545 lines
15 KiB
C++
545 lines
15 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* power_loss_recovery.cpp - Resume an SD print after power-loss
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*/
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#include "../inc/MarlinConfigPre.h"
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#if ENABLED(POWER_LOSS_RECOVERY)
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#include "powerloss.h"
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#include "../core/macros.h"
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bool PrintJobRecovery::enabled; // Initialized by settings.load()
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SdFile PrintJobRecovery::file;
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job_recovery_info_t PrintJobRecovery::info;
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const char PrintJobRecovery::filename[5] = "/PLR";
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uint8_t PrintJobRecovery::queue_index_r;
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uint32_t PrintJobRecovery::cmd_sdpos, // = 0
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PrintJobRecovery::sdpos[BUFSIZE];
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#include "../sd/cardreader.h"
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#include "../lcd/ultralcd.h"
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#include "../gcode/queue.h"
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#include "../gcode/gcode.h"
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#include "../module/motion.h"
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#include "../module/planner.h"
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#include "../module/printcounter.h"
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#include "../module/temperature.h"
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#include "../core/serial.h"
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#if ENABLED(FWRETRACT)
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#include "fwretract.h"
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#endif
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#define DEBUG_OUT ENABLED(DEBUG_POWER_LOSS_RECOVERY)
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#include "../core/debug_out.h"
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PrintJobRecovery recovery;
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#ifndef POWER_LOSS_PURGE_LEN
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#define POWER_LOSS_PURGE_LEN 0
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#endif
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#ifndef POWER_LOSS_RETRACT_LEN
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#define POWER_LOSS_RETRACT_LEN 0
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#endif
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#ifndef POWER_LOSS_ZRAISE
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#define POWER_LOSS_ZRAISE 2
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#endif
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/**
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* Clear the recovery info
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*/
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void PrintJobRecovery::init() { memset(&info, 0, sizeof(info)); }
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/**
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* Enable or disable then call changed()
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*/
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void PrintJobRecovery::enable(const bool onoff) {
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enabled = onoff;
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changed();
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}
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/**
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* The enabled state was changed:
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* - Enabled: Purge the job recovery file
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* - Disabled: Write the job recovery file
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*/
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void PrintJobRecovery::changed() {
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if (!enabled)
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purge();
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else if (IS_SD_PRINTING())
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save(true);
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}
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/**
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* Check for Print Job Recovery during setup()
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*
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* If a saved state exists send 'M1000 S' to initiate job recovery.
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*/
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void PrintJobRecovery::check() {
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//if (!card.isMounted()) card.mount();
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if (card.isMounted()) {
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load();
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if (!valid()) return cancel();
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queue.inject_P(PSTR("M1000 S"));
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}
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}
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/**
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* Delete the recovery file and clear the recovery data
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*/
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void PrintJobRecovery::purge() {
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init();
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card.removeJobRecoveryFile();
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}
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/**
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* Load the recovery data, if it exists
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*/
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void PrintJobRecovery::load() {
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if (exists()) {
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open(true);
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(void)file.read(&info, sizeof(info));
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close();
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}
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debug(PSTR("Load"));
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}
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/**
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* Set info fields that won't change
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*/
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void PrintJobRecovery::prepare() {
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card.getAbsFilename(info.sd_filename); // SD filename
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cmd_sdpos = 0;
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}
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/**
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* Save the current machine state to the power-loss recovery file
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*/
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void PrintJobRecovery::save(const bool force/*=false*/) {
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#if SAVE_INFO_INTERVAL_MS > 0
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static millis_t next_save_ms; // = 0
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millis_t ms = millis();
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#endif
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#ifndef POWER_LOSS_MIN_Z_CHANGE
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#define POWER_LOSS_MIN_Z_CHANGE 0.05 // Vase-mode-friendly out of the box
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#endif
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// Did Z change since the last call?
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if (force
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#if DISABLED(SAVE_EACH_CMD_MODE) // Always save state when enabled
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#if SAVE_INFO_INTERVAL_MS > 0 // Save if interval is elapsed
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|| ELAPSED(ms, next_save_ms)
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#endif
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// Save if Z is above the last-saved position by some minimum height
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|| current_position.z > info.current_position.z + POWER_LOSS_MIN_Z_CHANGE
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#endif
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) {
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#if SAVE_INFO_INTERVAL_MS > 0
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next_save_ms = ms + SAVE_INFO_INTERVAL_MS;
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#endif
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// Set Head and Foot to matching non-zero values
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if (!++info.valid_head) ++info.valid_head; // non-zero in sequence
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//if (!IS_SD_PRINTING()) info.valid_head = 0;
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info.valid_foot = info.valid_head;
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// Machine state
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info.current_position = current_position;
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TERN_(HAS_HOME_OFFSET, info.home_offset = home_offset);
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TERN_(HAS_POSITION_SHIFT, info.position_shift = position_shift);
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info.feedrate = uint16_t(feedrate_mm_s * 60.0f);
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#if EXTRUDERS > 1
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info.active_extruder = active_extruder;
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#endif
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#if DISABLED(NO_VOLUMETRICS)
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info.volumetric_enabled = parser.volumetric_enabled;
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#if EXTRUDERS > 1
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for (int8_t e = 0; e < EXTRUDERS; e++) info.filament_size[e] = planner.filament_size[e];
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#else
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if (parser.volumetric_enabled) info.filament_size[0] = planner.filament_size[active_extruder];
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#endif
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#endif
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#if EXTRUDERS
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HOTEND_LOOP() info.target_temperature[e] = thermalManager.temp_hotend[e].target;
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#endif
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TERN_(HAS_HEATED_BED, info.target_temperature_bed = thermalManager.temp_bed.target);
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#if HAS_FAN
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COPY(info.fan_speed, thermalManager.fan_speed);
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#endif
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#if HAS_LEVELING
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info.leveling = planner.leveling_active;
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info.fade = TERN0(ENABLE_LEVELING_FADE_HEIGHT, planner.z_fade_height);
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#endif
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TERN_(GRADIENT_MIX, memcpy(&info.gradient, &mixer.gradient, sizeof(info.gradient)));
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#if ENABLED(FWRETRACT)
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COPY(info.retract, fwretract.current_retract);
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info.retract_hop = fwretract.current_hop;
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#endif
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// Relative axis modes
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info.axis_relative = gcode.axis_relative;
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// Elapsed print job time
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info.print_job_elapsed = print_job_timer.duration();
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write();
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}
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}
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#if PIN_EXISTS(POWER_LOSS)
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void PrintJobRecovery::_outage() {
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#if ENABLED(BACKUP_POWER_SUPPLY)
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static bool lock = false;
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if (lock) return; // No re-entrance from idle() during raise_z()
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lock = true;
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#endif
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if (IS_SD_PRINTING()) save(true);
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TERN_(BACKUP_POWER_SUPPLY, raise_z());
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kill(GET_TEXT(MSG_OUTAGE_RECOVERY));
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}
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#if ENABLED(BACKUP_POWER_SUPPLY)
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void PrintJobRecovery::raise_z() {
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// Disable all heaters to reduce power loss
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thermalManager.disable_all_heaters();
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quickstop_stepper();
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// Raise Z axis
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gcode.process_subcommands_now_P(PSTR("G91\nG0 Z" STRINGIFY(POWER_LOSS_ZRAISE)));
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planner.synchronize();
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}
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#endif
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#endif
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/**
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* Save the recovery info the recovery file
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*/
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void PrintJobRecovery::write() {
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debug(PSTR("Write"));
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open(false);
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file.seekSet(0);
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const int16_t ret = file.write(&info, sizeof(info));
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if (ret == -1) DEBUG_ECHOLNPGM("Power-loss file write failed.");
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if (!file.close()) DEBUG_ECHOLNPGM("Power-loss file close failed.");
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}
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/**
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* Resume the saved print job
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*/
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void PrintJobRecovery::resume() {
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const uint32_t resume_sdpos = info.sdpos; // Get here before the stepper ISR overwrites it
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#if HAS_LEVELING
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// Make sure leveling is off before any G92 and G28
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gcode.process_subcommands_now_P(PSTR("M420 S0 Z0"));
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#endif
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// Reset E, raise Z, home XY...
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gcode.process_subcommands_now_P(PSTR("G92.9 E0"
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#if Z_HOME_DIR > 0
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// If Z homing goes to max, just reset E and home all
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"\n"
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"G28R0"
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TERN_(MARLIN_DEV_MODE, "S")
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#else // "G92.9 E0 ..."
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// Set Z to 0, raise Z by RECOVERY_ZRAISE, and Home (XY only for Cartesian)
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// with no raise. (Only do simulated homing in Marlin Dev Mode.)
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#if ENABLED(BACKUP_POWER_SUPPLY)
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"Z" STRINGIFY(POWER_LOSS_ZRAISE) // Z-axis was already raised at outage
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#else
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"Z0\n" // Set Z=0
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"G1Z" STRINGIFY(POWER_LOSS_ZRAISE) // Raise Z
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#endif
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"\n"
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"G28R0"
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#if ENABLED(MARLIN_DEV_MODE)
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"S"
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#elif !IS_KINEMATIC
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"XY"
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#endif
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#endif
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));
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// Pretend that all axes are homed
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axis_homed = axis_known_position = xyz_bits;
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char cmd[MAX_CMD_SIZE+16], str_1[16], str_2[16];
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// Select the previously active tool (with no_move)
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#if EXTRUDERS > 1
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sprintf_P(cmd, PSTR("T%i S"), info.active_extruder);
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gcode.process_subcommands_now(cmd);
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#endif
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// Recover volumetric extrusion state
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#if DISABLED(NO_VOLUMETRICS)
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#if EXTRUDERS > 1
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for (int8_t e = 0; e < EXTRUDERS; e++) {
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dtostrf(info.filament_size[e], 1, 3, str_1);
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sprintf_P(cmd, PSTR("M200 T%i D%s"), e, str_1);
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gcode.process_subcommands_now(cmd);
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}
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if (!info.volumetric_enabled) {
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sprintf_P(cmd, PSTR("M200 T%i D0"), info.active_extruder);
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gcode.process_subcommands_now(cmd);
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}
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#else
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if (info.volumetric_enabled) {
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dtostrf(info.filament_size[0], 1, 3, str_1);
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sprintf_P(cmd, PSTR("M200 D%s"), str_1);
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gcode.process_subcommands_now(cmd);
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}
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#endif
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#endif
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#if HAS_HEATED_BED
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const int16_t bt = info.target_temperature_bed;
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if (bt) {
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// Restore the bed temperature
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sprintf_P(cmd, PSTR("M190 S%i"), bt);
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gcode.process_subcommands_now(cmd);
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}
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#endif
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// Restore all hotend temperatures
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#if HAS_HOTEND
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HOTEND_LOOP() {
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const int16_t et = info.target_temperature[e];
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if (et) {
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#if HAS_MULTI_HOTEND
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sprintf_P(cmd, PSTR("T%i"), e);
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gcode.process_subcommands_now(cmd);
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#endif
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sprintf_P(cmd, PSTR("M109 S%i"), et);
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gcode.process_subcommands_now(cmd);
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}
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}
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#endif
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// Restore print cooling fan speeds
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FANS_LOOP(i) {
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uint8_t f = info.fan_speed[i];
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if (f) {
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sprintf_P(cmd, PSTR("M106 P%i S%i"), i, f);
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gcode.process_subcommands_now(cmd);
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}
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}
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// Restore retract and hop state
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#if ENABLED(FWRETRACT)
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LOOP_L_N(e, EXTRUDERS) {
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if (info.retract[e] != 0.0) {
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fwretract.current_retract[e] = info.retract[e];
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fwretract.retracted[e] = true;
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}
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}
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fwretract.current_hop = info.retract_hop;
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#endif
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#if HAS_LEVELING
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// Restore leveling state before 'G92 Z' to ensure
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// the Z stepper count corresponds to the native Z.
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if (info.fade || info.leveling) {
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sprintf_P(cmd, PSTR("M420 S%i Z%s"), int(info.leveling), dtostrf(info.fade, 1, 1, str_1));
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gcode.process_subcommands_now(cmd);
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}
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#endif
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#if ENABLED(GRADIENT_MIX)
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memcpy(&mixer.gradient, &info.gradient, sizeof(info.gradient));
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#endif
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// Extrude and retract to clean the nozzle
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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);
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//gcode.process_subcommands_now(cmd);
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gcode.process_subcommands_now_P(PSTR("G1 E" STRINGIFY(POWER_LOSS_PURGE_LEN) " F200"));
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#endif
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#if 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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// Move back to the saved XY
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sprintf_P(cmd, PSTR("G1 X%s Y%s F3000"),
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dtostrf(info.current_position.x, 1, 3, str_1),
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dtostrf(info.current_position.y, 1, 3, str_2)
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);
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gcode.process_subcommands_now(cmd);
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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
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sprintf_P(cmd, PSTR("G1 Z%s F200"), 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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#endif
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gcode.process_subcommands_now(cmd);
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// Un-retract
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#if POWER_LOSS_PURGE_LEN
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//sprintf_P(cmd, PSTR("G1 E%d F3000"), POWER_LOSS_PURGE_LEN);
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//gcode.process_subcommands_now(cmd);
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gcode.process_subcommands_now_P(PSTR("G1 E" STRINGIFY(POWER_LOSS_PURGE_LEN) " F3000"));
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#endif
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// Restore the feedrate
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sprintf_P(cmd, PSTR("G1 F%d"), info.feedrate);
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gcode.process_subcommands_now(cmd);
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// Restore E position with G92.9
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sprintf_P(cmd, PSTR("G92.9 E%s"), dtostrf(info.current_position.e, 1, 3, str_1));
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gcode.process_subcommands_now(cmd);
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// Relative axis modes
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gcode.axis_relative = info.axis_relative;
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TERN_(HAS_HOME_OFFSET, home_offset = info.home_offset);
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TERN_(HAS_POSITION_SHIFT, position_shift = info.position_shift);
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#if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
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LOOP_XYZ(i) update_workspace_offset((AxisEnum)i);
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#endif
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// Resume the SD file from the last position
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char *fn = info.sd_filename;
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extern const char M23_STR[];
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sprintf_P(cmd, M23_STR, fn);
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gcode.process_subcommands_now(cmd);
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sprintf_P(cmd, PSTR("M24 S%ld T%ld"), resume_sdpos, info.print_job_elapsed);
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gcode.process_subcommands_now(cmd);
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}
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#if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
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void PrintJobRecovery::debug(PGM_P const prefix) {
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DEBUG_PRINT_P(prefix);
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DEBUG_ECHOLNPAIR(" Job Recovery Info...\nvalid_head:", int(info.valid_head), " valid_foot:", int(info.valid_foot));
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if (info.valid_head) {
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if (info.valid_head == info.valid_foot) {
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DEBUG_ECHOPGM("current_position: ");
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LOOP_XYZE(i) {
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if (i) DEBUG_CHAR(',');
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DEBUG_ECHO(info.current_position[i]);
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}
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DEBUG_EOL();
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#if HAS_HOME_OFFSET
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DEBUG_ECHOPGM("home_offset: ");
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LOOP_XYZ(i) {
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if (i) DEBUG_CHAR(',');
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DEBUG_ECHO(info.home_offset[i]);
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}
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DEBUG_EOL();
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#endif
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#if HAS_POSITION_SHIFT
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DEBUG_ECHOPGM("position_shift: ");
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LOOP_XYZ(i) {
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if (i) DEBUG_CHAR(',');
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DEBUG_ECHO(info.position_shift[i]);
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}
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DEBUG_EOL();
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#endif
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DEBUG_ECHOLNPAIR("feedrate: ", info.feedrate);
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#if EXTRUDERS > 1
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DEBUG_ECHOLNPAIR("active_extruder: ", int(info.active_extruder));
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#endif
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#if HAS_HOTEND
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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 HAS_FAN
|
|
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
|