Merge branch 'MK3' into remove-unnecessary-delay

Firmware/Dcodes.cpp

@@ -252,10 +252,10 @@ void dcode_1()
 
     /*!
     *
-    ### D2 - Read/Write RAM <a href="https://reprap.org/wiki/G-code#D2:_Read.2FWrite_RAM">D3: Read/Write RAM</a>
+    ### D2 - Read/Write RAM <a href="https://reprap.org/wiki/G-code#D2:_Read.2FWrite_RAM">D2: Read/Write RAM</a>
     This command can be used without any additional parameters. It will read the entire RAM.
       
-          D3 [ A | C | X ]
+          D2 [ A | C | X ]
       
       - `A` - Address (0x0000-0x1fff)
       - `C` - Count (0x0001-0x2000)
@@ -355,7 +355,7 @@ void dcode_4()
     ### D5 - Read/Write FLASH <a href="https://reprap.org/wiki/G-code#D5:_Read.2FWrite_FLASH">D5: Read/Write Flash</a>
     This command can be used without any additional parameters. It will read the 1kb FLASH.
       
-          D3 [ A | C | X | E ]
+          D5 [ A | C | X | E ]
       
       - `A` - Address (0x00000-0x3ffff)
       - `C` - Count (0x0001-0x2000)

Firmware/Marlin.h

@@ -146,40 +146,39 @@ void manage_inactivity(bool ignore_stepper_queue=false);
 #if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1 
 	#if defined(Z_AXIS_ALWAYS_ON)
 		  #ifdef Z_DUAL_STEPPER_DRIVERS
-			#define  enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
-			#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
+			#define  poweron_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
+			#define poweroff_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
 		  #else
-			#define  enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
-			#define  disable_z() {}
+			#define  poweron_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
+			#define poweroff_z() {}
 		  #endif
 	#else
 		#ifdef Z_DUAL_STEPPER_DRIVERS
-			#define  enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
-			#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
+			#define  poweron_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
+			#define poweroff_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
 		#else
-			#define  enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
-			#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
+			#define  poweron_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
+			#define poweroff_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
 		#endif
 	#endif
 #else
-  #define enable_z() {}
-  #define disable_z() {}
+    #define  poweron_z() {}
+    #define poweroff_z() {}
 #endif
 
-#ifdef PSU_Delta
+#ifndef PSU_Delta
+    #define  enable_z()  poweron_z()
+    #define disable_z() poweroff_z()
+#else
     void init_force_z();
     void check_force_z();
-    #undef disable_z
-    #define disable_z() disable_force_z()
-    void disable_force_z();
-    #undef enable_z
-    #define enable_z() enable_force_z()
     void enable_force_z();
+    void disable_force_z();
+    #define  enable_z()  enable_force_z()
+    #define disable_z() disable_force_z()
 #endif // PSU_Delta
 
 
-
-
 //#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
 //#ifdef Z_DUAL_STEPPER_DRIVERS
 //#define  enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }

Firmware/Marlin_main.cpp

@@ -1298,10 +1298,6 @@ void setup()
 
 	st_init();    // Initialize stepper, this enables interrupts!
   
-#ifdef UVLO_SUPPORT
-    setup_uvlo_interrupt();
-#endif //UVLO_SUPPORT
-
 #ifdef TMC2130
 	tmc2130_mode = silentMode?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
 	update_mode_profile();
@@ -1596,12 +1592,14 @@ void setup()
               lcd_update(2); 
               lcd_setstatuspgm(_T(WELCOME_MSG)); 
           } 
-           
       }
-
-	   
   }
+
+  // Only arm the uvlo interrupt _after_ a recovering print has been initialized and
+  // the entire state machine initialized.
+  setup_uvlo_interrupt();
 #endif //UVLO_SUPPORT
+
   fCheckModeInit();
   fSetMmuMode(mmu_enabled);
   KEEPALIVE_STATE(NOT_BUSY);
@@ -9490,7 +9488,8 @@ if(0)
 #ifdef PAT9125
 				fsensor_autoload_check_stop();
 #endif //PAT9125
-				fsensor_update();
+                if (fsensor_enabled && !saved_printing)
+                    fsensor_update();
 			}
 		}
 	}
@@ -9595,7 +9594,7 @@ void kill(const char *full_screen_message, unsigned char id)
   disable_x();
 //  SERIAL_ECHOLNPGM("kill - disable Y");
   disable_y();
-  disable_z();
+  poweroff_z();
   disable_e0();
   disable_e1();
   disable_e2();
@@ -10482,6 +10481,16 @@ void serialecho_temperatures() {
 }
 
 #ifdef UVLO_SUPPORT
+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_()
 {
@@ -10521,7 +10530,7 @@ void uvlo_()
 
     // save the global state at planning time
     uint16_t feedrate_bckp;
-    if (blocks_queued())
+    if (current_block)
     {
         memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
         feedrate_bckp = current_block->gcode_feedrate;
@@ -10579,7 +10588,7 @@ void uvlo_()
                                 + UVLO_Z_AXIS_SHIFT;
     plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60, active_extruder);
     st_synchronize();
-    disable_z();
+    poweroff_z();
 
     // Write the file position.
     eeprom_update_dword((uint32_t*)(EEPROM_FILE_POSITION), sd_position);
@@ -10638,7 +10647,7 @@ void uvlo_()
     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();
+    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, active_extruder);
     st_synchronize();
@@ -10693,7 +10702,7 @@ void uvlo_tiny()
                                     + UVLO_TINY_Z_AXIS_SHIFT;
         plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS]/60, active_extruder);
         st_synchronize();
-        disable_z();
+        poweroff_z();
 
         // Update Z position
         eeprom_update_float((float*)(EEPROM_UVLO_TINY_CURRENT_POSITION_Z), current_position[Z_AXIS]);
@@ -10711,11 +10720,7 @@ void uvlo_tiny()
     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);
+    uvlo_drain_reset();
 }
 #endif //UVLO_SUPPORT
 
@@ -10762,12 +10767,19 @@ void setup_uvlo_interrupt() {
 	DDRE &= ~(1 << 4); //input pin
 	PORTE &= ~(1 << 4); //no internal pull-up
 
-						//sensing falling edge
+    // sensing falling edge
 	EICRB |= (1 << 0);
 	EICRB &= ~(1 << 1);
 
-	//enable INT4 interrupt
+	// 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) {
@@ -10787,10 +10799,13 @@ void recover_print(uint8_t automatic) {
   // Recover position, temperatures and extrude_multipliers
   bool mbl_was_active = recover_machine_state_after_power_panic();
 
-  // 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"));
+  // 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)
+  {
+      sprintf_P(cmd, PSTR("G1 Z%.3f F800"), current_position[Z_AXIS] + 25);
+      enquecommand(cmd);
+  }
 
   // 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.
@@ -11118,7 +11133,7 @@ void stop_and_save_print_to_ram(float z_move, float e_move)
 #endif
 
   // save the global state at planning time
-  if (blocks_queued())
+  if (current_block)
   {
       memcpy(saved_target, current_block->gcode_target, sizeof(saved_target));
       saved_feedrate2 = current_block->gcode_feedrate;
@@ -11578,8 +11593,6 @@ if(!(bEnableForce_z||eeprom_read_byte((uint8_t*)EEPROM_SILENT)))
 
 void disable_force_z()
 {
-    uint16_t z_microsteps=0;
-
     if(!bEnableForce_z) return;   // motor already disabled (may be ;-p )
 
     bEnableForce_z=false;
@@ -11590,8 +11603,6 @@ void disable_force_z()
     update_mode_profile();
     tmc2130_init(true);
 #endif // TMC2130
-
-    axis_known_position[Z_AXIS]=false;
 }
 
 

Firmware/fsensor.cpp

@@ -121,14 +121,16 @@ unsigned long nIRsensorLastTime;
 void fsensor_stop_and_save_print(void)
 {
     printf_P(PSTR("fsensor_stop_and_save_print\n"));
-    stop_and_save_print_to_ram(0, 0); //XYZE - no change
+    stop_and_save_print_to_ram(0, 0);
+    fsensor_watch_runout = false;
 }
 
 void fsensor_restore_print_and_continue(void)
 {
     printf_P(PSTR("fsensor_restore_print_and_continue\n"));
+    fsensor_watch_runout = true;
 	fsensor_err_cnt = 0;
-    restore_print_from_ram_and_continue(0); //XYZ = orig, E - no change
+    restore_print_from_ram_and_continue(0);
 }
 
 // fsensor_checkpoint_print cuts the current print job at the current position,
@@ -376,7 +378,6 @@ void fsensor_oq_meassure_start(uint8_t skip)
 	fsensor_oq_sh_sum = 0;
 	pat9125_update();
 	pat9125_y = 0;
-	fsensor_watch_runout = false;
 	fsensor_oq_meassure = true;
 }
 
@@ -388,7 +389,6 @@ void fsensor_oq_meassure_stop(void)
 	printf_P(_N(" st_sum=%u yd_sum=%u er_sum=%u er_max=%hhu\n"), fsensor_oq_st_sum, fsensor_oq_yd_sum, fsensor_oq_er_sum, fsensor_oq_er_max);
 	printf_P(_N(" yd_min=%u yd_max=%u yd_avg=%u sh_avg=%u\n"), fsensor_oq_yd_min, fsensor_oq_yd_max, (uint16_t)((uint32_t)fsensor_oq_yd_sum * fsensor_chunk_len / fsensor_oq_st_sum), (uint16_t)(fsensor_oq_sh_sum / fsensor_oq_samples));
 	fsensor_oq_meassure = false;
-	fsensor_watch_runout = true;
 	fsensor_err_cnt = 0;
 }
 
@@ -561,29 +561,31 @@ void fsensor_enque_M600(){
 void fsensor_update(void)
 {
 #ifdef PAT9125
-		if (fsensor_enabled && fsensor_watch_runout && (fsensor_err_cnt > FSENSOR_ERR_MAX))
+		if (fsensor_watch_runout && (fsensor_err_cnt > FSENSOR_ERR_MAX))
 		{
+			fsensor_stop_and_save_print();
+            KEEPALIVE_STATE(IN_HANDLER);
+
 			bool autoload_enabled_tmp = fsensor_autoload_enabled;
 			fsensor_autoload_enabled = false;
 			bool oq_meassure_enabled_tmp = fsensor_oq_meassure_enabled;
 			fsensor_oq_meassure_enabled = true;
 
-			fsensor_stop_and_save_print();
+            // move the nozzle away while checking the filament
+            current_position[Z_AXIS] += 0.8;
+            if(current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
+            plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS], active_extruder);
+            st_synchronize();
 
+            // check the filament in isolation
 			fsensor_err_cnt = 0;
 			fsensor_oq_meassure_start(0);
-
-			enquecommand_front_P((PSTR("G1 E-3 F200")));
-			process_commands();
-			KEEPALIVE_STATE(IN_HANDLER);
-			cmdqueue_pop_front();
-			st_synchronize();
-
-			enquecommand_front_P((PSTR("G1 E3 F200")));
-			process_commands();
-			KEEPALIVE_STATE(IN_HANDLER);
-			cmdqueue_pop_front();
-			st_synchronize();
+            float e_tmp = current_position[E_AXIS];
+            current_position[E_AXIS] -= 3;
+            plan_buffer_line_curposXYZE(200/60, active_extruder);
+            current_position[E_AXIS] = e_tmp;
+            plan_buffer_line_curposXYZE(200/60, active_extruder);
+            st_synchronize();
 
 			uint8_t err_cnt = fsensor_err_cnt;
 			fsensor_oq_meassure_stop();
@@ -604,7 +606,7 @@ void fsensor_update(void)
 				fsensor_enque_M600();
 		}
 #else //PAT9125
-		if (CHECK_FSENSOR && fsensor_enabled && ir_sensor_detected)
+		if (CHECK_FSENSOR && ir_sensor_detected)
         {
                if(digitalRead(IR_SENSOR_PIN))
                {                                  // IR_SENSOR_PIN ~ H

Firmware/heatbed_pwm.cpp

@@ -45,6 +45,12 @@
 // If there are any change requirements in the future, the signal must be checked with an osciloscope again,
 // ad-hoc changes may completely screw things up!
 
+// 2020-01-29 update: we are introducing a new option to the automaton that will allow us to force the output state
+// to either full ON or OFF. This is so that interference during the MBL probing is minimal.
+// To accomplish this goal we use bedPWMDisabled. It is only supposed to be used for brief periods of time as to
+// not make the bed temperature too unstable. Also, careful consideration should be used when using this
+// option as leaving this enabled will also keep the bed output in the state it stopped in.
+
 ///! Definition off finite automaton states
 enum class States : uint8_t {
 	ZERO_START = 0,///< entry point of the automaton - reads the soft_pwm_bed value for the next whole PWM cycle
@@ -61,6 +67,8 @@ enum class States : uint8_t {
 ///! Inner states of the finite automaton
 static States state = States::ZERO_START;
 
+bool bedPWMDisabled = 0;
+
 ///! Fast PWM counter is used in the RISE and FALL states (62.5kHz)
 static uint8_t slowCounter = 0;
 ///! Slow PWM counter is used in the ZERO and ONE states (62.5kHz/8 or 64)
@@ -93,6 +101,7 @@ ISR(TIMER0_OVF_vect)          // timer compare interrupt service routine
 {
 	switch(state){
 	case States::ZERO_START:
+		if (bedPWMDisabled) return; // stay in the OFF state and do not change the output pin
 		pwm = soft_pwm_bed << 1;// expecting soft_pwm_bed to be 7bit!
 		if( pwm != 0 ){
 			state = States::ZERO;     // do nothing, let it tick once again after the 30Hz period
@@ -136,6 +145,7 @@ ISR(TIMER0_OVF_vect)          // timer compare interrupt service routine
 		break;
 	case States::ONE:             // state ONE - we'll either stay in ONE or change to FALL
 		OCR0B = 255;
+		if (bedPWMDisabled) return; // stay in the ON state and do not change the output pin
 		slowCounter += slowInc;   // this does software timer_clk/256 or less
 		if( slowCounter < pwm ){
 			return;

Firmware/mesh_bed_calibration.cpp

@@ -6,6 +6,7 @@
 #include "mesh_bed_leveling.h"
 #include "stepper.h"
 #include "ultralcd.h"
+#include "temperature.h"
 
 #ifdef TMC2130
 #include "tmc2130.h"
@@ -946,6 +947,7 @@ inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, i
         )
 {
 	bool high_deviation_occured = false; 
+    bedPWMDisabled = 1;
 #ifdef TMC2130
 	FORCE_HIGH_POWER_START;
 #endif
@@ -1044,6 +1046,7 @@ inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, i
 #ifdef TMC2130
 	FORCE_HIGH_POWER_END;
 #endif
+    bedPWMDisabled = 0;
 	return true;
 
 error:
@@ -1053,6 +1056,7 @@ error:
 #ifdef TMC2130
 	FORCE_HIGH_POWER_END;
 #endif
+    bedPWMDisabled = 0;
 	return false;
 }
 

Firmware/messages.c

@@ -171,3 +171,4 @@ const char MSG_M112_KILL[] PROGMEM_N1 = "M112 called. Emergency Stop."; ////c=20
 #ifdef LA_LIVE_K
 const char MSG_ADVANCE_K[] PROGMEM_N1 = "Advance K:"; ////c=13
 #endif
+const char MSG_POWERPANIC_DETECTED[] PROGMEM_N1 = "POWER PANIC DETECTED"; ////c=20

Firmware/messages.h

@@ -170,6 +170,7 @@ extern const char MSG_FANCHECK_EXTRUDER[];
 extern const char MSG_FANCHECK_PRINT[];
 extern const char MSG_M112_KILL[];
 extern const char MSG_ADVANCE_K[];
+extern const char MSG_POWERPANIC_DETECTED[];
 
 #if defined(__cplusplus)
 }

Firmware/temperature.cpp

@@ -1403,6 +1403,7 @@ void disable_heater()
     target_temperature_bed=0;
     soft_pwm_bed=0;
 	timer02_set_pwm0(soft_pwm_bed << 1);
+	bedPWMDisabled = 0;
     #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1
       //WRITE(HEATER_BED_PIN,LOW);
     #endif
@@ -2002,6 +2003,8 @@ void check_max_temp()
 //! number of repeating the same state with consecutive step() calls
 //! used to slow down text switching
 struct alert_automaton_mintemp {
+	const char *m2;
+	alert_automaton_mintemp(const char *m2):m2(m2){}
 private:
 	enum { ALERT_AUTOMATON_SPEED_DIV = 5 };
 	enum class States : uint8_t { Init = 0, TempAboveMintemp, ShowPleaseRestart, ShowMintemp };
@@ -2021,7 +2024,6 @@ public:
 	//! @param current_temp current hotend/bed temperature (for computing simple hysteresis)
 	//! @param mintemp minimal temperature including hysteresis to check current_temp against
 	void step(float current_temp, float mintemp){
-		static const char m2[] PROGMEM = "MINTEMP fixed";
 		static const char m1[] PROGMEM = "Please restart";
 		switch(state){
 		case States::Init: // initial state - check hysteresis
@@ -2049,8 +2051,9 @@ public:
 		}
 	}
 };
-
-static alert_automaton_mintemp alert_automaton_hotend, alert_automaton_bed;
+static const char m2hotend[] PROGMEM = "MINTEMP HEATER fixed";
+static const char m2bed[] PROGMEM = "MINTEMP BED fixed";
+static alert_automaton_mintemp alert_automaton_hotend(m2hotend), alert_automaton_bed(m2bed);
 
 void check_min_temp_heater0()
 {

Firmware/temperature.h

@@ -84,6 +84,8 @@ extern int current_voltage_raw_IR;
   extern unsigned char soft_pwm_bed;
 #endif
 
+extern bool bedPWMDisabled;
+
 #ifdef PIDTEMP
   extern int pid_cycle, pid_number_of_cycles;
   extern float Kc,_Kp,_Ki,_Kd;

Firmware/ultralcd.cpp

@@ -7541,6 +7541,12 @@ bool lcd_selftest()
 	int _progress = 0;
 	bool _result = true;
 	bool _swapped_fan = false;
+#if IR_SENSOR_ANALOG
+     bool bAction;
+     bAction=lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Is the filament unloaded?"),false,true);
+     if(!bAction)
+          return(false);
+#endif //IR_SENSOR_ANALOG
 	lcd_wait_for_cool_down();
 	lcd_clear();
 	lcd_set_cursor(0, 0); lcd_puts_P(_i("Self test start  "));////MSG_SELFTEST_START c=20
@@ -7552,12 +7558,6 @@ bool lcd_selftest()
      _delay(2000);
 #endif //!IR_SENSOR_ANALOG
 	KEEPALIVE_STATE(IN_HANDLER);
-#if IR_SENSOR_ANALOG
-     bool bAction;
-     bAction=lcd_show_fullscreen_message_yes_no_and_wait_P(_i("Is filament unloaded?"),false,true);
-     if(!bAction)
-          return(false);
-#endif //IR_SENSOR_ANALOG
 
 	_progress = lcd_selftest_screen(TestScreen::ExtruderFan, _progress, 3, true, 2000);
 #if (defined(FANCHECK) && defined(TACH_0))