Safe Z homing for Power Loss Recovery (#16909)
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Nick
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@ -1256,7 +1256,6 @@
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#if ENABLED(POWER_LOSS_RECOVERY)
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#define PLR_ENABLED_DEFAULT false // Power Loss Recovery enabled by default. (Set with 'M413 Sn' & M500)
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//#define BACKUP_POWER_SUPPLY // Backup power / UPS to move the steppers on power loss
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//#define POWER_LOSS_RECOVER_ZHOME // Z homing is needed for proper recovery. 99.9% of the time this should be disabled!
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//#define POWER_LOSS_ZRAISE 2 // (mm) Z axis raise on resume (on power loss with UPS)
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//#define POWER_LOSS_PIN 44 // Pin to detect power loss. Set to -1 to disable default pin on boards without module.
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//#define POWER_LOSS_STATE HIGH // State of pin indicating power loss
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@ -1268,6 +1267,12 @@
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// Without a POWER_LOSS_PIN the following option helps reduce wear on the SD card,
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// especially with "vase mode" printing. Set too high and vases cannot be continued.
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#define POWER_LOSS_MIN_Z_CHANGE 0.05 // (mm) Minimum Z change before saving power-loss data
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// Enable if Z homing is needed for proper recovery. 99.9% of the time this should be disabled!
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//#define POWER_LOSS_RECOVER_ZHOME
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#if ENABLED(POWER_LOSS_RECOVER_ZHOME)
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//#define POWER_LOSS_ZHOME_POS { 0, 0 } // Safe XY position to home Z while avoiding objects on the bed
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#endif
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#endif
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/**
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@ -384,18 +384,25 @@ void PrintJobRecovery::resume() {
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// Home safely with no Z raise
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gcode.process_subcommands_now_P(PSTR(
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"G28R0" // No raise during G28
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#if IS_CARTESIAN && DISABLED(POWER_LOSS_RECOVER_ZHOME)
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#if IS_CARTESIAN && (DISABLED(POWER_LOSS_RECOVER_ZHOME) || defined(POWER_LOSS_ZHOME_POS))
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"XY" // Don't home Z on Cartesian unless overridden
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#endif
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));
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#endif
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// Pretend that all axes are homed
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#ifdef POWER_LOSS_ZHOME_POS
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// If defined move to a safe Z homing position that avoids the print
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constexpr xy_pos_t homepos = POWER_LOSS_ZHOME_POS;
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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)));
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gcode.process_subcommands_now(cmd);
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#endif
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// Ensure that all axes are marked as homed
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set_all_homed();
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#if ENABLED(POWER_LOSS_RECOVER_ZHOME)
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// Z has been homed so restore Z to ZsavedPos + POWER_LOSS_ZRAISE
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// Now move to ZsavedPos + POWER_LOSS_ZRAISE
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sprintf_P(cmd, PSTR("G1 F500 Z%s"), dtostrf(info.current_position.z + POWER_LOSS_ZRAISE, 1, 3, str_1));
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gcode.process_subcommands_now(cmd);
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#endif
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@ -467,7 +474,7 @@ void PrintJobRecovery::resume() {
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// Additional purge if configured
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#if POWER_LOSS_PURGE_LEN
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sprintf_P(cmd, PSTR("G1 E%d F200"), (POWER_LOSS_PURGE_LEN) + (POWER_LOSS_RETRACT_LEN));
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sprintf_P(cmd, PSTR("G1 E%d F3000"), (POWER_LOSS_PURGE_LEN) + (POWER_LOSS_RETRACT_LEN));
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gcode.process_subcommands_now(cmd);
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#endif
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@ -485,7 +492,7 @@ void PrintJobRecovery::resume() {
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// Move back to the saved Z
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dtostrf(info.current_position.z, 1, 3, str_1);
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#if Z_HOME_DIR > 0 || ENABLED(POWER_LOSS_RECOVER_ZHOME)
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sprintf_P(cmd, PSTR("G1 Z%s F200"), str_1);
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sprintf_P(cmd, PSTR("G1 Z%s F500"), str_1);
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#else
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gcode.process_subcommands_now_P(PSTR("G1 Z0 F200"));
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sprintf_P(cmd, PSTR("G92.9 Z%s"), str_1);
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@ -1641,7 +1641,7 @@ static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal
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* Allen Key
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* Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis.
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*/
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#if BOTH(Z_PROBE_ALLEN_KEY, Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && (Z_HOME_DIR < 0)
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#if BOTH(Z_PROBE_ALLEN_KEY, Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) && Z_HOME_DIR < 0
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#error "You can't home to a Z min endstop with a Z_PROBE_ALLEN_KEY."
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#endif
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@ -2913,12 +2913,16 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
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#endif
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#endif
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#if ENABLED(BACKUP_POWER_SUPPLY) && !PIN_EXISTS(POWER_LOSS)
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#error "BACKUP_POWER_SUPPLY requires a POWER_LOSS_PIN."
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#endif
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#if BOTH(POWER_LOSS_PULLUP, POWER_LOSS_PULLDOWN)
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#error "You can't enable POWER_LOSS_PULLUP and POWER_LOSS_PULLDOWN at the same time."
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#if ENABLED(POWER_LOSS_RECOVERY)
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#if ENABLED(BACKUP_POWER_SUPPLY) && !PIN_EXISTS(POWER_LOSS)
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#error "BACKUP_POWER_SUPPLY requires a POWER_LOSS_PIN."
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#elif BOTH(POWER_LOSS_RECOVER_ZHOME, Z_SAFE_HOMING)
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#error "POWER_LOSS_RECOVER_ZHOME cannot be used with Z_SAFE_HOMING."
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#elif BOTH(POWER_LOSS_PULLUP, POWER_LOSS_PULLDOWN)
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#error "You can't enable POWER_LOSS_PULLUP and POWER_LOSS_PULLDOWN at the same time."
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#elif BOTH(IS_CARTESIAN, POWER_LOSS_RECOVER_ZHOME) && Z_HOME_DIR < 0 && !defined(POWER_LOSS_ZHOME_POS)
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#error "POWER_LOSS_RECOVER_ZHOME requires POWER_LOSS_ZHOME_POS for a Cartesian that homes to ZMIN."
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#endif
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#endif
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#if ENABLED(Z_STEPPER_AUTO_ALIGN)
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@ -340,7 +340,7 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {
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* - If a preheat input is higher than the current target, raise the target temperature.
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* - If a preheat input is higher than the current temperature, wait for stabilization.
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*/
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void Probe::preheat_for_probing(const uint16_t hotend_temp, const uint16_t bed_temp) {
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void Probe::preheat_for_probing(const int16_t hotend_temp, const int16_t bed_temp) {
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#if HAS_HOTEND && (PROBING_NOZZLE_TEMP || LEVELING_NOZZLE_TEMP)
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#define WAIT_FOR_NOZZLE_HEAT
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#endif
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@ -351,17 +351,17 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {
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DEBUG_ECHOPGM("Preheating ");
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#if ENABLED(WAIT_FOR_NOZZLE_HEAT)
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const uint16_t hotendPreheat = hotend_temp > thermalManager.degTargetHotend(0) ? hotend_temp : 0;
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const int16_t hotendPreheat = hotend_temp > thermalManager.degTargetHotend(0) ? hotend_temp : 0;
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if (hotendPreheat) {
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DEBUG_ECHOPAIR("hotend (", hotendPreheat, ")");
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thermalManager.setTargetHotend(hotendPreheat, 0);
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}
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#elif ENABLED(WAIT_FOR_BED_HEAT)
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constexpr uint16_t hotendPreheat = 0;
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constexpr int16_t hotendPreheat = 0;
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#endif
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#if ENABLED(WAIT_FOR_BED_HEAT)
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const uint16_t bedPreheat = bed_temp > thermalManager.degTargetBed() ? bed_temp : 0;
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const int16_t bedPreheat = bed_temp > thermalManager.degTargetBed() ? bed_temp : 0;
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if (bedPreheat) {
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if (hotendPreheat) DEBUG_ECHOPGM(" and ");
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DEBUG_ECHOPAIR("bed (", bedPreheat, ")");
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@ -61,7 +61,7 @@ public:
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static xyz_pos_t offset;
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#if EITHER(PREHEAT_BEFORE_PROBING, PREHEAT_BEFORE_LEVELING)
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static void preheat_for_probing(const uint16_t hotend_temp, const uint16_t bed_temp);
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static void preheat_for_probing(const int16_t hotend_temp, const int16_t bed_temp);
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#endif
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static bool set_deployed(const bool deploy);
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@ -22,9 +22,11 @@ opt_add TEMP_CHAMBER_PIN 3
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opt_add HEATER_CHAMBER_PIN 45
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opt_set GRID_MAX_POINTS_X 16
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opt_set FANMUX0_PIN 53
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opt_disable USE_WATCHDOG
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opt_set Z_HOME_DIR 1
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opt_enable USE_ZMAX_PLUG
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opt_disable USE_ZMIN_PLUG Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN USE_WATCHDOG
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opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER LCD_PROGRESS_BAR LCD_PROGRESS_BAR_TEST \
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FIX_MOUNTED_PROBE Z_SAFE_HOMING CODEPENDENT_XY_HOMING PIDTEMPBED PROBE_TEMP_COMPENSATION \
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FIX_MOUNTED_PROBE CODEPENDENT_XY_HOMING PIDTEMPBED PROBE_TEMP_COMPENSATION \
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PREHEAT_BEFORE_PROBING PROBING_HEATERS_OFF PROBING_FANS_OFF PROBING_STEPPERS_OFF WAIT_FOR_BED_HEATER \
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EEPROM_SETTINGS SDSUPPORT SD_REPRINT_LAST_SELECTED_FILE BINARY_FILE_TRANSFER \
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BLINKM PCA9533 PCA9632 RGB_LED RGB_LED_R_PIN RGB_LED_G_PIN RGB_LED_B_PIN LED_CONTROL_MENU \
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@ -38,7 +40,7 @@ opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER LCD_PROGRESS_BAR LCD_PROGRESS_BAR_TE
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SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE \
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BACKLASH_COMPENSATION BACKLASH_GCODE BAUD_RATE_GCODE BEZIER_CURVE_SUPPORT \
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FWRETRACT ARC_P_CIRCLES CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS \
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PSU_CONTROL AUTO_POWER_CONTROL POWER_LOSS_RECOVERY POWER_LOSS_PIN POWER_LOSS_STATE \
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PSU_CONTROL AUTO_POWER_CONTROL POWER_LOSS_RECOVERY POWER_LOSS_PIN POWER_LOSS_STATE POWER_LOSS_RECOVER_ZHOME \
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SLOW_PWM_HEATERS THERMAL_PROTECTION_CHAMBER LIN_ADVANCE EXTRA_LIN_ADVANCE_K \
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HOST_ACTION_COMMANDS HOST_PROMPT_SUPPORT PINS_DEBUGGING MAX7219_DEBUG M114_DETAIL
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opt_add DEBUG_POWER_LOSS_RECOVERY
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