scube/Marlin/src/feature/power_loss_recovery.cpp

/**
 * Marlin 3D Printer Firmware
 * Copyright (C) 2016 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 "../lcd/ultralcd.h"
#include "../gcode/queue.h"
#include "../module/motion.h"
#include "../module/planner.h"
#include "../module/printcounter.h"
#include "../module/temperature.h"
#include "../sd/cardreader.h"
#include "../core/serial.h"

// Recovery data
job_recovery_info_t job_recovery_info;
JobRecoveryPhase job_recovery_phase = JOB_RECOVERY_IDLE;
uint8_t job_recovery_commands_count; //=0
char job_recovery_commands[BUFSIZE + APPEND_CMD_COUNT][MAX_CMD_SIZE];

extern uint8_t commands_in_queue, cmd_queue_index_r;

#if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
  void debug_print_job_recovery(const bool recovery) {
    SERIAL_PROTOCOLLNPGM("---- Job Recovery Info ----");
    SERIAL_PROTOCOLPAIR("valid_head:", int(job_recovery_info.valid_head));
    SERIAL_PROTOCOLLNPAIR(" valid_foot:", int(job_recovery_info.valid_foot));
    if (job_recovery_info.valid_head) {
      if (job_recovery_info.valid_head == job_recovery_info.valid_foot) {
        SERIAL_PROTOCOLPGM("current_position: ");
        LOOP_XYZE(i) {
          SERIAL_PROTOCOL(job_recovery_info.current_position[i]);
          if (i < E_AXIS) SERIAL_CHAR(',');
        }
        SERIAL_EOL();
        SERIAL_PROTOCOLLNPAIR("feedrate: ", job_recovery_info.feedrate);

        #if HOTENDS > 1
          SERIAL_PROTOCOLLNPAIR("active_hotend: ", int(job_recovery_info.active_hotend));
        #endif

        SERIAL_PROTOCOLPGM("target_temperature: ");
        HOTEND_LOOP() {
          SERIAL_PROTOCOL(job_recovery_info.target_temperature[e]);
          if (e < HOTENDS - 1) SERIAL_CHAR(',');
        }
        SERIAL_EOL();

        #if HAS_HEATED_BED
          SERIAL_PROTOCOLLNPAIR("target_temperature_bed: ", job_recovery_info.target_temperature_bed);
        #endif

        #if FAN_COUNT
          SERIAL_PROTOCOLPGM("fanSpeeds: ");
          for (int8_t i = 0; i < FAN_COUNT; i++) {
            SERIAL_PROTOCOL(job_recovery_info.fanSpeeds[i]);
            if (i < FAN_COUNT - 1) SERIAL_CHAR(',');
          }
          SERIAL_EOL();
        #endif

        #if HAS_LEVELING
          SERIAL_PROTOCOLPAIR("leveling: ", int(job_recovery_info.leveling));
          SERIAL_PROTOCOLLNPAIR(" fade: ", int(job_recovery_info.fade));
        #endif
        SERIAL_PROTOCOLLNPAIR("cmd_queue_index_r: ", int(job_recovery_info.cmd_queue_index_r));
        SERIAL_PROTOCOLLNPAIR("commands_in_queue: ", int(job_recovery_info.commands_in_queue));
        if (recovery)
          for (uint8_t i = 0; i < job_recovery_commands_count; i++) SERIAL_PROTOCOLLNPAIR("> ", job_recovery_commands[i]);
        else
          for (uint8_t i = 0; i < job_recovery_info.commands_in_queue; i++) SERIAL_PROTOCOLLNPAIR("> ", job_recovery_info.command_queue[i]);
        SERIAL_PROTOCOLLNPAIR("sd_filename: ", job_recovery_info.sd_filename);
        SERIAL_PROTOCOLLNPAIR("sdpos: ", job_recovery_info.sdpos);
        SERIAL_PROTOCOLLNPAIR("print_job_elapsed: ", job_recovery_info.print_job_elapsed);
      }
      else
        SERIAL_PROTOCOLLNPGM("INVALID DATA");
    }
    SERIAL_PROTOCOLLNPGM("---------------------------");
  }
#endif // DEBUG_POWER_LOSS_RECOVERY

/**
 * Check for Print Job Recovery during setup()
 *
 * If a saved state exists, populate job_recovery_commands with
 * commands to restore the machine state and continue the file.
 */
void check_print_job_recovery() {
  memset(&job_recovery_info, 0, sizeof(job_recovery_info));
  ZERO(job_recovery_commands);

  if (!card.cardOK) card.initsd();

  if (card.cardOK) {

    #if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
      SERIAL_PROTOCOLLNPAIR("Init job recovery info. Size: ", int(sizeof(job_recovery_info)));
    #endif

    if (card.jobRecoverFileExists()) {
      card.openJobRecoveryFile(true);
      card.loadJobRecoveryInfo();
      card.closeJobRecoveryFile();
      //card.removeJobRecoveryFile();

      if (job_recovery_info.valid_head && job_recovery_info.valid_head == job_recovery_info.valid_foot) {

        uint8_t ind = 0;

        #if HAS_LEVELING
          strcpy_P(job_recovery_commands[ind++], PSTR("M420 S0 Z0"));               // Leveling off before G92 or G28
        #endif

        strcpy_P(job_recovery_commands[ind++], PSTR("G92.0 Z0"));                   // Ensure Z is equal to 0
        strcpy_P(job_recovery_commands[ind++], PSTR("G1 Z2"));                      // Raise Z by 2mm (we hope!)
        strcpy_P(job_recovery_commands[ind++], PSTR("G28 R0"
          #if ENABLED(MARLIN_DEV_MODE)
            " S"
          #elif !IS_KINEMATIC
            " X Y"                                                                  // Home X and Y for Cartesian
          #endif
        ));

        char str_1[16], str_2[16];

        #if HAS_LEVELING
          if (job_recovery_info.fade || job_recovery_info.leveling) {
            // Restore leveling state before G92 sets Z
            // This ensures the steppers correspond to the native Z
            dtostrf(job_recovery_info.fade, 1, 1, str_1);
            sprintf_P(job_recovery_commands[ind++], PSTR("M420 S%i Z%s"), int(job_recovery_info.leveling), str_1);
          }
        #endif

        dtostrf(job_recovery_info.current_position[Z_AXIS] + 2, 1, 3, str_1);
        dtostrf(job_recovery_info.current_position[E_AXIS]
          #if ENABLED(SAVE_EACH_CMD_MODE)
            - 5
          #endif
          , 1, 3, str_2
        );
        sprintf_P(job_recovery_commands[ind++], PSTR("G92.0 Z%s E%s"), str_1, str_2); // Current Z + 2 and E

        uint8_t r = job_recovery_info.cmd_queue_index_r, c = job_recovery_info.commands_in_queue;
        while (c--) {
          strcpy(job_recovery_commands[ind++], job_recovery_info.command_queue[r]);
          r = (r + 1) % BUFSIZE;
        }

        if (job_recovery_info.sd_filename[0] == '/') job_recovery_info.sd_filename[0] = ' ';
        sprintf_P(job_recovery_commands[ind++], PSTR("M23 %s"), job_recovery_info.sd_filename);
        sprintf_P(job_recovery_commands[ind++], PSTR("M24 S%ld T%ld"), job_recovery_info.sdpos, job_recovery_info.print_job_elapsed);

        job_recovery_commands_count = ind;

        #if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
          debug_print_job_recovery(true);
        #endif
      }
      else {
        if (job_recovery_info.valid_head != job_recovery_info.valid_foot)
          LCD_ALERTMESSAGEPGM("INVALID DATA");
        memset(&job_recovery_info, 0, sizeof(job_recovery_info));
      }
    }
  }
}

/**
 * Save the current machine state to the power-loss recovery file
 */
void save_job_recovery_info() {
  #if SAVE_INFO_INTERVAL_MS > 0
    static millis_t next_save_ms; // = 0;  // Init on reset
    millis_t ms = millis();
  #endif
  if (
    // Save on every command
    #if ENABLED(SAVE_EACH_CMD_MODE)
      true
    #else
      // Save if power loss pin is triggered
      #if PIN_EXISTS(POWER_LOSS)
        READ(POWER_LOSS_PIN) == POWER_LOSS_STATE ||
      #endif
      // Save if interval is elapsed
      #if SAVE_INFO_INTERVAL_MS > 0
        ELAPSED(ms, next_save_ms) ||
      #endif
      // Save on every new Z height
      (current_position[Z_AXIS] > 0 && current_position[Z_AXIS] > job_recovery_info.current_position[Z_AXIS])
    #endif
  ) {
    #if SAVE_INFO_INTERVAL_MS > 0
      next_save_ms = ms + SAVE_INFO_INTERVAL_MS;
    #endif

    // Head and foot will match if valid data was saved
    if (!++job_recovery_info.valid_head) ++job_recovery_info.valid_head; // non-zero in sequence
    job_recovery_info.valid_foot = job_recovery_info.valid_head;

    // Machine state
    COPY(job_recovery_info.current_position, current_position);
    job_recovery_info.feedrate = feedrate_mm_s;

    #if HOTENDS > 1
      job_recovery_info.active_hotend = active_extruder;
    #endif

    COPY(job_recovery_info.target_temperature, thermalManager.target_temperature);

    #if HAS_HEATED_BED
      job_recovery_info.target_temperature_bed = thermalManager.target_temperature_bed;
    #endif

    #if FAN_COUNT
      COPY(job_recovery_info.fanSpeeds, fanSpeeds);
    #endif

    #if HAS_LEVELING
      job_recovery_info.leveling = planner.leveling_active;
      job_recovery_info.fade = (
        #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
          planner.z_fade_height
        #else
          0
        #endif
      );
    #endif

    // Commands in the queue
    job_recovery_info.cmd_queue_index_r = cmd_queue_index_r;
    job_recovery_info.commands_in_queue = commands_in_queue;
    COPY(job_recovery_info.command_queue, command_queue);

    // Elapsed print job time
    job_recovery_info.print_job_elapsed = print_job_timer.duration();

    // SD file position
    card.getAbsFilename(job_recovery_info.sd_filename);
    job_recovery_info.sdpos = card.getIndex();

    #if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
      SERIAL_PROTOCOLLNPGM("Saving...");
      debug_print_job_recovery(false);
    #endif

    card.openJobRecoveryFile(false);
    (void)card.saveJobRecoveryInfo();

    // If power-loss pin was triggered, write just once then kill
    #if PIN_EXISTS(POWER_LOSS)
      if (READ(POWER_LOSS_PIN) == POWER_LOSS_STATE) kill(MSG_POWER_LOSS_RECOVERY);
    #endif
  }
}

#endif // POWER_LOSS_RECOVERY