Fatal errors introduced for bed leveling

.gitignore

@@ -28,4 +28,5 @@ Repetier.depend
 Repetier.layout
 activate*.bat
 src/Repetier-Atmel7/*
-src/ArduinoDUE/Repetier.zip
+src/ArduinoDUE/Repetier.zip
+src/ArduinoAVR/Repetier.zip

src/ArduinoAVR/Repetier/BedLeveling.cpp

@@ -270,7 +270,7 @@ S = 0 : Do not update length - use this if you have not homed before or you mess
 S = 1 : Measure zLength so homing works
 S = 2 : Like s = 1 plus store results in EEPROM for next connection.
 */
-void runBedLeveling(GCode *com) {
+bool runBedLeveling(GCode *com) {
     float h1,h2,h3,hc,oldFeedrate = Printer::feedrate;
     int s = com->hasS() ? com->S : -1;
 #if DISTORTION_CORRECTION
@@ -303,7 +303,7 @@ void runBedLeveling(GCode *com) {
 #endif
         if(!measureAutolevelPlane(plane)) {
             Com::printErrorFLN(PSTR("Probing had returned errors - autoleveling canceled."));
-            return;
+            return false;
         }
         correctAutolevel(com,plane);
 
@@ -352,6 +352,7 @@ void runBedLeveling(GCode *com) {
     Printer::homeAxis(true, true, true); // shifting z makes positioning invalid, need to recalibrate
 #endif
     Printer::feedrate = oldFeedrate;
+	return true;
 }
 
 #endif

src/ArduinoAVR/Repetier/Commands.cpp

@@ -851,7 +851,7 @@ void Commands::processArc(GCode *com) {
     PrintLine::arc(position, target, offset, r, isclockwise);
 }
 #endif
-extern void runBedLeveling(GCode *com);
+extern bool runBedLeveling(GCode *com);
 /**
 \brief Execute the G command stored in com.
 */
@@ -1018,8 +1018,8 @@ void Commands::processGCode(GCode *com) {
                         Printer::currentPositionSteps[Z_AXIS] = sum * Printer::axisStepsPerMM[Z_AXIS];
                         float zup = Printer::runZMaxProbe();
                         if(zup == ILLEGAL_Z_PROBE) {
-                            break;
-                        }
+							ok = false;
+                        } else
                         Printer::zLength = zup + sum - ENDSTOP_Z_BACK_ON_HOME;
 #endif // DELTA
                         Com::printInfoFLN(Com::tZProbeZReset);
@@ -1031,13 +1031,17 @@ void Commands::processGCode(GCode *com) {
                     }
                     Printer::feedrate = oldFeedrate;
                     Printer::setAutolevelActive(oldAutolevel);
-                    if(com->hasS() && com->S == 2)
+                    if(ok && com->hasS() && com->S == 2)
                         EEPROM::storeDataIntoEEPROM();
                 }
                 Printer::updateCurrentPosition(true);
                 printCurrentPosition(PSTR("G29 "));
                 Printer::finishProbing();
                 Printer::feedrate = oldFeedrate;
+				if(!ok) {
+					GCode::fatalError(PSTR("G29 leveling failed!"));
+					break;
+				}
 #if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE && Z_PROBE_REQUIRES_HEATING
 #if ZHOME_HEAT_ALL
                 for(int i = 0; i < NUM_EXTRUDER; i++) {
@@ -1057,7 +1061,10 @@ void Commands::processGCode(GCode *com) {
         case 30: 
 			{ // G30 single probe set Z0
                 uint8_t p = (com->hasP() ? (uint8_t)com->P : 3);
-                Printer::runZProbe(p & 1,p & 2);
+                if(Printer::runZProbe(p & 1,p & 2) == ILLEGAL_Z_PROBE) {
+					GCode::fatalError(PSTR("G29 leveling failed!"));
+					break;
+				}
                 Printer::updateCurrentPosition(p & 1);
             }
             break;
@@ -1090,7 +1097,10 @@ void Commands::processGCode(GCode *com) {
                 Extruder::setTemperatureForExtruder(RMath::max(actTemp[Extruder::current->id],static_cast<float>(ZPROBE_MIN_TEMPERATURE)),Extruder::current->id,false,true);
 #endif
 #endif
-            runBedLeveling(com);
+            if(!runBedLeveling(com)) {
+				GCode::fatalError(PSTR("G32 leveling failed!"));
+				break;
+			}
 #if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE && Z_PROBE_REQUIRES_HEATING
 #if ZHOME_HEAT_ALL
             for(int i = 0; i < NUM_EXTRUDER; i++) {
@@ -1141,7 +1151,10 @@ void Commands::processGCode(GCode *com) {
 #endif
 #endif
                     float oldFeedrate = Printer::feedrate;
-                    Printer::measureDistortion();
+                    if(!Printer::measureDistortion()) {
+						GCode::fatalError(PSTR("G33 failed!"));
+						break;
+					}
                     Printer::feedrate = oldFeedrate;
 #if defined(Z_PROBE_MIN_TEMPERATURE) && Z_PROBE_MIN_TEMPERATURE && Z_PROBE_REQUIRES_HEATING
 #if ZHOME_HEAT_ALL
@@ -2371,6 +2384,12 @@ void Commands::processMCode(GCode *com) {
                 EEPROM::setVersion(com->S);
             break;
 #endif
+		case 999: // Stop fatal error take down
+			if(com->hasS())
+				GCode::fatalError(PSTR("Testing fatal error"));
+			else				
+				GCode::resetFatalError();
+			break;
         default:
             if(!EVENT_UNHANDLED_M_CODE(com) && Printer::debugErrors()) {
                 Com::printF(Com::tUnknownCommand);

src/ArduinoAVR/Repetier/Communication.cpp

@@ -91,6 +91,7 @@ FSTRINGVALUE(Com::tSpaceRaw," RAW")
 FSTRINGVALUE(Com::tColon,":")
 FSTRINGVALUE(Com::tSlash,"/")
 FSTRINGVALUE(Com::tSpaceSlash," /")
+FSTRINGVALUE(Com::tFatal,"fatal:")
 #if JSON_OUTPUT
 FSTRINGVALUE(Com::tJSONDir,"{\"dir\":\"")
 FSTRINGVALUE(Com::tJSONFiles,"\",\"files\":[")

src/ArduinoAVR/Repetier/Communication.h

@@ -67,6 +67,7 @@ FSTRINGVAR(tFreeRAM)
 FSTRINGVAR(tXColon)
 FSTRINGVAR(tSlash)
 FSTRINGVAR(tSpaceSlash)
+FSTRINGVAR(tFatal)
 #if JSON_OUTPUT
 FSTRINGVAR(tJSONDir)
 FSTRINGVAR(tJSONFiles)

src/ArduinoAVR/Repetier/Events.h

@@ -51,6 +51,10 @@ Each of the following events describe the parameter and when it is called.
 #define EVENT_START_NEXTPREVIOUS(action,increment) {}
 // Gets called before a move is queued. Gives the ability to limit moves.
 #define EVENT_CONTRAIN_DESTINATION_COORDINATES
+// Gets called when a fatal error occurs and all actions should be stopped
+#define EVENT_FATAL_ERROR_OCCURED
+// Gets called after a M999 to continue from fatal errors
+#define EVENT_CONTINUE_FROM_FATAL_ERROR
 
 // Called to initialize laser pins. Return false to prevent default initialization.
 #define EVENT_INITALIZE_LASER true

src/ArduinoAVR/Repetier/Extruder.cpp

@@ -391,6 +391,12 @@ void Extruder::unpauseExtruders()
         extruder[i].tempControl.waitForTargetTemperature();
 }
 
+void TemperatureController::resetAllErrorStates() {
+	for(int i = 0;i < NUM_TEMPERATURE_LOOPS; i++) {
+		tempController[i]->removeErrorStates();
+	}
+}
+
 #if EXTRUDER_JAM_CONTROL
 void TemperatureController::setJammed(bool on)
 {

src/ArduinoAVR/Repetier/Extruder.h

@@ -9,7 +9,7 @@
 //#endif
 
 // Updates the temperature of all extruders and heated bed if it's time.
-// Toggels the heater power if necessary.
+// Toggles the heater power if necessary.
 extern bool reportTempsensorError(); ///< Report defect sensors
 extern uint8_t manageMonitor;
 #define HTR_OFF 0
@@ -25,7 +25,7 @@ extern uint8_t manageMonitor;
 #define TEMPERATURE_CONTROLLER_FLAG_JAM           32 //< Indicates a jammed filament
 #define TEMPERATURE_CONTROLLER_FLAG_SLOWDOWN      64 //< Indicates a slowed down extruder
 
-/** TemperatureController manages one heater-temperature sensore loop. You can have up to
+/** TemperatureController manages one heater-temperature sensor loop. You can have up to
 4 loops allowing pid/bang bang for up to 3 extruder and the heated bed.
 
 */
@@ -77,6 +77,9 @@ class TemperatureController
     {
         return flags & TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL;
     }
+	inline void removeErrorStates() {
+        flags &= ~(TEMPERATURE_CONTROLLER_FLAG_ALARM | TEMPERATURE_CONTROLLER_FLAG_SENSDEFECT | TEMPERATURE_CONTROLLER_FLAG_SENSDECOUPLED);
+	}
     inline bool isDecoupleFullOrHold()
     {
         return flags & (TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_FULL | TEMPERATURE_CONTROLLER_FLAG_DECOUPLE_HOLD);
@@ -122,6 +125,7 @@ class TemperatureController
     {
         return flags & TEMPERATURE_CONTROLLER_FLAG_SENSDECOUPLED;
     }
+	static void resetAllErrorStates();
 #if EXTRUDER_JAM_CONTROL
     inline bool isJammed()
     {

src/ArduinoAVR/Repetier/Printer.cpp

@@ -543,6 +543,7 @@ void Printer::kill(uint8_t only_steppers)
 #endif
        pwm_pos[PWM_BOARD_FAN] = 0;
 #endif // FAN_BOARD_PIN
+	Commands::printTemperatures(false);
 }
 
 void Printer::updateAdvanceFlags()
@@ -1890,9 +1891,9 @@ void Printer::showConfiguration() {
 
 Distortion Printer::distortion;
 
-void Printer::measureDistortion(void)
+bool Printer::measureDistortion(void)
 {
-    distortion.measure();
+    return distortion.measure();
 }
 
 Distortion::Distortion()
@@ -2016,7 +2017,7 @@ void Distortion::extrapolateCorners()
     extrapolateCorner(m, m,-1,-1);
 }
 
-void Distortion::measure(void)
+bool Distortion::measure(void)
 {
     fast8_t ix, iy;
     float z = EEPROM::zProbeBedDistance() + (EEPROM::zProbeHeight() > 0 ? EEPROM::zProbeHeight() : 0);
@@ -2053,7 +2054,7 @@ void Distortion::measure(void)
 			if(zp == ILLEGAL_Z_PROBE) {
 				Com::printErrorFLN(PSTR("Stopping distortion measurement due to errors."));
 				Printer::finishProbing();
-				return;
+				return false;
 			}
             setMatrix(floor(0.5f + Printer::axisStepsPerMM[Z_AXIS] * (z -zp)) + zCorrection,
             matrixIndex(ix,iy));
@@ -2087,6 +2088,7 @@ void Distortion::measure(void)
     }
 	showMatrix();
     enable(true);
+	return true;
     //Printer::homeAxis(false, false, true);
 }
 

src/ArduinoAVR/Repetier/Printer.h

@@ -123,7 +123,7 @@ class Distortion
     void init();
     void enable(bool permanent = true);
     void disable(bool permanent = true);
-    void measure(void);
+    bool measure(void);
     int32_t correct(int32_t x, int32_t y, int32_t z) const;
     void updateDerived();
     void reportStatus();
@@ -1098,7 +1098,7 @@ class Printer
     static void buildTransformationMatrix(float h1,float h2,float h3);
 #endif
 #if DISTORTION_CORRECTION
-    static void measureDistortion(void);
+    static bool measureDistortion(void);
     static Distortion distortion;
 #endif
     static void MemoryPosition();

src/ArduinoAVR/Repetier/Repetier.h

@@ -29,7 +29,7 @@
 // ##########################################################################################
 // ##                                  Debug configuration                                 ##
 // ##########################################################################################
-// These are run time sqitchable debug flags
+// These are run time switchable debug flags
 enum debugFlags {DEB_ECHO = 0x1, DEB_INFO = 0x2, DEB_ERROR = 0x4,DEB_DRYRUN = 0x8,
                  DEB_COMMUNICATION = 0x10, DEB_NOMOVES = 0x20, DEB_DEBUG = 0x40
                 };
@@ -39,14 +39,14 @@ enum debugFlags {DEB_ECHO = 0x1, DEB_INFO = 0x2, DEB_ERROR = 0x4,DEB_DRYRUN = 0x
 /** write infos about path planner changes */
 //#define DEBUG_PLANNER
 /** Allows M111 to set bit 5 (16) which disables all commands except M111. This can be used
-to test your data througput or search for communication problems. */
+to test your data throughput or search for communication problems. */
 #define INCLUDE_DEBUG_COMMUNICATION 1
 /** Allows M111 so set bit 6 (32) which disables moves, at the first tried step. In combination
 with a dry run, you can test the speed of path computations, which are still performed. */
 #define INCLUDE_DEBUG_NO_MOVE 1
 /** Writes the free RAM to output, if it is less then at the last test. Should always return
 values >500 for safety, since it doesn't catch every function call. Nice to tweak cache
-usage or for seraching for memory induced errors. Switch it off for production, it costs execution time. */
+usage or for searching for memory induced errors. Switch it off for production, it costs execution time. */
 //#define DEBUG_FREE_MEMORY
 //#define DEBUG_ADVANCE
 /** If enabled, writes the created generic table to serial port at startup. */
@@ -194,6 +194,10 @@ usage or for seraching for memory induced errors. Switch it off for production,
 
 #include "Configuration.h"
 
+#ifndef MAX_JERK_DISTANCE
+#define MAX_JERK_DISTANCE 0.6
+#endif
+
 inline void memcopy2(void *dest,void *source) {
 	*((int16_t*)dest) = *((int16_t*)source);
 }

src/ArduinoAVR/Repetier/gcode.cpp

@@ -43,6 +43,7 @@ int8_t   GCode::waitingForResend = -1; ///< Waiting for line to be resend. -1 =
 volatile uint8_t GCode::bufferLength = 0; ///< Number of commands stored in gcode_buffer
 millis_t GCode::timeOfLastDataPacket = 0; ///< Time, when we got the last data packet. Used to detect missing uint8_ts.
 uint8_t  GCode::formatErrors = 0;
+FSTRINGPARAM(GCode::fatalErrorMsg) = NULL; ///< message unset = no fatal error 
 
 /** \page Repetier-protocol
 
@@ -229,7 +230,11 @@ void GCode::checkAndPushCommand()
 		requestResend();
 		return;
 	}
-    pushCommand();
+	if(GCode::hasFatalError() && !(hasM() && M==999)) {
+		GCode::reportFatalError();
+	} else {
+		pushCommand();
+	}
 #ifdef DEBUG_COM_ERRORS
     if(hasM() && M == 667)
         return; // omit ok
@@ -424,7 +429,7 @@ void GCode::readFromSerial()
             }
             else
             {
-                if(ch == ';') commentDetected = true; // ignore new data until lineend
+                if(ch == ';') commentDetected = true; // ignore new data until line end
                 if(commentDetected) commandsReceivingWritePosition--;
             }
         }
@@ -507,7 +512,7 @@ void GCode::readFromSerial()
             }
             else
             {
-                if(ch == ';') commentDetected = true; // ignore new data until lineend
+                if(ch == ';') commentDetected = true; // ignore new data until line end
                 if(commentDetected) commandsReceivingWritePosition--;
             }
         }
@@ -1017,11 +1022,41 @@ void GCode::printCommand()
     Com::println();
 }
 
+void GCode::fatalError(FSTRINGPARAM(message)) {
+	fatalErrorMsg = message;
+#if SDSUPPORT
+	if(sd.sdmode != 0)	{ // stop sd print to prevent damage
+		sd.stopPrint();
+	}
+#endif	
+	if(Printer::currentPosition[Z_AXIS] < Printer::zMin + Printer::zLength - 15)
+		PrintLine::moveRelativeDistanceInStepsReal(0,0,10*Printer::axisStepsPerMM[Z_AXIS],0,Printer::homingFeedrate[Z_AXIS],true,true);
+	EVENT_FATAL_ERROR_OCCURED		
+	Commands::waitUntilEndOfAllMoves();
+	Printer::kill(true);		
+	reportFatalError();
+}
+
+void GCode::reportFatalError() {
+	Com::printF(Com::tFatal);
+	Com::printF(fatalErrorMsg);
+	Com::printFLN(PSTR(" Printer stopped and heaters disabled due to this error. Fix error and restart with M999."));
+	UI_ERROR_UPD(fatalErrorMsg)
+}
+
+void GCode::resetFatalError() {
+	TemperatureController::resetAllErrorStates();
+	fatalErrorMsg = NULL;
+	UI_ERROR("");
+	EVENT_CONTINUE_FROM_FATAL_ERROR
+	Com::printFLN(PSTR("info:Continue from fatal state"));
+}
+
 #if JSON_OUTPUT
 
 // --------------------------------------------------------------- //
 // Code that gets gcode information is adapted from RepRapFirmware //
-// Originally licenced under GPL                                   //
+// Originally licensed under GPL                                   //
 // Authors: reprappro, dc42, dcnewman, others                      //
 // Source: https://github.com/dcnewman/RepRapFirmware              //
 // Copy date: 15 Nov 2015                                          //