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Merge pull request #2437 from wavexx/accurate_pp_z_recovery 

Accurate PowerPanic E/Z recovery
This commit is contained in:
DRracer 2020-01-27 11:27:46 +01:00 committed by GitHub
parent 6b8c062507 50a9fe003a
commit 976a485565
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 216 additions and 201 deletions
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5
Firmware/Marlin.h
View File

@ -445,9 +445,8 @@ void setup_uvlo_interrupt();
void setup_fan_interrupt();
#endif
//extern void recover_machine_state_after_power_panic();
extern void recover_machine_state_after_power_panic(bool bTiny);
extern void restore_print_from_eeprom();
extern bool recover_machine_state_after_power_panic();
extern void restore_print_from_eeprom(bool mbl_was_active);
extern void position_menu();
extern void print_world_coordinates();

389
Firmware/Marlin_main.cpp
View File

@ -1327,29 +1327,12 @@ void setup()
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
setup_homepin();
#ifdef TMC2130
if (1) {
// try to run to zero phase before powering the Z motor.
// Move in negative direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
// Round the current micro-micro steps to micro steps.
for (uint16_t phase = (tmc2130_rd_MSCNT(Z_AXIS) + 8) >> 4; phase > 0; -- phase) {
// Until the phase counter is reset to zero.
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
_delay(2);
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
_delay(2);
}
}
#endif //TMC2130
#if defined(Z_AXIS_ALWAYS_ON) && !defined(PSU_Delta)
enable_z();
#if defined(Z_AXIS_ALWAYS_ON)
enable_z();
#endif
farm_mode = eeprom_read_byte((uint8_t*)EEPROM_FARM_MODE);
EEPROM_read_B(EEPROM_FARM_NUMBER, &farm_no);
if ((farm_mode == 0xFF && farm_no == 0) || (farm_no == static_cast<int>(0xFFFF))) farm_mode = false; //if farm_mode has not been stored to eeprom yet and farm number is set to zero or EEPROM is fresh, deactivate farm mode
@ -3855,6 +3838,17 @@ void process_commands()
} else if(code_seen("FR")) { // PRUSA FR
// Factory full reset
factory_reset(0);
} else if(code_seen("MBL")) { // PRUSA MBL
// Change the MBL status without changing the logical Z position.
if(code_seen("V")) {
bool value = code_value_short();
st_synchronize();
if(value != mbl.active) {
mbl.active = value;
// Use plan_set_z_position to reset the physical values
plan_set_z_position(current_position[Z_AXIS]);
}
}
//-//
/*
@ -10509,16 +10503,11 @@ void uvlo_()
tmc2130_set_current_r(E_AXIS, 20);
#endif //TMC2130
// Indicate that the interrupt has been triggered.
// SERIAL_ECHOLNPGM("UVLO");
// Read out the current Z motor microstep counter. This will be later used
// for reaching the zero full step before powering off.
uint16_t z_microsteps = 0;
#ifdef TMC2130
z_microsteps = tmc2130_rd_MSCNT(Z_TMC2130_CS);
#endif //TMC2130
// Stop all heaters
uint8_t saved_target_temperature_bed = target_temperature_bed;
uint8_t saved_target_temperature_ext = target_temperature[active_extruder];
setAllTargetHotends(0);
setTargetBed(0);
// Calculate the file position, from which to resume this print.
long sd_position = sdpos_atomic; //atomic sd position of last command added in queue
@ -10543,75 +10532,81 @@ void uvlo_()
feedrate_bckp = feedrate;
}
// From this point on and up to the print recovery, Z should not move during X/Y travels and
// should be controlled precisely. Reset the MBL status before planner_abort_hard in order to
// get the physical Z for further manipulation.
bool mbl_was_active = mbl.active;
mbl.active = false;
// 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();
// Store the current extruder position.
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), st_get_position_mm(E_AXIS));
// 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 = current_position[Z_AXIS];
if(mbl_was_active) logical_z -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
eeprom_update_float((float*)EEPROM_UVLO_CURRENT_POSITION_Z, logical_z);
// Store the print E position before we lose track
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E), current_position[E_AXIS]);
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, inhibit serial processing using saved_printing
cmdqueue_reset();
card.sdprinting = false;
// card.closefile();
// Enable stepper driver interrupt to move Z axis.
// This should be fine as the planner and command queues are empty and the SD card printing is disabled.
//FIXME one may want to disable serial lines at this point of time to avoid interfering with the command queue,
// though it should not happen that the command queue is touched as the plan_buffer_line always succeed without blocking.
sei();
plan_buffer_line(
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS] - default_retraction,
95, active_extruder);
st_synchronize();
disable_e0();
plan_buffer_line(
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS],
current_position[E_AXIS] - default_retraction,
40, active_extruder);
saved_printing = true;
// Enable stepper driver interrupt to move Z axis. This should be fine as the planner and
// command queues are empty, SD card printing is disabled, usb is inhibited.
sei();
// Retract
current_position[E_AXIS] -= default_retraction;
plan_buffer_line_curposXYZE(95, active_extruder);
st_synchronize();
disable_e0();
plan_buffer_line(
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS] + UVLO_Z_AXIS_SHIFT + float((1024 - z_microsteps + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS],
current_position[E_AXIS] - default_retraction,
40, active_extruder);
// Read out the current Z motor microstep counter to move the axis up towards
// a full step before powering off. NOTE: we need to ensure to schedule more
// than "dropsegments" steps in order to move (this is always the case here
// due to UVLO_Z_AXIS_SHIFT being used)
uint16_t z_res = tmc2130_get_res(Z_AXIS);
uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
current_position[Z_AXIS] += float(1024 - z_microsteps)
/ (z_res * cs.axis_steps_per_unit[Z_AXIS])
+ UVLO_Z_AXIS_SHIFT;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60, active_extruder);
st_synchronize();
disable_z();
disable_e0();
// Move Z up to the next 0th full step.
// Write the file position.
eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
// Store the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
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 1u resolution.
int16_t v = mbl.active ? int16_t(floor(mbl.z_values[iy][ix] * 1000.f + 0.5f)) : 0;
int16_t v = mbl_was_active ? int16_t(floor(mbl.z_values[iy][ix] * 1000.f + 0.5f)) : 0;
eeprom_update_word((uint16_t*)(EEPROM_UVLO_MESH_BED_LEVELING_FULL +2*mesh_point), *reinterpret_cast<uint16_t*>(&v));
}
// 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), z_microsteps);
// Store the current position.
// Write the _final_ Z position and motor microstep counter (unused).
eeprom_update_float((float*)EEPROM_UVLO_TINY_CURRENT_POSITION_Z, current_position[Z_AXIS]);
z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
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]);
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)
eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDRATE, feedrate_bckp);
EEPROM_save_B(EEPROM_UVLO_FEEDMULTIPLY, &feedmultiply);
eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, target_temperature_bed);
eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY, feedmultiply);
eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, saved_target_temperature_ext);
eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, saved_target_temperature_bed);
eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, fanSpeed);
eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
#if EXTRUDERS > 1
@ -10635,71 +10630,92 @@ void uvlo_()
// Finaly store the "power outage" flag.
if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
st_synchronize();
printf_P(_N("stps%d\n"), tmc2130_rd_MSCNT(Z_AXIS));
// Increment power failure counter
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);
printf_P(_N("UVLO - end %d\n"), _millis() - time_start);
#if 0
// Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
printf_P(_N("UVLO - end %d\n"), _millis() - time_start);
WRITE(BEEPER,HIGH);
// All is set: with all the juice left, try to move extruder away to detach the nozzle completely from the print
enable_z();
current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
plan_buffer_line_curposXYZE(500, active_extruder);
st_synchronize();
#endif
wdt_enable(WDTO_500MS);
WRITE(BEEPER,HIGH);
while(1)
;
wdt_enable(WDTO_1S);
while(1);
}
void uvlo_tiny()
{
uint16_t z_microsteps=0;
unsigned long time_start = _millis();
// Conserve power as soon as possible.
disable_x();
disable_y();
disable_e0();
// Conserve power as soon as possible.
disable_x();
disable_y();
disable_e0();
#ifdef TMC2130
tmc2130_set_current_h(Z_AXIS, 20);
tmc2130_set_current_r(Z_AXIS, 20);
tmc2130_set_current_h(Z_AXIS, 20);
tmc2130_set_current_r(Z_AXIS, 20);
#endif //TMC2130
// Read out the current Z motor microstep counter
#ifdef TMC2130
z_microsteps=tmc2130_rd_MSCNT(Z_TMC2130_CS);
#endif //TMC2130
planner_abort_hard();
// Stop all heaters
setAllTargetHotends(0);
setTargetBed(0);
//save current position only in case, where the printer is moving on Z axis, which is only when EEPROM_UVLO is 1
//EEPROM_UVLO is 1 after normal uvlo or after recover_print(), when the extruder is moving on Z axis after rehome
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_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS),z_microsteps);
}
// When power is interrupted on the _first_ recovery an attempt can be made to raise the
// extruder, causing the Z position to change. Similarly, when recovering, the Z position is
// lowered. In such cases we cannot just save Z, we need to re-align the steppers to a fullstep.
// Disable MBL (if not already) to work with physical coordinates.
mbl.active = false;
planner_abort_hard();
//after multiple power panics current Z axis is unknow
//in this case we set EEPROM_UVLO_TINY_CURRENT_POSITION_Z to last know position which is EEPROM_UVLO_CURRENT_POSITION_Z
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_word((uint16_t*)(EEPROM_UVLO_TINY_Z_MICROSTEPS), eeprom_read_word((uint16_t*)EEPROM_UVLO_Z_MICROSTEPS));
}
// Allow for small roundoffs to be ignored
if(abs(current_position[Z_AXIS] - eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z))) >= 1.f/cs.axis_steps_per_unit[Z_AXIS])
{
// Clean the input command queue, inhibit serial processing using saved_printing
cmdqueue_reset();
card.sdprinting = false;
saved_printing = true;
// Finaly store the "power outage" flag.
eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
// Enable stepper driver interrupt to move Z axis. This should be fine as the planner and
// command queues are empty, SD card printing is disabled, usb is inhibited.
sei();
// Increment power failure counter
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);
wdt_enable(WDTO_500MS);
WRITE(BEEPER,HIGH);
while(1)
;
// The axis was moved: adjust Z as done on a regular UVLO.
uint16_t z_res = tmc2130_get_res(Z_AXIS);
uint16_t z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
current_position[Z_AXIS] += float(1024 - z_microsteps)
/ (z_res * cs.axis_steps_per_unit[Z_AXIS])
+ UVLO_TINY_Z_AXIS_SHIFT;
plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60, active_extruder);
st_synchronize();
disable_z();
// Update Z position
eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
// Update the _final_ Z motor microstep counter (unused).
z_microsteps = tmc2130_rd_MSCNT(Z_AXIS);
eeprom_update_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS), z_microsteps);
}
// Update the the "power outage" flag.
eeprom_update_byte((uint8_t*)EEPROM_UVLO,2);
// Increment power failure counter
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);
printf_P(_N("UVLO_TINY - end %d\n"), _millis() - time_start);
// burn all that residual power
wdt_enable(WDTO_1S);
WRITE(BEEPER,HIGH);
while(1);
}
#endif //UVLO_SUPPORT
@ -10768,44 +10784,52 @@ void recover_print(uint8_t automatic) {
lcd_update(2);
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
// Lift the print head, so one may remove the excess priming material.
if(!bTiny&&(current_position[Z_AXIS]<25))
enquecommand_P(PSTR("G1 Z25 F800"));
// Recover position, temperatures and extrude_multipliers
bool mbl_was_active = recover_machine_state_after_power_panic();
// Home X and Y axes. Homing just X and Y shall not touch the babystep and the world2machine transformation status.
// Attempt to lift the print head on the first recovery, so one may remove the excess priming material.
bool raise_z = (eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1);
if(raise_z && (current_position[Z_AXIS]<25))
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. G28 will not touch Z when MBL is off.
enquecommand_P(PSTR("G28 X Y"));
// Set the target bed and nozzle temperatures and wait.
sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
sprintf_P(cmd, PSTR("M104 S%d"), target_temperature[active_extruder]);
enquecommand(cmd);
sprintf_P(cmd, PSTR("M190 S%d"), target_temperature_bed);
enquecommand(cmd);
sprintf_P(cmd, PSTR("M109 S%d"), target_temperature[active_extruder]);
enquecommand(cmd);
enquecommand_P(PSTR("M83")); //E axis relative mode
//enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
// If not automatically recoreverd (long power loss), extrude extra filament to stabilize
if(automatic == 0){
enquecommand_P(PSTR("G1 E5 F120")); //Extrude some filament to stabilize pessure
}
enquecommand_P(PSTR("G1 E" STRINGIFY(-default_retraction)" F480"));
// If not automatically recoreverd (long power loss)
if(automatic == 0){
//Extrude some filament to stabilize the pressure
enquecommand_P(PSTR("G1 E5 F120"));
// Retract to be consistent with a short pause
sprintf_P(cmd, PSTR("G1 E%-0.3f F2700"), default_retraction);
enquecommand(cmd);
}
printf_P(_N("After waiting for temp:\nCurrent pos X_AXIS:%.3f\nCurrent pos Y_AXIS:%.3f\n"), current_position[X_AXIS], current_position[Y_AXIS]);
// Restart the print.
restore_print_from_eeprom();
restore_print_from_eeprom(mbl_was_active);
printf_P(_N("Current pos Z_AXIS:%.3f\nCurrent pos E_AXIS:%.3f\n"), current_position[Z_AXIS], current_position[E_AXIS]);
}
void recover_machine_state_after_power_panic(bool bTiny)
bool recover_machine_state_after_power_panic()
{
char cmd[30];
// 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));
// 1) Preset some dummy values for the XY axes
current_position[X_AXIS] = 0;
current_position[Y_AXIS] = 0;
// 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;
// 2) Restore the mesh bed leveling offsets, but not the MBL status.
// This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
bool mbl_was_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;
@ -10813,32 +10837,16 @@ void recover_machine_state_after_power_panic(bool bTiny)
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_was_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 physical 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.
if(bTiny){
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))
+ 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z));
//after multiple power panics the print is slightly in the air so get it little bit down.
//Not exactly sure why is this happening, but it has something to do with bed leveling and world2machine coordinates
current_position[Z_AXIS] -= 0.4*mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
}
else{
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)) {
current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
sprintf_P(cmd, PSTR("G92 E"));
dtostrf(current_position[E_AXIS], 6, 3, cmd + strlen(cmd));
enquecommand(cmd);
}
// Recover last E axis position
current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
memcpy(destination, current_position, sizeof(destination));
@ -10854,17 +10862,13 @@ void recover_machine_state_after_power_panic(bool bTiny)
// 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.
// 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.
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();
// 6) Power up the Z motors, mark their positions as known.
axis_known_position[Z_AXIS] = true;
enable_z();
// 7) Recover the target temperatures.
target_temperature[active_extruder] = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND);
@ -10889,9 +10893,11 @@ void recover_machine_state_after_power_panic(bool bTiny)
#ifdef LIN_ADVANCE
extruder_advance_K = eeprom_read_float((float*)EEPROM_UVLO_LA_K);
#endif
return mbl_was_active;
}
void restore_print_from_eeprom() {
void restore_print_from_eeprom(bool mbl_was_active) {
int feedrate_rec;
int feedmultiply_rec;
uint8_t fan_speed_rec;
@ -10902,7 +10908,7 @@ void restore_print_from_eeprom() {
fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
feedrate_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDRATE);
EEPROM_read_B(EEPROM_UVLO_FEEDMULTIPLY, &feedmultiply_rec);
feedmultiply_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY);
SERIAL_ECHOPGM("Feedrate:");
MYSERIAL.print(feedrate_rec);
SERIAL_ECHOPGM(", feedmultiply:");
@ -10932,30 +10938,38 @@ void restore_print_from_eeprom() {
enquecommand(cmd);
uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
SERIAL_ECHOPGM("Position read from eeprom:");
MYSERIAL.println(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"));
MYSERIAL.println(position);
// 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);
//moving on Z axis ahead, set EEPROM_UVLO to 1, so normal uvlo can fire
eeprom_update_byte((uint8_t*)EEPROM_UVLO,1);
// 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))));
// Enable MBL and switch to logical positioning
if (mbl_was_active)
enquecommand_P(PSTR("PRUSA MBL V1"));
// Move the Z axis down to the print, in logical coordinates.
sprintf_P(cmd, PSTR("G1 Z%f"), eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)));
enquecommand(cmd);
// Unretract.
enquecommand_P(PSTR("G1 E" STRINGIFY(2*default_retraction)" F480"));
sprintf_P(cmd, PSTR("G1 E%0.3f F2700"), default_retraction);
enquecommand(cmd);
// Recover final E axis position and mode
float pos_e = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
sprintf_P(cmd, PSTR("G92 E"));
dtostrf(pos_e, 6, 3, cmd + strlen(cmd));
enquecommand(cmd);
if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
enquecommand_P(PSTR("M82")); //E axis abslute mode
// Set the feedrates saved at the power panic.
sprintf_P(cmd, PSTR("G1 F%d"), feedrate_rec);
enquecommand(cmd);
sprintf_P(cmd, PSTR("M220 S%d"), feedmultiply_rec);
enquecommand(cmd);
if (eeprom_read_byte((uint8_t*)EEPROM_UVLO_E_ABS))
{
enquecommand_P(PSTR("M82")); //E axis abslute mode
}
// Set the fan speed saved at the power panic.
strcpy_P(cmd, PSTR("M106 S"));
strcat(cmd, itostr3(int(fan_speed_rec)));
@ -11252,6 +11266,7 @@ void restore_print_from_ram_and_continue(float e_move)
// Cancel the state related to a currently saved print
void cancel_saved_printing()
{
eeprom_update_byte((uint8_t*)EEPROM_UVLO, 0);
saved_target[0] = SAVED_TARGET_UNSET;
saved_printing_type = PRINTING_TYPE_NONE;
saved_printing = false;

4
Firmware/eeprom.h
View File

@ -79,7 +79,7 @@ static_assert(sizeof(Sheets) == EEPROM_SHEETS_SIZEOF, "Sizeof(Sheets) is not EEP
#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)
#define EEPROM_UVLO_Z_MICROSTEPS (EEPROM_UVLO_MESH_BED_LEVELING - 2) // uint16_t (could be removed)
#define EEPROM_UVLO_E_ABS (EEPROM_UVLO_Z_MICROSTEPS - 1)
#define EEPROM_UVLO_CURRENT_POSITION_E (EEPROM_UVLO_E_ABS - 4) //float for current position in E
@ -167,7 +167,7 @@ static_assert(sizeof(Sheets) == EEPROM_SHEETS_SIZEOF, "Sizeof(Sheets) is not EEP
//
#define EEPROM_UVLO_TINY_CURRENT_POSITION_Z (EEPROM_EXTRUDEMULTIPLY-4) // float
#define EEPROM_UVLO_TINY_Z_MICROSTEPS (EEPROM_UVLO_TINY_CURRENT_POSITION_Z-2) // uint16
#define EEPROM_UVLO_TINY_Z_MICROSTEPS (EEPROM_UVLO_TINY_CURRENT_POSITION_Z-2) // uint16 (unused)
// Sound Mode
//#define EEPROM_SOUND_MODE (EEPROM_EXTRUDEMULTIPLY-1) // uint8

9
Firmware/planner.cpp
View File

@ -1345,14 +1345,7 @@ void plan_set_position(float x, float y, float z, const float &e)
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
#endif // ENABLE_AUTO_BED_LEVELING
// Apply the machine correction matrix.
if (world2machine_correction_mode != WORLD2MACHINE_CORRECTION_NONE)
{
float tmpx = x;
float tmpy = y;
x = world2machine_rotation_and_skew[0][0] * tmpx + world2machine_rotation_and_skew[0][1] * tmpy + world2machine_shift[0];
y = world2machine_rotation_and_skew[1][0] * tmpx + world2machine_rotation_and_skew[1][1] * tmpy + world2machine_shift[1];
}
world2machine(x, y);
position[X_AXIS] = lround(x*cs.axis_steps_per_unit[X_AXIS]);
position[Y_AXIS] = lround(y*cs.axis_steps_per_unit[Y_AXIS]);

4
Firmware/variants/1_75mm_MK3-EINSy10a-E3Dv6full.h
View File

@ -618,6 +618,10 @@
// The following example, 12 * (4 * 16 / 400) = 12 * 0.16mm = 1.92mm.
//#define UVLO_Z_AXIS_SHIFT 1.92
#define UVLO_Z_AXIS_SHIFT 0.64
// When powered off during PP recovery, the Z axis position can still be re-adjusted. In this case
// we just need to shift to the nearest fullstep, but we need a move which is at least
// "dropsegments" steps long. All the above rules still need to apply.
#define UVLO_TINY_Z_AXIS_SHIFT 0.16
// If power panic occured, and the current temperature is higher then target temperature before interrupt minus this offset, print will be recovered automatically.
#define AUTOMATIC_UVLO_BED_TEMP_OFFSET 5

6
Firmware/variants/1_75mm_MK3S-EINSy10a-E3Dv6full.h
View File

@ -620,7 +620,11 @@
// The following example, 12 * (4 * 16 / 400) = 12 * 0.16mm = 1.92mm.
//#define UVLO_Z_AXIS_SHIFT 1.92
#define UVLO_Z_AXIS_SHIFT 0.64
// If power panic occured, and the current temperature is higher then target temperature before interrupt minus this offset, print will be recovered automatically.
// When powered off during PP recovery, the Z axis position can still be re-adjusted. In this case
// we just need to shift to the nearest fullstep, but we need a move which is at least
// "dropsegments" steps long. All the above rules still need to apply.
#define UVLO_TINY_Z_AXIS_SHIFT 0.16
// If power panic occured, and the current temperature is higher then target temperature before interrupt minus this offset, print will be recovered automatically.
#define AUTOMATIC_UVLO_BED_TEMP_OFFSET 5
#define HEATBED_V2