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Safe Z homing for Power Loss Recovery (#16909)

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Nick 2021-03-01 10:23:10 +00:00 committed by Scott Lahteine
parent 854ab04ee4
commit c8cd824be2
6 changed files with 39 additions and 21 deletions
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7
Marlin/Configuration_adv.h
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@ -1256,7 +1256,6 @@
#if ENABLED(POWER_LOSS_RECOVERY) #if ENABLED(POWER_LOSS_RECOVERY)
#define PLR_ENABLED_DEFAULT false // Power Loss Recovery enabled by default. (Set with 'M413 Sn' & M500) #define PLR_ENABLED_DEFAULT false // Power Loss Recovery enabled by default. (Set with 'M413 Sn' & M500)
//#define BACKUP_POWER_SUPPLY // Backup power / UPS to move the steppers on power loss //#define BACKUP_POWER_SUPPLY // Backup power / UPS to move the steppers on power loss
//#define POWER_LOSS_RECOVER_ZHOME // Z homing is needed for proper recovery. 99.9% of the time this should be disabled!
//#define POWER_LOSS_ZRAISE 2 // (mm) Z axis raise on resume (on power loss with UPS) //#define POWER_LOSS_ZRAISE 2 // (mm) Z axis raise on resume (on power loss with UPS)
//#define POWER_LOSS_PIN 44 // Pin to detect power loss. Set to -1 to disable default pin on boards without module. //#define POWER_LOSS_PIN 44 // Pin to detect power loss. Set to -1 to disable default pin on boards without module.
//#define POWER_LOSS_STATE HIGH // State of pin indicating power loss //#define POWER_LOSS_STATE HIGH // State of pin indicating power loss
@ -1268,6 +1267,12 @@
// Without a POWER_LOSS_PIN the following option helps reduce wear on the SD card, // Without a POWER_LOSS_PIN the following option helps reduce wear on the SD card,
// especially with "vase mode" printing. Set too high and vases cannot be continued. // especially with "vase mode" printing. Set too high and vases cannot be continued.
#define POWER_LOSS_MIN_Z_CHANGE 0.05 // (mm) Minimum Z change before saving power-loss data #define POWER_LOSS_MIN_Z_CHANGE 0.05 // (mm) Minimum Z change before saving power-loss data
// Enable if Z homing is needed for proper recovery. 99.9% of the time this should be disabled!
//#define POWER_LOSS_RECOVER_ZHOME
#if ENABLED(POWER_LOSS_RECOVER_ZHOME)
//#define POWER_LOSS_ZHOME_POS { 0, 0 } // Safe XY position to home Z while avoiding objects on the bed
#endif
#endif #endif
/** /**

17
Marlin/src/feature/powerloss.cpp
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@ -384,18 +384,25 @@ void PrintJobRecovery::resume() {
// Home safely with no Z raise // Home safely with no Z raise
gcode.process_subcommands_now_P(PSTR( gcode.process_subcommands_now_P(PSTR(
"G28R0" // No raise during G28 "G28R0" // No raise during G28
#if IS_CARTESIAN && DISABLED(POWER_LOSS_RECOVER_ZHOME) #if IS_CARTESIAN && (DISABLED(POWER_LOSS_RECOVER_ZHOME) || defined(POWER_LOSS_ZHOME_POS))
"XY" // Don't home Z on Cartesian unless overridden "XY" // Don't home Z on Cartesian unless overridden
#endif #endif
)); ));
#endif #endif
// Pretend that all axes are homed #ifdef POWER_LOSS_ZHOME_POS
// If defined move to a safe Z homing position that avoids the print
constexpr xy_pos_t homepos = POWER_LOSS_ZHOME_POS;
sprintf_P(cmd, PSTR("G1 X%s Y%s F1000\nG28Z", dtostrf(homepos.x, 1, 3, str_1), dtostrf(homepos.y, 1, 3, str_2)));
gcode.process_subcommands_now(cmd);
#endif
// Ensure that all axes are marked as homed
set_all_homed(); set_all_homed();
#if ENABLED(POWER_LOSS_RECOVER_ZHOME) #if ENABLED(POWER_LOSS_RECOVER_ZHOME)
// Z has been homed so restore Z to ZsavedPos + POWER_LOSS_ZRAISE // Now move to ZsavedPos + POWER_LOSS_ZRAISE
sprintf_P(cmd, PSTR("G1 F500 Z%s"), dtostrf(info.current_position.z + POWER_LOSS_ZRAISE, 1, 3, str_1)); sprintf_P(cmd, PSTR("G1 F500 Z%s"), dtostrf(info.current_position.z + POWER_LOSS_ZRAISE, 1, 3, str_1));
gcode.process_subcommands_now(cmd); gcode.process_subcommands_now(cmd);
#endif #endif
@ -467,7 +474,7 @@ void PrintJobRecovery::resume() {
// Additional purge if configured // Additional purge if configured
#if POWER_LOSS_PURGE_LEN #if POWER_LOSS_PURGE_LEN
sprintf_P(cmd, PSTR("G1 E%d F200"), (POWER_LOSS_PURGE_LEN) + (POWER_LOSS_RETRACT_LEN)); sprintf_P(cmd, PSTR("G1 E%d F3000"), (POWER_LOSS_PURGE_LEN) + (POWER_LOSS_RETRACT_LEN));
gcode.process_subcommands_now(cmd); gcode.process_subcommands_now(cmd);
#endif #endif
@ -485,7 +492,7 @@ void PrintJobRecovery::resume() {
// Move back to the saved Z // Move back to the saved Z
dtostrf(info.current_position.z, 1, 3, str_1); dtostrf(info.current_position.z, 1, 3, str_1);
#if Z_HOME_DIR > 0 || ENABLED(POWER_LOSS_RECOVER_ZHOME) #if Z_HOME_DIR > 0 || ENABLED(POWER_LOSS_RECOVER_ZHOME)
sprintf_P(cmd, PSTR("G1 Z%s F200"), str_1); sprintf_P(cmd, PSTR("G1 Z%s F500"), str_1);
#else #else
gcode.process_subcommands_now_P(PSTR("G1 Z0 F200")); gcode.process_subcommands_now_P(PSTR("G1 Z0 F200"));
sprintf_P(cmd, PSTR("G92.9 Z%s"), str_1); sprintf_P(cmd, PSTR("G92.9 Z%s"), str_1);

14
Marlin/src/inc/SanityCheck.h
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@ -1641,7 +1641,7 @@ static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal
* Allen Key * Allen Key
* Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis. * Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis.
*/ */
#if BOTH(Z_PROBE_ALLEN_KEY, Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && (Z_HOME_DIR < 0) #if BOTH(Z_PROBE_ALLEN_KEY, Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && Z_HOME_DIR < 0
#error "You can't home to a Z min endstop with a Z_PROBE_ALLEN_KEY." #error "You can't home to a Z min endstop with a Z_PROBE_ALLEN_KEY."
#endif #endif
@ -2913,12 +2913,16 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
#endif #endif
#endif #endif
#if ENABLED(BACKUP_POWER_SUPPLY) && !PIN_EXISTS(POWER_LOSS) #if ENABLED(POWER_LOSS_RECOVERY)
#if ENABLED(BACKUP_POWER_SUPPLY) && !PIN_EXISTS(POWER_LOSS)
#error "BACKUP_POWER_SUPPLY requires a POWER_LOSS_PIN." #error "BACKUP_POWER_SUPPLY requires a POWER_LOSS_PIN."
#endif #elif BOTH(POWER_LOSS_RECOVER_ZHOME, Z_SAFE_HOMING)
#error "POWER_LOSS_RECOVER_ZHOME cannot be used with Z_SAFE_HOMING."
#if BOTH(POWER_LOSS_PULLUP, POWER_LOSS_PULLDOWN) #elif BOTH(POWER_LOSS_PULLUP, POWER_LOSS_PULLDOWN)
#error "You can't enable POWER_LOSS_PULLUP and POWER_LOSS_PULLDOWN at the same time." #error "You can't enable POWER_LOSS_PULLUP and POWER_LOSS_PULLDOWN at the same time."
#elif BOTH(IS_CARTESIAN, POWER_LOSS_RECOVER_ZHOME) && Z_HOME_DIR < 0 && !defined(POWER_LOSS_ZHOME_POS)
#error "POWER_LOSS_RECOVER_ZHOME requires POWER_LOSS_ZHOME_POS for a Cartesian that homes to ZMIN."
#endif
#endif #endif
#if ENABLED(Z_STEPPER_AUTO_ALIGN) #if ENABLED(Z_STEPPER_AUTO_ALIGN)

8
Marlin/src/module/probe.cpp
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@ -340,7 +340,7 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {
* - If a preheat input is higher than the current target, raise the target temperature. * - If a preheat input is higher than the current target, raise the target temperature.
* - If a preheat input is higher than the current temperature, wait for stabilization. * - If a preheat input is higher than the current temperature, wait for stabilization.
*/ */
void Probe::preheat_for_probing(const uint16_t hotend_temp, const uint16_t bed_temp) { void Probe::preheat_for_probing(const int16_t hotend_temp, const int16_t bed_temp) {
#if HAS_HOTEND && (PROBING_NOZZLE_TEMP || LEVELING_NOZZLE_TEMP) #if HAS_HOTEND && (PROBING_NOZZLE_TEMP || LEVELING_NOZZLE_TEMP)
#define WAIT_FOR_NOZZLE_HEAT #define WAIT_FOR_NOZZLE_HEAT
#endif #endif
@ -351,17 +351,17 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {
DEBUG_ECHOPGM("Preheating "); DEBUG_ECHOPGM("Preheating ");
#if ENABLED(WAIT_FOR_NOZZLE_HEAT) #if ENABLED(WAIT_FOR_NOZZLE_HEAT)
const uint16_t hotendPreheat = hotend_temp > thermalManager.degTargetHotend(0) ? hotend_temp : 0; const int16_t hotendPreheat = hotend_temp > thermalManager.degTargetHotend(0) ? hotend_temp : 0;
if (hotendPreheat) { if (hotendPreheat) {
DEBUG_ECHOPAIR("hotend (", hotendPreheat, ")"); DEBUG_ECHOPAIR("hotend (", hotendPreheat, ")");
thermalManager.setTargetHotend(hotendPreheat, 0); thermalManager.setTargetHotend(hotendPreheat, 0);
} }
#elif ENABLED(WAIT_FOR_BED_HEAT) #elif ENABLED(WAIT_FOR_BED_HEAT)
constexpr uint16_t hotendPreheat = 0; constexpr int16_t hotendPreheat = 0;
#endif #endif
#if ENABLED(WAIT_FOR_BED_HEAT) #if ENABLED(WAIT_FOR_BED_HEAT)
const uint16_t bedPreheat = bed_temp > thermalManager.degTargetBed() ? bed_temp : 0; const int16_t bedPreheat = bed_temp > thermalManager.degTargetBed() ? bed_temp : 0;
if (bedPreheat) { if (bedPreheat) {
if (hotendPreheat) DEBUG_ECHOPGM(" and "); if (hotendPreheat) DEBUG_ECHOPGM(" and ");
DEBUG_ECHOPAIR("bed (", bedPreheat, ")"); DEBUG_ECHOPAIR("bed (", bedPreheat, ")");

2
Marlin/src/module/probe.h
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@ -61,7 +61,7 @@ public:
static xyz_pos_t offset; static xyz_pos_t offset;
#if EITHER(PREHEAT_BEFORE_PROBING, PREHEAT_BEFORE_LEVELING) #if EITHER(PREHEAT_BEFORE_PROBING, PREHEAT_BEFORE_LEVELING)
static void preheat_for_probing(const uint16_t hotend_temp, const uint16_t bed_temp); static void preheat_for_probing(const int16_t hotend_temp, const int16_t bed_temp);
#endif #endif
static bool set_deployed(const bool deploy); static bool set_deployed(const bool deploy);

8
buildroot/tests/rambo-tests
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@ -22,9 +22,11 @@ opt_add TEMP_CHAMBER_PIN 3
opt_add HEATER_CHAMBER_PIN 45 opt_add HEATER_CHAMBER_PIN 45
opt_set GRID_MAX_POINTS_X 16 opt_set GRID_MAX_POINTS_X 16
opt_set FANMUX0_PIN 53 opt_set FANMUX0_PIN 53
opt_disable USE_WATCHDOG opt_set Z_HOME_DIR 1
opt_enable USE_ZMAX_PLUG
opt_disable USE_ZMIN_PLUG Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN USE_WATCHDOG
opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER LCD_PROGRESS_BAR LCD_PROGRESS_BAR_TEST \ opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER LCD_PROGRESS_BAR LCD_PROGRESS_BAR_TEST \
FIX_MOUNTED_PROBE Z_SAFE_HOMING CODEPENDENT_XY_HOMING PIDTEMPBED PROBE_TEMP_COMPENSATION \ FIX_MOUNTED_PROBE CODEPENDENT_XY_HOMING PIDTEMPBED PROBE_TEMP_COMPENSATION \
PREHEAT_BEFORE_PROBING PROBING_HEATERS_OFF PROBING_FANS_OFF PROBING_STEPPERS_OFF WAIT_FOR_BED_HEATER \ PREHEAT_BEFORE_PROBING PROBING_HEATERS_OFF PROBING_FANS_OFF PROBING_STEPPERS_OFF WAIT_FOR_BED_HEATER \
EEPROM_SETTINGS SDSUPPORT SD_REPRINT_LAST_SELECTED_FILE BINARY_FILE_TRANSFER \ EEPROM_SETTINGS SDSUPPORT SD_REPRINT_LAST_SELECTED_FILE BINARY_FILE_TRANSFER \
BLINKM PCA9533 PCA9632 RGB_LED RGB_LED_R_PIN RGB_LED_G_PIN RGB_LED_B_PIN LED_CONTROL_MENU \ BLINKM PCA9533 PCA9632 RGB_LED RGB_LED_R_PIN RGB_LED_G_PIN RGB_LED_B_PIN LED_CONTROL_MENU \
@ -38,7 +40,7 @@ opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER LCD_PROGRESS_BAR LCD_PROGRESS_BAR_TE
SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE \ SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE \
BACKLASH_COMPENSATION BACKLASH_GCODE BAUD_RATE_GCODE BEZIER_CURVE_SUPPORT \ BACKLASH_COMPENSATION BACKLASH_GCODE BAUD_RATE_GCODE BEZIER_CURVE_SUPPORT \
FWRETRACT ARC_P_CIRCLES CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS \ FWRETRACT ARC_P_CIRCLES CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS \
PSU_CONTROL AUTO_POWER_CONTROL POWER_LOSS_RECOVERY POWER_LOSS_PIN POWER_LOSS_STATE \ PSU_CONTROL AUTO_POWER_CONTROL POWER_LOSS_RECOVERY POWER_LOSS_PIN POWER_LOSS_STATE POWER_LOSS_RECOVER_ZHOME \
SLOW_PWM_HEATERS THERMAL_PROTECTION_CHAMBER LIN_ADVANCE EXTRA_LIN_ADVANCE_K \ SLOW_PWM_HEATERS THERMAL_PROTECTION_CHAMBER LIN_ADVANCE EXTRA_LIN_ADVANCE_K \
HOST_ACTION_COMMANDS HOST_PROMPT_SUPPORT PINS_DEBUGGING MAX7219_DEBUG M114_DETAIL HOST_ACTION_COMMANDS HOST_PROMPT_SUPPORT PINS_DEBUGGING MAX7219_DEBUG M114_DETAIL
opt_add DEBUG_POWER_LOSS_RECOVERY opt_add DEBUG_POWER_LOSS_RECOVERY