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Prusa-Firmware/Firmware/power_panic.cpp

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#include "Configuration.h"
#include "config.h"
#ifdef UVLO_SUPPORT
#include <avr/wdt.h>
#include <Arduino.h> // For HIGH and LOW macros
#include "backlight.h"
#include "cardreader.h"
#include "cmdqueue.h"
#include "eeprom.h"
#include "fastio.h"
#include "lcd.h"
#include "mesh_bed_leveling.h"
#include "mesh_bed_calibration.h"
#include "messages.h"
#include "planner.h"
#include "power_panic.h"
#include "stepper.h"
#include "system_timer.h"
#include "tmc2130.h"
#include "temperature.h"
#include "ultralcd.h"
static bool recover_machine_state_after_power_panic();
static void restore_print_from_eeprom(bool mbl_was_active);
static void uvlo_drain_reset() {
// burn all that residual power
wdt_enable(WDTO_1S);
WRITE(BEEPER,HIGH);
lcd_clear();
lcd_puts_at_P(0, 1, MSG_POWERPANIC_DETECTED);
while(1);
}
void uvlo_() {
unsigned long time_start = _millis();
// True if a print is already saved to RAM
bool sd_print_saved_in_ram = saved_printing && (saved_printing_type == PRINTING_TYPE_SD);
// Flag to decide whether or not to set EEPROM_UVLO bit
bool sd_print = card.sdprinting || sd_print_saved_in_ram;
const bool pos_invalid = mesh_bed_leveling_flag || homing_flag;
// Conserve as much power as soon as possible
// Turn off the LCD backlight
#ifdef LCD_BL_PIN
backlightMode = BACKLIGHT_MODE_DIM;
backlightLevel_LOW = 0;
backlight_update();
#endif //LCD_BL_PIN
// Disable X and Y motors to conserve power
disable_x();
disable_y();
// Minimise Z and E motor currents (Hold and Run)
#ifdef TMC2130
tmc2130_set_current_h(Z_AXIS, 20);
tmc2130_set_current_r(Z_AXIS, 20);
tmc2130_set_current_h(E_AXIS, 20);
tmc2130_set_current_r(E_AXIS, 20);
#endif //TMC2130
if (!sd_print_saved_in_ram)
{
saved_bed_temperature = target_temperature_bed;
saved_extruder_temperature = target_temperature[active_extruder];
saved_extruder_relative_mode = axis_relative_modes & E_AXIS_MASK;
saved_fan_speed = fanSpeed;
}
// Stop all heaters before continuing
setTargetHotend(0);
setTargetBed(0);
if (!sd_print_saved_in_ram) {
// Calculate the file position, from which to resume this print.
save_print_file_state();
// save the global state at planning time
save_planner_global_state();
memcpy(saved_pos, current_position, sizeof(saved_pos));
if (pos_invalid) saved_pos[X_AXIS] = X_COORD_INVALID;
}
// 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 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];
if(mbl_was_active) logical_z = current_position[Z_AXIS] - 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), saved_pos[E_AXIS]);
eeprom_update_byte((uint8_t*)EEPROM_UVLO_E_ABS, !saved_extruder_relative_mode);
// Clean the input command queue, inhibit serial processing using saved_printing
cmdqueue_reset();
card.sdprinting = false;
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.
planner_aborted = false;
sei();
// Retract
current_position[E_AXIS] -= default_retraction;
plan_buffer_line_curposXYZE(95);
st_synchronize();
disable_e0();
// 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);
st_synchronize();
poweroff_z();
// Write the file position.
eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), saved_sdpos);
// Store the mesh bed leveling offsets. This is 2*7*7=98 bytes, which takes 98*3.4us=333us in worst case.
for (uint8_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_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));
}
// 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), saved_pos[X_AXIS]);
eeprom_update_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4), saved_pos[Y_AXIS]);
// Store the current feed rate, temperatures, fan speed and extruder multipliers (flow rates)
eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDRATE, saved_feedrate2);
eeprom_update_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY, feedmultiply);
eeprom_update_word((uint16_t*)EEPROM_UVLO_TARGET_HOTEND, saved_extruder_temperature);
eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_BED, saved_bed_temperature);
eeprom_update_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED, saved_fan_speed);
eeprom_update_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0), extruder_multiplier[0]);
eeprom_update_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY), (uint16_t)extrudemultiply);
eeprom_update_float((float*)(EEPROM_UVLO_ACCELL), cs.acceleration);
eeprom_update_float((float*)(EEPROM_UVLO_RETRACT_ACCELL), cs.retract_acceleration);
eeprom_update_float((float*)(EEPROM_UVLO_TRAVEL_ACCELL), cs.travel_acceleration);
// Store the saved target
eeprom_update_block(saved_start_position, (float *)EEPROM_UVLO_SAVED_START_POSITION, sizeof(saved_start_position));
eeprom_update_word((uint16_t*)EEPROM_UVLO_SAVED_SEGMENT_IDX, saved_segment_idx);
#ifdef LIN_ADVANCE
eeprom_update_float((float*)(EEPROM_UVLO_LA_K), extruder_advance_K);
#endif
// Finally store the "power outage" flag.
// Note: Recovering a print from EEPROM currently assumes the user
// is printing from an SD card, this is why this EEPROM byte is only set
// when SD card print is detected
if(sd_print) eeprom_update_byte((uint8_t*)EEPROM_UVLO, 1);
// Increment power failure counter
eeprom_increment_byte((uint8_t*)EEPROM_POWER_COUNT);
eeprom_increment_word((uint16_t*)EEPROM_POWER_COUNT_TOT);
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
poweron_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);
st_synchronize();
wdt_enable(WDTO_1S);
while(1);
}
static void uvlo_tiny() {
unsigned long time_start = _millis();
// 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);
#endif //TMC2130
// Stop all heaters
setTargetHotend(0);
setTargetBed(0);
// 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();
// Allow for small roundoffs to be ignored
if(fabs(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;
// 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.
planner_aborted = false;
sei();
// 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);
st_synchronize();
poweroff_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);
uvlo_drain_reset();
}
void setup_uvlo_interrupt() {
DDRE &= ~(1 << 4); //input pin
PORTE &= ~(1 << 4); //no internal pull-up
// sensing falling edge
EICRB |= (1 << 0);
EICRB &= ~(1 << 1);
// enable INT4 interrupt
EIMSK |= (1 << 4);
// check if power was lost before we armed the interrupt
if(!(PINE & (1 << 4)) && eeprom_read_byte((uint8_t*)EEPROM_UVLO))
{
SERIAL_ECHOLNPGM("INT4");
uvlo_drain_reset();
}
}
ISR(INT4_vect) {
EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once
SERIAL_ECHOLNPGM("INT4");
//fire normal uvlo only in case where EEPROM_UVLO is 0 or if IS_SD_PRINTING is 1.
if(printer_active() && (!(eeprom_read_byte((uint8_t*)EEPROM_UVLO)))) uvlo_();
if(eeprom_read_byte((uint8_t*)EEPROM_UVLO)) uvlo_tiny();
}
void recover_print(uint8_t automatic) {
lcd_update_enable(true);
lcd_update(2);
lcd_setstatuspgm(_i("Recovering print"));////MSG_RECOVERING_PRINT c=20
// Recover position, temperatures and extrude_multipliers
bool mbl_was_active = recover_machine_state_after_power_panic();
// Lift the print head 25mm, first to avoid collisions with oozed material with the print,
// and second also so one may remove the excess priming material.
if(eeprom_read_byte((uint8_t*)EEPROM_UVLO) == 1)
{
enquecommandf_P(PSTR("G1 Z%.3f F800"), current_position[Z_AXIS] + 25);
}
// 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.
enquecommandf_P(PSTR("M104 S%d"), target_temperature[active_extruder]);
enquecommandf_P(PSTR("M140 S%d"), target_temperature_bed);
enquecommandf_P(PSTR("M109 S%d"), target_temperature[active_extruder]);
enquecommand_P(MSG_M83); //E axis relative mode
// 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
enquecommandf_P(G1_E_F2700, default_retraction);
}
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(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]);
}
bool recover_machine_state_after_power_panic() {
// 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, 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;
// 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_was_active = true;
mbl.z_values[iy][ix] = float(v) * 0.001f;
}
// 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.
current_position[Z_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z));
// Recover last E axis position
current_position[E_AXIS] = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
// 3) Initialize the logical to physical coordinate system transformation.
world2machine_initialize();
// 4) Load the baby stepping value, which is expected to be active at the time of power panic.
// 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
// This is only done to inizialize Z/E axes with physical locations, since X/Y are unknown.
clamp_to_software_endstops(current_position);
set_destination_to_current();
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;
enable_z();
// 7) Recover the target temperatures.
target_temperature[active_extruder] = eeprom_read_word((uint16_t*)EEPROM_UVLO_TARGET_HOTEND);
target_temperature_bed = eeprom_read_byte((uint8_t*)EEPROM_UVLO_TARGET_BED);
// 8) Recover extruder multipilers
extruder_multiplier[0] = eeprom_read_float((float*)(EEPROM_EXTRUDER_MULTIPLIER_0));
extrudemultiply = (int)eeprom_read_word((uint16_t*)(EEPROM_EXTRUDEMULTIPLY));
// 9) Recover the saved target
eeprom_read_block(saved_start_position, (float *)EEPROM_UVLO_SAVED_START_POSITION, sizeof(saved_start_position));
saved_segment_idx = eeprom_read_word((uint16_t*)EEPROM_UVLO_SAVED_SEGMENT_IDX);
#ifdef LIN_ADVANCE
extruder_advance_K = eeprom_read_float((float*)EEPROM_UVLO_LA_K);
#endif
return mbl_was_active;
}
void restore_print_from_eeprom(bool mbl_was_active) {
int feedrate_rec;
int feedmultiply_rec;
uint8_t fan_speed_rec;
char filename[FILENAME_LENGTH];
uint8_t depth = 0;
char dir_name[9];
fan_speed_rec = eeprom_read_byte((uint8_t*)EEPROM_UVLO_FAN_SPEED);
feedrate_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDRATE);
feedmultiply_rec = eeprom_read_word((uint16_t*)EEPROM_UVLO_FEEDMULTIPLY);
SERIAL_ECHOPGM("Feedrate:");
MYSERIAL.print(feedrate_rec);
SERIAL_ECHOPGM(", feedmultiply:");
MYSERIAL.println(feedmultiply_rec);
depth = eeprom_read_byte((uint8_t*)EEPROM_DIR_DEPTH);
MYSERIAL.println(int(depth));
for (uint8_t i = 0; i < depth; i++) {
for (uint8_t j = 0; j < 8; j++) {
dir_name[j] = eeprom_read_byte((uint8_t*)EEPROM_DIRS + j + 8 * i);
}
dir_name[8] = '\0';
MYSERIAL.println(dir_name);
card.chdir(dir_name, false);
}
for (uint8_t i = 0; i < 8; i++) {
filename[i] = eeprom_read_byte((uint8_t*)EEPROM_FILENAME + i);
}
filename[8] = '\0';
MYSERIAL.print(filename);
strcat_P(filename, PSTR(".gco"));
enquecommandf_P(MSG_M23, filename);
uint32_t position = eeprom_read_dword((uint32_t*)(EEPROM_FILE_POSITION));
SERIAL_ECHOPGM("Position read from eeprom:");
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.
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) {
enquecommandf_P(PSTR("G1 X%-.3f Y%-.3f F3000"), pos_x, pos_y);
}
// 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.
enquecommandf_P(PSTR("G1 Z%-.3f"), eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z)));
// Restore acceleration settings
float acceleration = eeprom_read_float((float*)(EEPROM_UVLO_ACCELL));
float retract_acceleration = eeprom_read_float((float*)(EEPROM_UVLO_RETRACT_ACCELL));
float travel_acceleration = eeprom_read_float((float*)(EEPROM_UVLO_TRAVEL_ACCELL));
// accelerations are usually ordinary numbers, no need to keep extensive amount of decimal places
enquecommandf_P(PSTR("M204 P%-.1f R%-.1f T%-.1f"), acceleration, retract_acceleration, travel_acceleration);
// Unretract.
enquecommandf_P(G1_E_F2700, default_retraction);
// Recover final E axis position and mode
float pos_e = eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_E));
enquecommandf_P(PSTR("G92 E%-.3f"), pos_e);
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.
enquecommandf_P(PSTR("G1 F%d"), feedrate_rec);
enquecommandf_P(MSG_M220, feedmultiply_rec);
// Set the fan speed saved at the power panic.
enquecommandf_P(PSTR("M106 S%u"), fan_speed_rec);
// Set a position in the file.
enquecommandf_P(PSTR("M26 S%lu"), position);
enquecommand_P(PSTR("G4 S0"));
enquecommand_P(PSTR("PRUSA uvlo"));
}
#endif //UVLO_SUPPORT
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