: %d, calibration Z stored in eeprom: %d, calibration z: %f \n"), mesh_point, z_offset_u, z0);
}
#endif // SUPPORT_VERBOSITY
}
// Move Z up to MESH_HOME_Z_SEARCH.
if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster.
float init_z_bckp = current_position[Z_AXIS];
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize();
// Move to XY position of the sensor point.
current_position[X_AXIS] = BED_X(ix, nMeasPoints);
current_position[Y_AXIS] = BED_Y(iy, nMeasPoints);
//printf_P(PSTR("[%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
SERIAL_PROTOCOL(mesh_point);
clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
}
#else //SUPPORT_VERBOSITY
world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
#endif // SUPPORT_VERBOSITY
//printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE);
st_synchronize();
// Go down until endstop is hit
const float Z_CALIBRATION_THRESHOLD = 1.f;
if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
break;
}
if (init_z_bckp - current_position[Z_AXIS] < 0.1f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases.
//printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]);
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize();
if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point
printf_P(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
break;
}
if (MESH_HOME_Z_SEARCH - current_position[Z_AXIS] < 0.1f) {
puts_P(PSTR("Bed leveling failed. Sensor disconnected or cable broken."));
break;
}
}
if (has_z && fabs(z0 - current_position[Z_AXIS]) > Z_CALIBRATION_THRESHOLD) { //if we have data from z calibration, max. allowed difference is 1mm for each point
puts_P(PSTR("Bed leveling failed. Sensor triggered too high."));
break;
}
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 10) {
SERIAL_ECHOPGM("X: ");
MYSERIAL.print(current_position[X_AXIS], 5);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("Y: ");
MYSERIAL.print(current_position[Y_AXIS], 5);
SERIAL_PROTOCOLPGM("\n");
}
#endif // SUPPORT_VERBOSITY
float offset_z = 0;
#ifdef PINDA_THERMISTOR
offset_z = temp_compensation_pinda_thermistor_offset(current_temperature_pinda);
#endif //PINDA_THERMISTOR
// #ifdef SUPPORT_VERBOSITY
/* if (verbosity_level >= 1)
{
SERIAL_ECHOPGM("mesh bed leveling: ");
MYSERIAL.print(current_position[Z_AXIS], 5);
SERIAL_ECHOPGM(" offset: ");
MYSERIAL.print(offset_z, 5);
SERIAL_ECHOLNPGM("");
}*/
// #endif // SUPPORT_VERBOSITY
mbl.set_z(ix, iy, current_position[Z_AXIS] - offset_z); //store measured z values z_values[iy][ix] = z - offset_z;
custom_message_state--;
mesh_point++;
lcd_update(1);
}
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 20) {
SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
MYSERIAL.print(current_position[Z_AXIS], 5);
}
#endif // SUPPORT_VERBOSITY
plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE);
st_synchronize();
if (mesh_point != nMeasPoints * nMeasPoints) {
Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
bool bState;
do { // repeat until Z-leveling o.k.
lcd_display_message_fullscreen_P(_i("Some problem encountered, Z-leveling enforced ..."));
#ifdef TMC2130
lcd_wait_for_click_delay(MSG_BED_LEVELING_FAILED_TIMEOUT);
calibrate_z_auto(); // Z-leveling (X-assembly stay up!!!)
#else // TMC2130
lcd_wait_for_click_delay(0); // ~ no timeout
lcd_calibrate_z_end_stop_manual(true); // Z-leveling (X-assembly stay up!!!)
#endif // TMC2130
// ~ Z-homing (can not be used "G28", because X & Y-homing would have been done before (Z-homing))
bState=enable_z_endstop(false);
current_position[Z_AXIS] -= 1;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
st_synchronize();
enable_z_endstop(true);
#ifdef TMC2130
tmc2130_home_enter(Z_AXIS_MASK);
#endif // TMC2130
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40);
st_synchronize();
#ifdef TMC2130
tmc2130_home_exit();
#endif // TMC2130
enable_z_endstop(bState);
} while (st_get_position_mm(Z_AXIS) > MESH_HOME_Z_SEARCH); // i.e. Z-leveling not o.k.
// plan_set_z_position(MESH_HOME_Z_SEARCH); // is not necessary ('do-while' loop always ends at the expected Z-position)
custom_message_type=CustomMsg::Status; // display / status-line recovery
lcd_update_enable(true); // display / status-line recovery
gcode_G28(true, true, true); // X & Y & Z-homing (must be after individual Z-homing (problem with spool-holder)!)
repeatcommand_front(); // re-run (i.e. of "G80")
break;
}
clean_up_after_endstop_move(l_feedmultiply);
// SERIAL_ECHOLNPGM("clean up finished ");
#ifndef PINDA_THERMISTOR
if(temp_cal_active == true && calibration_status_pinda() == true) temp_compensation_apply(); //apply PINDA temperature compensation
#endif
babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
// SERIAL_ECHOLNPGM("babystep applied");
bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
#ifdef SUPPORT_VERBOSITY
if (verbosity_level >= 1) {
eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
}
#endif // SUPPORT_VERBOSITY
for (uint8_t i = 0; i < 4; ++i) {
unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
long correction = 0;
if (code_seen(codes[i]))
correction = code_value_long();
else if (eeprom_bed_correction_valid) {
unsigned char *addr = (i < 2) ?
((i == 0) ? (unsigned char*)EEPROM_BED_CORRECTION_LEFT : (unsigned char*)EEPROM_BED_CORRECTION_RIGHT) :
((i == 2) ? (unsigned char*)EEPROM_BED_CORRECTION_FRONT : (unsigned char*)EEPROM_BED_CORRECTION_REAR);
correction = eeprom_read_int8(addr);
}
if (correction == 0)
continue;
if (labs(correction) > BED_ADJUSTMENT_UM_MAX) {
SERIAL_ERROR_START;
SERIAL_ECHOPGM("Excessive bed leveling correction: ");
SERIAL_ECHO(correction);
SERIAL_ECHOLNPGM(" microns");
}
else {
float offset = float(correction) * 0.001f;
switch (i) {
case 0:
for (uint8_t row = 0; row < nMeasPoints; ++row) {
for (uint8_t col = 0; col < nMeasPoints - 1; ++col) {
mbl.z_values[row][col] += offset * (nMeasPoints - 1 - col) / (nMeasPoints - 1);
}
}
break;
case 1:
for (uint8_t row = 0; row < nMeasPoints; ++row) {
for (uint8_t col = 1; col < nMeasPoints; ++col) {
mbl.z_values[row][col] += offset * col / (nMeasPoints - 1);
}
}
break;
case 2:
for (uint8_t col = 0; col < nMeasPoints; ++col) {
for (uint8_t row = 0; row < nMeasPoints; ++row) {
mbl.z_values[row][col] += offset * (nMeasPoints - 1 - row) / (nMeasPoints - 1);
}
}
break;
case 3:
for (uint8_t col = 0; col < nMeasPoints; ++col) {
for (uint8_t row = 1; row < nMeasPoints; ++row) {
mbl.z_values[row][col] += offset * row / (nMeasPoints - 1);
}
}
break;
}
}
}
// SERIAL_ECHOLNPGM("Bed leveling correction finished");
if (nMeasPoints == 3) {
mbl.upsample_3x3(); //interpolation from 3x3 to 7x7 points using largrangian polynomials while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
}
/*
SERIAL_PROTOCOLPGM("Num X,Y: ");
SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
SERIAL_PROTOCOLPGM(",");
SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
SERIAL_PROTOCOLPGM("\nZ search height: ");
SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
SERIAL_PROTOCOLPGM(" ");
SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
}
SERIAL_PROTOCOLPGM("\n");
}
*/
if (nMeasPoints == 7 && magnet_elimination) {
mbl_interpolation(nMeasPoints);
}
/*
SERIAL_PROTOCOLPGM("Num X,Y: ");
SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
SERIAL_PROTOCOLPGM(",");
SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
SERIAL_PROTOCOLPGM("\nZ search height: ");
SERIAL_PROTOCOL(MESH_HOME_Z_SEARCH);
SERIAL_PROTOCOLLNPGM("\nMeasured points:");
for (int y = MESH_NUM_Y_POINTS-1; y >= 0; y--) {
for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
SERIAL_PROTOCOLPGM(" ");
SERIAL_PROTOCOL_F(mbl.z_values[y][x], 5);
}
SERIAL_PROTOCOLPGM("\n");
}
*/
// SERIAL_ECHOLNPGM("Upsample finished");
mbl.active = 1; //activate mesh bed leveling
// SERIAL_ECHOLNPGM("Mesh bed leveling activated");
go_home_with_z_lift();
// SERIAL_ECHOLNPGM("Go home finished");
//unretract (after PINDA preheat retraction)
if ((degHotend(active_extruder) > EXTRUDE_MINTEMP) && eeprom_read_byte((unsigned char *)EEPROM_TEMP_CAL_ACTIVE) && calibration_status_pinda() && (target_temperature_bed >= 50)) {
current_position[E_AXIS] += default_retraction;
plan_buffer_line_curposXYZE(400);
}
KEEPALIVE_STATE(NOT_BUSY);
// Restore custom message state
lcd_setstatuspgm(_T(WELCOME_MSG));
custom_message_type = custom_message_type_old;
custom_message_state = custom_message_state_old;
mesh_bed_leveling_flag = false;
mesh_bed_run_from_menu = false;
lcd_update(2);
gcode_G80();
}
break;
@ -10851,8 +10858,9 @@ void uvlo_()
}
// save the global state at planning time
bool pos_invalid = XY_NO_RESTORE_FLAG;
uint16_t feedrate_bckp;
if (current_block)
if (current_block && !pos_invalid)
{
memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
feedrate_bckp = current_block->gcode_feedrate;
@ -10930,8 +10938,13 @@ void uvlo_()
eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
// Store the current position.
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
if (pos_invalid)
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), X_COORD_INVALID);
else
{
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]);
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
}
// Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDRATE, feedrate_bckp);
@ -11189,11 +11202,6 @@ bool recover_machine_state_after_power_panic()
// Recover last E axis position
current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
memcpy(destination, current_position, sizeof(destination));
SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
print_world_coordinates();
// 3) Initialize the logical to physical coordinate system transformation.
world2machine_initialize();
// SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
@ -11205,7 +11213,11 @@ bool recover_machine_state_after_power_panic()
// 5) Set the physical positions from the logical positions using the world2machine transformation
// This is only done to inizialize Z/E axes with physical locations, since X/Y are unknown.
clamp_to_software_endstops(current_position);
memcpy(destination, current_position, sizeof(destination));
plan_set_position_curposXYZE();
SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
print_world_coordinates();
// 6) Power up the Z motors, mark their positions as known.
axis_known_position[Z_AXIS] = true;
@ -11242,7 +11254,7 @@ void restore_print_from_eeprom(bool mbl_was_active) {
int feedrate_rec;
int feedmultiply_rec;
uint8_t fan_speed_rec;
char cmd[30];
char cmd[48];
char filename[13];
uint8_t depth = 0;
char dir_name[9];
@ -11283,10 +11295,13 @@ void restore_print_from_eeprom(bool mbl_was_active) {
// Move to the XY print position in logical coordinates, where the print has been killed, but
// without shifting Z along the way. This requires performing the move without mbl.
sprintf_P(cmd, PSTR("G1 X%f Y%f F3000"),
eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0)),
eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4)));
enquecommand(cmd);
float pos_x = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
float pos_y = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
if (pos_x != X_COORD_INVALID)
{
sprintf_P(cmd, PSTR("G1 X%f Y%f F3000"), pos_x, pos_y);
enquecommand(cmd);
}
// Enable MBL and switch to logical positioning
if (mbl_was_active)
@ -11466,7 +11481,8 @@ void stop_and_save_print_to_ram(float z_move, float e_move)
#endif
// save the global state at planning time
if (current_block)
bool pos_invalid = XY_NO_RESTORE_FLAG;
if (current_block && !pos_invalid)
{
memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
saved_feedrate2 = current_block->gcode_feedrate;
@ -11478,7 +11494,10 @@ void stop_and_save_print_to_ram(float z_move, float e_move)
}
planner_abort_hard(); //abort printing
memcpy(saved_pos, current_position, sizeof(saved_pos));
if (pos_invalid) saved_pos[X_AXIS] = X_COORD_INVALID;
saved_feedmultiply2 = feedmultiply; //save feedmultiply
saved_active_extruder = active_extruder; //save active_extruder
saved_extruder_temperature = degTargetHotend(active_extruder);
@ -11572,6 +11591,13 @@ void restore_print_from_ram_and_continue(float e_move)
fans_check_enabled = false;
#endif
// do not restore XY for commands that do not require that
if (saved_pos[X_AXIS] == X_COORD_INVALID)
{
saved_pos[X_AXIS] = current_position[X_AXIS];
saved_pos[Y_AXIS] = current_position[Y_AXIS];
}
//first move print head in XY to the saved position:
plan_buffer_line(saved_pos[X_AXIS], saved_pos[Y_AXIS], current_position[Z_AXIS], saved_pos[E_AXIS] - e_move, homing_feedrate[Z_AXIS]/13, active_extruder);
//then move Z

7
Firmware/tmc2130.cpp
View file

@ -68,8 +68,9 @@ uint8_t tmc2130_sg_diag_mask = 0x00;
uint8_t tmc2130_sg_crash = 0;
uint16_t tmc2130_sg_err[4] = {0, 0, 0, 0};
uint16_t tmc2130_sg_cnt[4] = {0, 0, 0, 0};
#ifdef DEBUG_CRASHDET_COUNTERS
bool tmc2130_sg_change = false;
#endif
bool skip_debug_msg = false;
@ -255,7 +256,9 @@ void tmc2130_st_isr()
if (tmc2130_sg_cnt[axis] < tmc2130_sg_err[axis])
{
tmc2130_sg_cnt[axis] = tmc2130_sg_err[axis];
#ifdef DEBUG_CRASHDET_COUNTERS
tmc2130_sg_change = true;
#endif
uint8_t sg_thr = 64;
// if (axis == Y_AXIS) sg_thr = 64;
if (tmc2130_sg_err[axis] >= sg_thr)
@ -409,7 +412,9 @@ void tmc2130_check_overtemp()
}
checktime = _millis();
#ifdef DEBUG_CRASHDET_COUNTERS
tmc2130_sg_change = true;
#endif
}
#ifdef DEBUG_CRASHDET_COUNTERS
if (tmc2130_sg_change)