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power panic: Fix an error in saved position 

planner_abort_hard() calls planner_reset_position() which
will set current_position vector to the machine position.
We want to save this position when there is no position already saved
(i.e. when there is no partial back-up or a saved print in RAM)

When a power outage comes, the printer is in the middle of a gcode move.
And at the moment a gcode is executed by the planner, the planner will update
current_position vector to the final destination vector. This means current_position
vector is invalidated during a power outage and so we must check what the
actual machine position is instead and save it.

This was working correctly before, this commit only fixes the regression
in my pull request.

Change in memory:
Flash: -2 bytes
SRAM: 0 bytes
This commit is contained in:
Guðni Már Gilbert 2023-07-15 17:51:22 +00:00 committed by DRracer
parent 5ee7ba84e3
commit 005f9f0d24
1 changed files with 9 additions and 2 deletions
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11
Firmware/power_panic.cpp
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@ -73,14 +73,13 @@ void uvlo_() {
saved_extruder_temperature = target_temperature[active_extruder];
saved_extruder_relative_mode = axis_relative_modes & E_AXIS_MASK;
saved_fan_speed = fanSpeed;
memcpy(saved_pos, current_position, sizeof(saved_pos));
if (pos_invalid) saved_pos[X_AXIS] = X_COORD_INVALID;
}
// Stop all heaters before continuing
setTargetHotend(0);
setTargetBed(0);
// Fetch data not included in a partial back-up
if (!sd_print_saved_in_ram) {
// Calculate the file position, from which to resume this print.
save_print_file_state();
@ -100,6 +99,14 @@ void uvlo_() {
// are in action.
planner_abort_hard();
// When there is no position already saved, then we must grab whatever the current position is.
// This is most likely a position where the printer is in the middle of a G-code move
if (!sd_print_saved_in_ram && !isPartialBackupAvailable)
{
memcpy(saved_pos, current_position, sizeof(saved_pos));
if (pos_invalid) saved_pos[X_AXIS] = X_COORD_INVALID;
}
// Store the print logical Z position, which we need to recover (a slight error here would be
// recovered on the next Gcode instruction, while a physical location error would not)
float logical_z = saved_pos[Z_AXIS];