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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * power_loss_recovery.cpp - Resume an SD print after power-loss
- */
-
- #include "../inc/MarlinConfigPre.h"
-
- #if ENABLED(POWER_LOSS_RECOVERY)
-
- #include "power_loss_recovery.h"
- #include "../core/macros.h"
-
- bool PrintJobRecovery::enabled; // Initialized by settings.load()
-
- SdFile PrintJobRecovery::file;
- job_recovery_info_t PrintJobRecovery::info;
- const char PrintJobRecovery::filename[5] = "/PLR";
- uint8_t PrintJobRecovery::queue_index_r;
- uint32_t PrintJobRecovery::cmd_sdpos, // = 0
- PrintJobRecovery::sdpos[BUFSIZE];
-
- #include "../sd/cardreader.h"
- #include "../lcd/ultralcd.h"
- #include "../gcode/queue.h"
- #include "../gcode/gcode.h"
- #include "../module/motion.h"
- #include "../module/planner.h"
- #include "../module/printcounter.h"
- #include "../module/temperature.h"
- #include "../core/serial.h"
-
- #if ENABLED(FWRETRACT)
- #include "fwretract.h"
- #endif
-
- #define DEBUG_OUT ENABLED(DEBUG_POWER_LOSS_RECOVERY)
- #include "../core/debug_out.h"
-
- PrintJobRecovery recovery;
-
- #ifndef POWER_LOSS_PURGE_LEN
- #define POWER_LOSS_PURGE_LEN 0
- #endif
- #ifndef POWER_LOSS_RETRACT_LEN
- #define POWER_LOSS_RETRACT_LEN 0
- #endif
- #ifndef POWER_LOSS_ZRAISE
- #define POWER_LOSS_ZRAISE 2
- #endif
-
- /**
- * Clear the recovery info
- */
- void PrintJobRecovery::init() { memset(&info, 0, sizeof(info)); }
-
- /**
- * Enable or disable then call changed()
- */
- void PrintJobRecovery::enable(const bool onoff) {
- enabled = onoff;
- changed();
- }
-
- /**
- * The enabled state was changed:
- * - Enabled: Purge the job recovery file
- * - Disabled: Write the job recovery file
- */
- void PrintJobRecovery::changed() {
- if (!enabled)
- purge();
- else if (IS_SD_PRINTING())
- save(true);
- }
-
- /**
- * Check for Print Job Recovery during setup()
- *
- * If a saved state exists send 'M1000 S' to initiate job recovery.
- */
- void PrintJobRecovery::check() {
- if (enabled) {
- if (!card.isMounted()) card.mount();
- if (card.isMounted()) {
- load();
- if (!valid()) return purge();
- queue.inject_P(PSTR("M1000 S"));
- }
- }
- }
-
- /**
- * Delete the recovery file and clear the recovery data
- */
- void PrintJobRecovery::purge() {
- init();
- card.removeJobRecoveryFile();
- }
-
- /**
- * Load the recovery data, if it exists
- */
- void PrintJobRecovery::load() {
- if (exists()) {
- open(true);
- (void)file.read(&info, sizeof(info));
- close();
- }
- debug(PSTR("Load"));
- }
-
- /**
- * Set info fields that won't change
- */
- void PrintJobRecovery::prepare() {
- card.getAbsFilename(info.sd_filename); // SD filename
- cmd_sdpos = 0;
- }
-
- /**
- * Save the current machine state to the power-loss recovery file
- */
- void PrintJobRecovery::save(const bool force/*=false*/, const bool save_queue/*=true*/) {
-
- #if SAVE_INFO_INTERVAL_MS > 0
- static millis_t next_save_ms; // = 0
- millis_t ms = millis();
- #endif
-
- #ifndef POWER_LOSS_MIN_Z_CHANGE
- #define POWER_LOSS_MIN_Z_CHANGE 0.05 // Vase-mode-friendly out of the box
- #endif
-
- // Did Z change since the last call?
- if (force
- #if DISABLED(SAVE_EACH_CMD_MODE) // Always save state when enabled
- #if SAVE_INFO_INTERVAL_MS > 0 // Save if interval is elapsed
- || ELAPSED(ms, next_save_ms)
- #endif
- // Save if Z is above the last-saved position by some minimum height
- || current_position.z > info.current_position.z + POWER_LOSS_MIN_Z_CHANGE
- #endif
- ) {
-
- #if SAVE_INFO_INTERVAL_MS > 0
- next_save_ms = ms + SAVE_INFO_INTERVAL_MS;
- #endif
-
- // Set Head and Foot to matching non-zero values
- if (!++info.valid_head) ++info.valid_head; // non-zero in sequence
- //if (!IS_SD_PRINTING()) info.valid_head = 0;
- info.valid_foot = info.valid_head;
-
- // Machine state
- info.current_position = current_position;
- #if HAS_HOME_OFFSET
- info.home_offset = home_offset;
- #endif
- #if HAS_POSITION_SHIFT
- info.position_shift = position_shift;
- #endif
- info.feedrate = uint16_t(feedrate_mm_s * 60.0f);
-
- #if EXTRUDERS > 1
- info.active_extruder = active_extruder;
- #endif
-
- #if DISABLED(NO_VOLUMETRICS)
- info.volumetric_enabled = parser.volumetric_enabled;
- #if EXTRUDERS > 1
- for (int8_t e = 0; e < EXTRUDERS; e++) info.filament_size[e] = planner.filament_size[e];
- #else
- if (parser.volumetric_enabled) info.filament_size = planner.filament_size[active_extruder];
- #endif
- #endif
-
- #if EXTRUDERS
- HOTEND_LOOP() info.target_temperature[e] = thermalManager.temp_hotend[e].target;
- #endif
-
- #if HAS_HEATED_BED
- info.target_temperature_bed = thermalManager.temp_bed.target;
- #endif
-
- #if FAN_COUNT
- COPY(info.fan_speed, thermalManager.fan_speed);
- #endif
-
- #if HAS_LEVELING
- info.leveling = planner.leveling_active;
- info.fade = (
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- planner.z_fade_height
- #else
- 0
- #endif
- );
- #endif
-
- #if ENABLED(GRADIENT_MIX)
- memcpy(&info.gradient, &mixer.gradient, sizeof(info.gradient));
- #endif
-
- #if ENABLED(FWRETRACT)
- COPY(info.retract, fwretract.current_retract);
- info.retract_hop = fwretract.current_hop;
- #endif
-
- // Relative axis modes
- info.axis_relative = gcode.axis_relative;
-
- // Elapsed print job time
- info.print_job_elapsed = print_job_timer.duration();
-
- write();
- }
- }
-
- #if PIN_EXISTS(POWER_LOSS)
-
- void PrintJobRecovery::_outage() {
- #if ENABLED(BACKUP_POWER_SUPPLY)
- static bool lock = false;
- if (lock) return; // No re-entrance from idle() during raise_z()
- lock = true;
- #endif
- if (IS_SD_PRINTING()) save(true);
- #if ENABLED(BACKUP_POWER_SUPPLY)
- raise_z();
- #endif
-
- kill(GET_TEXT(MSG_OUTAGE_RECOVERY));
- }
-
- #if ENABLED(BACKUP_POWER_SUPPLY)
-
- void PrintJobRecovery::raise_z() {
- // Disable all heaters to reduce power loss
- thermalManager.disable_all_heaters();
- quickstop_stepper();
- // Raise Z axis
- gcode.process_subcommands_now_P(PSTR("G91\nG0 Z" STRINGIFY(POWER_LOSS_ZRAISE)));
- planner.synchronize();
- }
-
- #endif
-
- #endif
-
- /**
- * Save the recovery info the recovery file
- */
- void PrintJobRecovery::write() {
-
- debug(PSTR("Write"));
-
- open(false);
- file.seekSet(0);
- const int16_t ret = file.write(&info, sizeof(info));
- if (ret == -1) DEBUG_ECHOLNPGM("Power-loss file write failed.");
- if (!file.close()) DEBUG_ECHOLNPGM("Power-loss file close failed.");
- }
-
- /**
- * Resume the saved print job
- */
- void PrintJobRecovery::resume() {
-
- const uint32_t resume_sdpos = info.sdpos; // Get here before the stepper ISR overwrites it
-
- #if HAS_LEVELING
- // Make sure leveling is off before any G92 and G28
- gcode.process_subcommands_now_P(PSTR("M420 S0 Z0"));
- #endif
-
- // Reset E, raise Z, home XY...
- gcode.process_subcommands_now_P(PSTR("G92.9 E0"
- #if Z_HOME_DIR > 0
-
- // If Z homing goes to max, just reset E and home all
- "\n"
- "G28R0"
- #if ENABLED(MARLIN_DEV_MODE)
- "S"
- #endif
-
- #else // "G92.9 E0 ..."
-
- // Set Z to 0, raise Z by RECOVERY_ZRAISE, and Home (XY only for Cartesian)
- // with no raise. (Only do simulated homing in Marlin Dev Mode.)
- #if ENABLED(BACKUP_POWER_SUPPLY)
- "Z" STRINGIFY(POWER_LOSS_ZRAISE) // Z-axis was already raised at outage
- #else
- "Z0\n" // Set Z=0
- "G1Z" STRINGIFY(POWER_LOSS_ZRAISE) // Raise Z
- #endif
- "\n"
-
- "G28R0"
- #if ENABLED(MARLIN_DEV_MODE)
- "S"
- #elif !IS_KINEMATIC
- "XY"
- #endif
- #endif
- ));
-
- // Pretend that all axes are homed
- axis_homed = axis_known_position = xyz_bits;
-
- char cmd[MAX_CMD_SIZE+16], str_1[16], str_2[16];
-
- // Select the previously active tool (with no_move)
- #if EXTRUDERS > 1
- sprintf_P(cmd, PSTR("T%i S"), info.active_extruder);
- gcode.process_subcommands_now(cmd);
- #endif
-
- // Recover volumetric extrusion state
- #if DISABLED(NO_VOLUMETRICS)
- #if EXTRUDERS > 1
- for (int8_t e = 0; e < EXTRUDERS; e++) {
- dtostrf(info.filament_size[e], 1, 3, str_1);
- sprintf_P(cmd, PSTR("M200 T%i D%s"), e, str_1);
- gcode.process_subcommands_now(cmd);
- }
- if (!info.volumetric_enabled) {
- sprintf_P(cmd, PSTR("M200 T%i D0"), info.active_extruder);
- gcode.process_subcommands_now(cmd);
- }
- #else
- if (info.volumetric_enabled) {
- dtostrf(info.filament_size, 1, 3, str_1);
- sprintf_P(cmd, PSTR("M200 D%s"), str_1);
- gcode.process_subcommands_now(cmd);
- }
- #endif
- #endif
-
- #if HAS_HEATED_BED
- const int16_t bt = info.target_temperature_bed;
- if (bt) {
- // Restore the bed temperature
- sprintf_P(cmd, PSTR("M190 S%i"), bt);
- gcode.process_subcommands_now(cmd);
- }
- #endif
-
- // Restore all hotend temperatures
- #if HOTENDS
- HOTEND_LOOP() {
- const int16_t et = info.target_temperature[e];
- if (et) {
- #if HOTENDS > 1
- sprintf_P(cmd, PSTR("T%i"), e);
- gcode.process_subcommands_now(cmd);
- #endif
- sprintf_P(cmd, PSTR("M109 S%i"), et);
- gcode.process_subcommands_now(cmd);
- }
- }
- #endif
-
- // Restore print cooling fan speeds
- FANS_LOOP(i) {
- uint8_t f = info.fan_speed[i];
- if (f) {
- sprintf_P(cmd, PSTR("M106 P%i S%i"), i, f);
- gcode.process_subcommands_now(cmd);
- }
- }
-
- // Restore retract and hop state
- #if ENABLED(FWRETRACT)
- for (uint8_t e = 0; e < EXTRUDERS; e++) {
- if (info.retract[e] != 0.0) {
- fwretract.current_retract[e] = info.retract[e];
- fwretract.retracted[e] = true;
- }
- }
- fwretract.current_hop = info.retract_hop;
- #endif
-
- #if HAS_LEVELING
- // Restore leveling state before 'G92 Z' to ensure
- // the Z stepper count corresponds to the native Z.
- if (info.fade || info.leveling) {
- sprintf_P(cmd, PSTR("M420 S%i Z%s"), int(info.leveling), dtostrf(info.fade, 1, 1, str_1));
- gcode.process_subcommands_now(cmd);
- }
- #endif
-
- #if ENABLED(GRADIENT_MIX)
- memcpy(&mixer.gradient, &info.gradient, sizeof(info.gradient));
- #endif
-
- // Extrude and retract to clean the nozzle
- #if POWER_LOSS_PURGE_LEN
- //sprintf_P(cmd, PSTR("G1 E%d F200"), POWER_LOSS_PURGE_LEN);
- //gcode.process_subcommands_now(cmd);
- gcode.process_subcommands_now_P(PSTR("G1 E" STRINGIFY(POWER_LOSS_PURGE_LEN) " F200"));
- #endif
-
- #if 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);
- #endif
-
- // Move back to the saved XY
- sprintf_P(cmd, PSTR("G1 X%s Y%s F3000"),
- dtostrf(info.current_position.x, 1, 3, str_1),
- dtostrf(info.current_position.y, 1, 3, str_2)
- );
- gcode.process_subcommands_now(cmd);
-
- // Move back to the saved Z
- dtostrf(info.current_position.z, 1, 3, str_1);
- #if Z_HOME_DIR > 0
- sprintf_P(cmd, PSTR("G1 Z%s F200"), str_1);
- #else
- gcode.process_subcommands_now_P(PSTR("G1 Z0 F200"));
- sprintf_P(cmd, PSTR("G92.9 Z%s"), str_1);
- #endif
- gcode.process_subcommands_now(cmd);
-
- // Un-retract
- #if POWER_LOSS_PURGE_LEN
- //sprintf_P(cmd, PSTR("G1 E%d F3000"), POWER_LOSS_PURGE_LEN);
- //gcode.process_subcommands_now(cmd);
- gcode.process_subcommands_now_P(PSTR("G1 E" STRINGIFY(POWER_LOSS_PURGE_LEN) " F3000"));
- #endif
-
- // Restore the feedrate
- sprintf_P(cmd, PSTR("G1 F%d"), info.feedrate);
- gcode.process_subcommands_now(cmd);
-
- // Restore E position with G92.9
- sprintf_P(cmd, PSTR("G92.9 E%s"), dtostrf(info.current_position.e, 1, 3, str_1));
- gcode.process_subcommands_now(cmd);
-
- // Relative axis modes
- gcode.axis_relative = info.axis_relative;
-
- #if HAS_HOME_OFFSET
- home_offset = info.home_offset;
- #endif
- #if HAS_POSITION_SHIFT
- position_shift = info.position_shift;
- #endif
- #if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
- LOOP_XYZ(i) update_workspace_offset((AxisEnum)i);
- #endif
-
- // Resume the SD file from the last position
- char *fn = info.sd_filename;
- extern const char M23_STR[];
- sprintf_P(cmd, M23_STR, fn);
- gcode.process_subcommands_now(cmd);
- sprintf_P(cmd, PSTR("M24 S%ld T%ld"), resume_sdpos, info.print_job_elapsed);
- gcode.process_subcommands_now(cmd);
- }
-
- #if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
-
- void PrintJobRecovery::debug(PGM_P const prefix) {
- DEBUG_PRINT_P(prefix);
- DEBUG_ECHOLNPAIR(" Job Recovery Info...\nvalid_head:", int(info.valid_head), " valid_foot:", int(info.valid_foot));
- if (info.valid_head) {
- if (info.valid_head == info.valid_foot) {
- DEBUG_ECHOPGM("current_position: ");
- LOOP_XYZE(i) {
- if (i) DEBUG_CHAR(',');
- DEBUG_ECHO(info.current_position[i]);
- }
- DEBUG_EOL();
-
- #if HAS_HOME_OFFSET
- DEBUG_ECHOPGM("home_offset: ");
- LOOP_XYZ(i) {
- if (i) DEBUG_CHAR(',');
- DEBUG_ECHO(info.home_offset[i]);
- }
- DEBUG_EOL();
- #endif
-
- #if HAS_POSITION_SHIFT
- DEBUG_ECHOPGM("position_shift: ");
- LOOP_XYZ(i) {
- if (i) DEBUG_CHAR(',');
- DEBUG_ECHO(info.position_shift[i]);
- }
- DEBUG_EOL();
- #endif
-
- DEBUG_ECHOLNPAIR("feedrate: ", info.feedrate);
-
- #if EXTRUDERS > 1
- DEBUG_ECHOLNPAIR("active_extruder: ", int(info.active_extruder));
- #endif
-
- #if HOTENDS
- DEBUG_ECHOPGM("target_temperature: ");
- HOTEND_LOOP() {
- DEBUG_ECHO(info.target_temperature[e]);
- if (e < HOTENDS - 1) DEBUG_CHAR(',');
- }
- DEBUG_EOL();
- #endif
-
- #if HAS_HEATED_BED
- DEBUG_ECHOLNPAIR("target_temperature_bed: ", info.target_temperature_bed);
- #endif
-
- #if FAN_COUNT
- DEBUG_ECHOPGM("fan_speed: ");
- FANS_LOOP(i) {
- DEBUG_ECHO(int(info.fan_speed[i]));
- if (i < FAN_COUNT - 1) DEBUG_CHAR(',');
- }
- DEBUG_EOL();
- #endif
-
- #if HAS_LEVELING
- DEBUG_ECHOLNPAIR("leveling: ", int(info.leveling), "\n fade: ", int(info.fade));
- #endif
- #if ENABLED(FWRETRACT)
- DEBUG_ECHOPGM("retract: ");
- for (int8_t e = 0; e < EXTRUDERS; e++) {
- DEBUG_ECHO(info.retract[e]);
- if (e < EXTRUDERS - 1) DEBUG_CHAR(',');
- }
- DEBUG_EOL();
- DEBUG_ECHOLNPAIR("retract_hop: ", info.retract_hop);
- #endif
- DEBUG_ECHOLNPAIR("sd_filename: ", info.sd_filename);
- DEBUG_ECHOLNPAIR("sdpos: ", info.sdpos);
- DEBUG_ECHOLNPAIR("print_job_elapsed: ", info.print_job_elapsed);
- }
- else
- DEBUG_ECHOLNPGM("INVALID DATA");
- }
- DEBUG_ECHOLNPGM("---");
- }
-
- #endif // DEBUG_POWER_LOSS_RECOVERY
-
- #endif // POWER_LOSS_RECOVERY
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