Relieve pressure after a nozzle crash

prusa3d · Feb 26, 2024 · e25d79f · e25d79f
1 parent c7b5fd5
commit e25d79f
Show file tree

Hide file tree

Showing 2 changed files with 29 additions and 23 deletions.
diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
@@ -2192,16 +2192,29 @@ bool calibrate_z_auto()
 }
 #endif //TMC2130
 
+static void nozzle_crash_handler() {
+    // Exit whatever homing or endstop mode was enabled
+#ifdef TMC2130
+    FORCE_HIGH_POWER_END;
+    tmc2130_home_exit();
+#endif
+    enable_endstops(false);
+    enable_z_endstop(false);
+    // Fix the planner position to a known value
+    current_position[Z_AXIS] = 0;
+    plan_set_position_curposXYZE();
+    // Raize Z to release pressure on bed after nozzle crash
+    current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
+    plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
+    st_synchronize();
+}
+
 #ifdef TMC2130
 void check_Z_crash(void)
 {
 	if (!READ(Z_TMC2130_DIAG)) { //Z crash
-		FORCE_HIGH_POWER_END;
-		current_position[Z_AXIS] = 0;
-		plan_set_position_curposXYZE();
-		current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
-		plan_buffer_line_curposXYZE(max_feedrate[Z_AXIS]);
-		st_synchronize();
+        nozzle_crash_handler();
+        // throw unrecoverable error
 		kill(_T(MSG_BED_LEVELING_FAILED_POINT_LOW));
 	}
 }
@@ -3281,6 +3294,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
 		}
 		else
 		{
+            nozzle_crash_handler();            
 			lcd_show_fullscreen_message_and_wait_P(PSTR("Calibration failed! Check the axes and run again."));
 			final_result = false;
 		}

diff --git a/Firmware/mesh_bed_calibration.cpp b/Firmware/mesh_bed_calibration.cpp
@@ -947,6 +947,7 @@ bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, int
 #endif //SUPPORT_VERBOSITY
         )
 {
+    bool result = false;
 	bool high_deviation_occured = false; 
     bedPWMDisabled = 1;
 #ifdef TMC2130
@@ -974,13 +975,13 @@ bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, int
     if (! endstop_z_hit_on_purpose())
 	{
 		//printf_P(PSTR("endstop not hit 1, current_pos[Z]: %f \n"), current_position[Z_AXIS]);
-		goto error;
+		goto end;
 	}
 #ifdef TMC2130
 	if (!READ(Z_TMC2130_DIAG))
 	{
 		//printf_P(PSTR("crash detected 1, current_pos[Z]: %f \n"), current_position[Z_AXIS]);
-		goto error; //crash Z detected
+		goto end; //crash Z detected
 	}
 #endif //TMC2130
     for (uint8_t i = 0; i < n_iter; ++ i)
@@ -1010,12 +1011,12 @@ bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, int
 		if (!endstop_z_hit_on_purpose())
 		{
 			//printf_P(PSTR("i = %d, endstop not hit 2, current_pos[Z]: %f \n"), i, current_position[Z_AXIS]);
-			goto error;
+			goto end;
 		}
 #ifdef TMC2130
 		if (!READ(Z_TMC2130_DIAG)) {
 			//printf_P(PSTR("crash detected 2, current_pos[Z]: %f \n"), current_position[Z_AXIS]);
-			goto error; //crash Z detected
+			goto end; //crash Z detected
 		}
 #endif //TMC2130
 //        SERIAL_ECHOPGM("Bed find_bed_induction_sensor_point_z low, height: ");
@@ -1035,7 +1036,7 @@ bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, int
 				z = 0;
 			}
 			else {
-				goto error;
+				goto end;
 			}
 		}
 		//printf_P(PSTR("PINDA triggered at %f\n"), current_position[Z_AXIS]);
@@ -1044,25 +1045,16 @@ bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter, int
     if (n_iter > 1)
         current_position[Z_AXIS] /= float(n_iter);
 
-
+    result = true; //success
+end:
     enable_endstops(endstops_enabled);
     enable_z_endstop(endstop_z_enabled);
 //    SERIAL_ECHOLNPGM("find_bed_induction_sensor_point_z 3");
 #ifdef TMC2130
     if (bHighPowerForced) FORCE_HIGH_POWER_END;
 #endif
     bedPWMDisabled = 0;
-	return true;
-
-error:
-//    SERIAL_ECHOLNPGM("find_bed_induction_sensor_point_z 4");
-    enable_endstops(endstops_enabled);
-    enable_z_endstop(endstop_z_enabled);
-#ifdef TMC2130
-	if (bHighPowerForced) FORCE_HIGH_POWER_END;
-#endif
-    bedPWMDisabled = 0;
-	return false;
+	return result;
 }
 
 #ifdef NEW_XYZCAL