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power panic improvement

This commit is contained in:
NotaRobotexe 2019-06-05 13:12:08 +02:00
parent e9c870e7a0
commit 2c4e98dc27
1 changed files with 41 additions and 35 deletions
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76
Firmware/Marlin_main.cpp
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@ -1296,12 +1296,12 @@ void setup()
#endif //TMC2130 #endif //TMC2130
#ifdef UVLO_SUPPORT
setup_uvlo_interrupt();
#endif //UVLO_SUPPORT
st_init(); // Initialize stepper, this enables interrupts! st_init(); // Initialize stepper, this enables interrupts!
#ifdef UVLO_SUPPORT
setup_uvlo_interrupt();
#endif //UVLO_SUPPORT
#ifdef TMC2130 #ifdef TMC2130
tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL; tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
update_mode_profile(); update_mode_profile();
@ -8690,6 +8690,7 @@ extern uint32_t sdpos_atomic;
void uvlo_() void uvlo_()
{ {
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));
unsigned long time_start = _millis(); unsigned long time_start = _millis();
bool sd_print = card.sdprinting; bool sd_print = card.sdprinting;
// Conserve power as soon as possible. // Conserve power as soon as possible.
@ -8735,7 +8736,6 @@ void uvlo_()
// Store the current extruder position. // Store the current extruder position.
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS)); eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1); eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, axis_relative_modes[3]?0:1);
// Clean the input command queue. // Clean the input command queue.
cmdqueue_reset(); cmdqueue_reset();
card.sdprinting = false; card.sdprinting = false;
@ -8762,7 +8762,8 @@ void uvlo_()
current_position[E_AXIS] - default_retraction, current_position[E_AXIS] - default_retraction,
40, active_extruder); 40, active_extruder);
st_synchronize(); st_synchronize();
disable_e0();
plan_buffer_line( plan_buffer_line(
current_position[X_AXIS], current_position[X_AXIS],
current_position[Y_AXIS], current_position[Y_AXIS],
@ -8791,7 +8792,7 @@ void uvlo_()
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0), current_position[X_AXIS]); 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]); eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), current_position[Y_AXIS]);
eeprom_update_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z , current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS]); eeprom_update_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z , current_position[Z_AXIS]);
// Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates) // Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp); EEPROM_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]); eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
@ -8850,19 +8851,19 @@ tmc2130_set_current_r(Z_AXIS, 20);
#ifdef TMC2130 #ifdef TMC2130
z_microsteps=tmc2130_rd_MSCNT(Z_TMC2130_CS); z_microsteps=tmc2130_rd_MSCNT(Z_TMC2130_CS);
#endif //TMC2130 #endif //TMC2130
planner_abort_hard(); planner_abort_hard();
disable_z(); disable_z();
// Finaly store the "power outage" flag. // Finaly store the "power outage" flag.
//if(sd_print) //if(sd_print)
if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)==1){ if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)!=2){
eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]); eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
eeprom_update_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS),z_microsteps); eeprom_update_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS),z_microsteps);
} }
if(eeprom_read_float((float*)EEPROM_UVLO_TINY_CURRENT_POSITION_Z) < 0.001f){ if(eeprom_read_float((float*)EEPROM_UVLO_TINY_CURRENT_POSITION_Z) < 0.001f){
eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), eeprom_read_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z)); eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), eeprom_read_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z));
eeprom_update_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS), eeprom_read_word((uint16_t*)EEPROM_UVLO_Z_MICROSTEPS));
} }
eeprom_update_byte((uint8_t*)EEPROM_UVLO,2); eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
@ -8870,7 +8871,6 @@ eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
// Increment power failure counter // Increment power failure counter
eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1); eeprom_update_byte((uint8_t*)EEPROM_POWER_COUNT, eeprom_read_byte((uint8_t*)EEPROM_POWER_COUNT) + 1);
eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1); eeprom_update_word((uint16_t*)EEPROM_POWER_COUNT_TOT, eeprom_read_word((uint16_t*)EEPROM_POWER_COUNT_TOT) + 1);
wdt_enable(WDTO_500MS); wdt_enable(WDTO_500MS);
WRITE(BEEPER,HIGH); WRITE(BEEPER,HIGH);
while(1) while(1)
@ -8932,7 +8932,7 @@ void setup_uvlo_interrupt() {
ISR(INT4_vect) { ISR(INT4_vect) {
EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
SERIAL_ECHOLNPGM("INT4"); SERIAL_ECHOLNPGM("INT4");
if((IS_SD_PRINTING || (eeprom_read_byte((uint8_t*)EEPROM_UVLO)!=2)) && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO)))) uvlo_(); if((IS_SD_PRINTING ) || (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO)))) uvlo_();
if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny(); if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
} }
@ -8941,11 +8941,13 @@ void recover_print(uint8_t automatic) {
lcd_update_enable(true); lcd_update_enable(true);
lcd_update(2); lcd_update(2);
lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20 r=1 lcd_setstatuspgm(_i("Recovering print "));////MSG_RECOVERING_PRINT c=20 r=1
bool bTiny=(eeprom_read_byte((uint8_t*)EEPROM_UVLO)==2);
recover_machine_state_after_power_panic(bTiny); //recover position, temperatures and extrude_multipliers bool bTiny=(eeprom_read_byte((uint8_t*)EEPROM_UVLO)==2);
recover_machine_state_after_power_panic(bTiny); //recover position, temperatures and extrude_multipliers
// Lift the print head, so one may remove the excess priming material. // Lift the print head, so one may remove the excess priming material.
if(!bTiny&&(current_position[Z_AXIS]<25)) if(!bTiny&&(current_position[Z_AXIS]<25))
enquecommand_P(PSTR("G1 Z25 F800")); enquecommand_P(PSTR("G1 Z25 F800"));
// Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status. // 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")); enquecommand_P(PSTR("G28 X Y"));
// Set the target bed and nozzle temperatures and wait. // Set the target bed and nozzle temperatures and wait.
@ -8975,16 +8977,32 @@ void recover_machine_state_after_power_panic(bool bTiny)
// The logical XY coordinates are needed to recover the machine Z coordinate corrected by the mesh bed leveling. // 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[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0));
current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4)); current_position[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4));
// 2) Restore the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
mbl.active = false;
for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
// Scale the z value to 10u resolution.
int16_t v;
eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2);
if (v != 0)
mbl.active = true;
mbl.z_values[iy][ix] = float(v) * 0.001f;
}
// Recover the logical coordinate of the Z axis at the time of the power panic. // 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. // The current position after power panic is moved to the next closest 0th full step.
if(bTiny){ if(bTiny){
current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z)); current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z))
+ float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS))
float tinyDelta = 1.25*(mbl.get_z(0, 0) - mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS])); + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
current_position[Z_AXIS] += tinyDelta; // compensate z-level current_position[Z_AXIS] -= 0.4*mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
} }
else{ else{
current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)); 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))
+ 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
} }
if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) { if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS)) {
current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E)); current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
@ -8998,20 +9016,8 @@ void recover_machine_state_after_power_panic(bool bTiny)
SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial "); SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
print_world_coordinates(); print_world_coordinates();
// 2) Initialize the logical to physical coordinate system transformation. // 3) Initialize the logical to physical coordinate system transformation.
world2machine_initialize(); world2machine_initialize();
// 3) Restore the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
mbl.active = false;
for (int8_t mesh_point = 0; mesh_point < MESH_NUM_X_POINTS * MESH_NUM_Y_POINTS; ++ mesh_point) {
uint8_t ix = mesh_point % MESH_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
uint8_t iy = mesh_point / MESH_NUM_X_POINTS;
// Scale the z value to 10u resolution.
int16_t v;
eeprom_read_block(&v, (void*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL+2*mesh_point), 2);
if (v != 0)
mbl.active = true;
mbl.z_values[iy][ix] = float(v) * 0.001f;
}
// SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial "); // SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
// print_mesh_bed_leveling_table(); // print_mesh_bed_leveling_table();
@ -9092,8 +9098,8 @@ void restore_print_from_eeprom() {
strcat_P(cmd, PSTR(" F2000")); strcat_P(cmd, PSTR(" F2000"));
enquecommand(cmd); enquecommand(cmd);
// Move the Z axis down to the print, in logical coordinates. // 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)) eeprom_update_byte((uint8_t*)EEPROM_UVLO,1);
- (UVLO_Z_AXIS_SHIFT + float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS]))); strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
enquecommand(cmd); enquecommand(cmd);
// Unretract. // Unretract.
enquecommand_P(PSTR("G1 E" STRINGIFY(2*default_retraction)" F480")); enquecommand_P(PSTR("G1 E" STRINGIFY(2*default_retraction)" F480"));