Merge pull request #1894 from NotaRobotexe/power_panic

Power panic Z axis fix

Firmware/Marlin_main.cpp

@@ -1009,10 +1009,6 @@ static void w25x20cl_err_msg()
 void setup()
 {
 	mmu_init();
-	
-  #ifdef UVLO_SUPPORT
-    setup_uvlo_interrupt();
-  #endif //UVLO_SUPPORT
 
 	ultralcd_init();
 
@@ -1304,6 +1300,10 @@ 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();
@@ -3134,7 +3134,6 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
     custom_message_type = CUSTOM_MSG_TYPE_STATUS;
 }
 
-
 //! @brief Rise Z if too low to avoid blob/jam before filament loading
 //!
 //! It doesn't plan_buffer_line(), as it expects plan_buffer_line() to be called after
@@ -8701,8 +8700,9 @@ void serialecho_temperatures() {
 extern uint32_t sdpos_atomic;
 #ifdef UVLO_SUPPORT
 
-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();
 	bool sd_print = card.sdprinting;
     // Conserve power as soon as possible.
@@ -8748,12 +8748,10 @@ void uvlo_()
 	// Store the current extruder position.
 	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);
-
     // Clean the input command queue.
     cmdqueue_reset();
     card.sdprinting = false;
-//    card.closefile();
-
+//    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,
@@ -8776,6 +8774,16 @@ void uvlo_()
       current_position[E_AXIS] - default_retraction,
       40, 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);
+    st_synchronize();
+
     disable_e0();
     disable_z();
     // Move Z up to the next 0th full step.
@@ -8793,9 +8801,10 @@ void uvlo_()
     // for reaching the zero full step before powering off.
     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]);
+    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_save_B(EEPROM_UVLO_FEEDRATE, &feedrate_bckp);
     eeprom_update_byte((uint8_t*)EEPROM_UVLO_TARGET_HOTEND, target_temperature[active_extruder]);
@@ -8829,7 +8838,6 @@ void uvlo_()
     plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
     st_synchronize();
 #endif
-    
 wdt_enable(WDTO_500MS);
 WRITE(BEEPER,HIGH);
 while(1)
@@ -8855,22 +8863,26 @@ tmc2130_set_current_r(Z_AXIS, 20);
 #ifdef TMC2130
 z_microsteps=tmc2130_rd_MSCNT(Z_TMC2130_CS);
 #endif //TMC2130
-
 planner_abort_hard();
 disable_z();
 
 // Finaly store the "power outage" flag.
 //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_word((uint16_t*)(EEPROM_UVLO_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){
+  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);
 
 // 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)
@@ -8932,7 +8944,7 @@ void setup_uvlo_interrupt() {
 ISR(INT4_vect) {
 	EIMSK &= ~(1 << 4); //disable INT4 interrupt to make sure that this code will be executed just once 
 	SERIAL_ECHOLNPGM("INT4");
-     if(IS_SD_PRINTING && (!(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();
 }
 
@@ -8941,11 +8953,13 @@ void recover_print(uint8_t automatic) {
 	lcd_update_enable(true);
 	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
+
+      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))
+      if(!bTiny&&(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.
 	enquecommand_P(PSTR("G28 X Y"));
   // Set the target bed and nozzle temperatures and wait.
@@ -8975,14 +8989,32 @@ 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.
   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));
+
+  // 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.
   // 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_Z_MICROSTEPS)) + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS];
+  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] -= 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];
+    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));
@@ -8996,21 +9028,8 @@ void recover_machine_state_after_power_panic(bool bTiny)
   SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
   print_world_coordinates();
 
-  // 2) Initialize the logical to physical coordinate system transformation.
+  // 3) Initialize the logical to physical coordinate system transformation.
   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 ");
 //  print_mesh_bed_leveling_table();
 
@@ -9091,8 +9110,8 @@ void restore_print_from_eeprom() {
 	strcat_P(cmd, PSTR(" F2000"));
 	enquecommand(cmd);
   // 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)) - (UVLO_Z_AXIS_SHIFT + 
-  float((1024 - eeprom_read_word((uint16_t*)(EEPROM_UVLO_Z_MICROSTEPS)) + 7) >> 4) / cs.axis_steps_per_unit[Z_AXIS])));
+  eeprom_update_byte((uint8_t*)EEPROM_UVLO,1);
+	strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
 	enquecommand(cmd);
   // Unretract.
 	enquecommand_P(PSTR("G1 E"  STRINGIFY(2*default_retraction)" F480"));