From 4268c2fdae35c97d732fa4318a60c342e5547065 Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Tue, 15 Oct 2019 21:23:50 +0200 Subject: [PATCH] Fix recovery from relative/chunked moves When starting to replay existing USB/SD commands from a recovery state, an immediate relative move needs to compensate for a previously interrupted move. This is almost the norm for the E axis. Instead of saving the relative status of the move (which needs to account for the world2machine conversion and is not always available on a chunked move split by MBL) save directly the calculated target position for the move in the original plan, which is easy to replay. --- Firmware/Marlin_main.cpp | 61 ++++++++++++++++++++++++++++++++++------ Firmware/eeprom.h | 3 +- Firmware/planner.cpp | 31 +++++++++++++------- Firmware/planner.h | 5 ++-- 4 files changed, 78 insertions(+), 22 deletions(-) diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp index 3d1945efd..4877f7a8b 100755 --- a/Firmware/Marlin_main.cpp +++ b/Firmware/Marlin_main.cpp @@ -309,6 +309,8 @@ bool no_response = false; uint8_t important_status; uint8_t saved_filament_type; +#define SAVED_TARGET_UNSET (X_MIN_POS-1) +float saved_target[NUM_AXIS] = {SAVED_TARGET_UNSET, 0, 0, 0}; // save/restore printing in case that mmu was not responding bool mmu_print_saved = false; @@ -4043,8 +4045,19 @@ if(eSoundMode!=e_SOUND_MODE_SILENT) #endif + get_coordinates(); // For X Y Z E F + + // When recovering from a previous print move, restore the originally + // calculated target position on the first USB/SD command. This accounts + // properly for relative moves + if ((saved_target[0] != SAVED_TARGET_UNSET) && + ((CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_SDCARD) || + (CMDBUFFER_CURRENT_TYPE == CMDBUFFER_CURRENT_TYPE_USB_WITH_LINENR))) + { + memcpy(destination, saved_target, sizeof(destination)); + saved_target[0] = SAVED_TARGET_UNSET; + } - get_coordinates(); // For X Y Z E F if (total_filament_used > ((current_position[E_AXIS] - destination[E_AXIS]) * 100)) { //protection against total_filament_used overflow total_filament_used = total_filament_used + ((destination[E_AXIS] - current_position[E_AXIS]) * 100); } @@ -8339,30 +8352,37 @@ void clamp_to_software_endstops(float target[3]) } #ifdef MESH_BED_LEVELING - void mesh_plan_buffer_line(const float &x, const float &y, const float &z, const float &e, const float &feed_rate, const uint8_t extruder) { +void mesh_plan_buffer_line(const float &x, const float &y, const float &z, const float &e, const float &feed_rate, const uint8_t extruder) { float dx = x - current_position[X_AXIS]; float dy = y - current_position[Y_AXIS]; - float dz = z - current_position[Z_AXIS]; int n_segments = 0; - + if (mbl.active) { float len = abs(dx) + abs(dy); if (len > 0) // Split to 3cm segments or shorter. n_segments = int(ceil(len / 30.f)); } - + if (n_segments > 1) { + // In a multi-segment move explicitly set the final target in the plan + // as the move will be recalculated in it's entirety + float gcode_target[NUM_AXIS]; + gcode_target[X_AXIS] = x; + gcode_target[Y_AXIS] = y; + gcode_target[Z_AXIS] = z; + gcode_target[E_AXIS] = e; + + float dz = z - current_position[Z_AXIS]; float de = e - current_position[E_AXIS]; + for (int i = 1; i < n_segments; ++ i) { float t = float(i) / float(n_segments); - if (saved_printing || (mbl.active == false)) return; - plan_buffer_line( - current_position[X_AXIS] + t * dx, + plan_buffer_line(current_position[X_AXIS] + t * dx, current_position[Y_AXIS] + t * dy, current_position[Z_AXIS] + t * dz, current_position[E_AXIS] + t * de, - feed_rate, extruder); + feed_rate, extruder, gcode_target); if (waiting_inside_plan_buffer_line_print_aborted) return; } @@ -9602,6 +9622,12 @@ void uvlo_() // Backup the feedrate in mm/min. int feedrate_bckp = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate; + // save the original target position of the current move + if (blocks_queued()) + memcpy(saved_target, current_block->gcode_target, sizeof(saved_target)); + else + saved_target[0] = SAVED_TARGET_UNSET; + // 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. @@ -9679,6 +9705,11 @@ void uvlo_() #endif #endif eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply); + // Store the saved target + eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4), saved_target[X_AXIS]); + eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4), saved_target[Y_AXIS]); + eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4), saved_target[Z_AXIS]); + eeprom_update_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4), saved_target[E_AXIS]); // Finaly store the "power outage" flag. if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1); @@ -9927,6 +9958,12 @@ void recover_machine_state_after_power_panic(bool bTiny) #endif #endif extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY)); + + // 9) Recover the saved target + saved_target[X_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+0*4)); + saved_target[Y_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+1*4)); + saved_target[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+2*4)); + saved_target[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_SAVED_TARGET+3*4)); } void restore_print_from_eeprom() { @@ -10143,6 +10180,12 @@ void stop_and_save_print_to_ram(float z_move, float e_move) saved_feedrate2 = blocks_queued() ? (block_buffer[block_buffer_tail].nominal_speed * 60.f) : feedrate; #endif + // save the original target position of the current move + if (blocks_queued()) + memcpy(saved_target, current_block->gcode_target, sizeof(saved_target)); + else + saved_target[0] = SAVED_TARGET_UNSET; + planner_abort_hard(); //abort printing memcpy(saved_pos, current_position, sizeof(saved_pos)); saved_active_extruder = active_extruder; //save active_extruder diff --git a/Firmware/eeprom.h b/Firmware/eeprom.h index 0949e4110..82852220f 100644 --- a/Firmware/eeprom.h +++ b/Firmware/eeprom.h @@ -204,9 +204,10 @@ static Sheets * const EEPROM_Sheets_base = (Sheets*)(EEPROM_SHEETS_BASE); #define EEPROM_FSENSOR_PCB (EEPROM_SHEETS_BASE-1) // uint8 #define EEPROM_FSENSOR_ACTION_NA (EEPROM_FSENSOR_PCB-1) // uint8 +#define EEPROM_UVLO_SAVED_TARGET (EEPROM_FSENSOR_ACTION_NA - 4*4) // 4 x float for saved target for all axes //This is supposed to point to last item to allow EEPROM overrun check. Please update when adding new items. -#define EEPROM_LAST_ITEM EEPROM_SHEETS_BASE +#define EEPROM_LAST_ITEM EEPROM_UVLO_SAVED_TARGET // !!!!! // !!!!! this is end of EEPROM section ... all updates MUST BE inserted before this mark !!!!! // !!!!! diff --git a/Firmware/planner.cpp b/Firmware/planner.cpp index 63058d2cf..c1285aed6 100644 --- a/Firmware/planner.cpp +++ b/Firmware/planner.cpp @@ -659,7 +659,7 @@ float junction_deviation = 0.1; // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration // calculation the caller must also provide the physical length of the line in millimeters. -void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder) +void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder, const float* gcode_target) { // Calculate the buffer head after we push this byte int next_buffer_head = next_block_index(block_buffer_head); @@ -687,6 +687,26 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate planner_update_queue_min_counter(); #endif /* PLANNER_DIAGNOSTICS */ + // Prepare to set up new block + block_t *block = &block_buffer[block_buffer_head]; + + // Set sdlen for calculating sd position + block->sdlen = 0; + + // Mark block as not busy (Not executed by the stepper interrupt, could be still tinkered with.) + block->busy = false; + + // Save original destination of the move + if (gcode_target) + memcpy(block->gcode_target, gcode_target, sizeof(block_t::gcode_target)); + else + { + block->gcode_target[X_AXIS] = x; + block->gcode_target[Y_AXIS] = y; + block->gcode_target[Z_AXIS] = z; + block->gcode_target[E_AXIS] = e; + } + #ifdef ENABLE_AUTO_BED_LEVELING apply_rotation_xyz(plan_bed_level_matrix, x, y, z); #endif // ENABLE_AUTO_BED_LEVELING @@ -786,15 +806,6 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate } #endif - // Prepare to set up new block - block_t *block = &block_buffer[block_buffer_head]; - - // Set sdlen for calculating sd position - block->sdlen = 0; - - // Mark block as not busy (Not executed by the stepper interrupt, could be still tinkered with.) - block->busy = false; - // Number of steps for each axis #ifndef COREXY // default non-h-bot planning diff --git a/Firmware/planner.h b/Firmware/planner.h index 4977265bf..d4c6bc2b4 100644 --- a/Firmware/planner.h +++ b/Firmware/planner.h @@ -116,7 +116,8 @@ typedef struct { unsigned long abs_adv_steps_multiplier8; // Factorised by 2^8 to avoid float #endif - uint16_t sdlen; + float gcode_target[NUM_AXIS]; // Target (abs mm) of the original Gcode instruction + uint16_t sdlen; // Length of the Gcode instruction } block_t; #ifdef LIN_ADVANCE @@ -147,7 +148,7 @@ vector_3 plan_get_position(); /// The performance penalty is negligible, since these planned lines are usually maintenance moves with the extruder. void plan_buffer_line_curposXYZE(float feed_rate, uint8_t extruder); -void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder); +void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder, const float* gcode_target = NULL); //void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder); #endif // ENABLE_AUTO_BED_LEVELING