Creality3D Power-Loss Recovery

.travis.yml

@@ -95,7 +95,7 @@ script:
   - opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT EEPROM_SETTINGS
   - opt_enable BLINKM PCA9632 RGB_LED NEOPIXEL_LED AUTO_POWER_CONTROL NOZZLE_PARK_FEATURE FILAMENT_RUNOUT_SENSOR
   - opt_enable AUTO_BED_LEVELING_LINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE SKEW_CORRECTION SKEW_CORRECTION_FOR_Z SKEW_CORRECTION_GCODE
-  - opt_enable_adv ARC_P_CIRCLES ADVANCED_PAUSE_FEATURE CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS
+  - opt_enable_adv ARC_P_CIRCLES ADVANCED_PAUSE_FEATURE CNC_WORKSPACE_PLANES CNC_COORDINATE_SYSTEMS POWER_LOSS_RECOVERY
   - opt_enable_adv FWRETRACT MAX7219_DEBUG LED_CONTROL_MENU CASE_LIGHT_ENABLE CASE_LIGHT_USE_NEOPIXEL CODEPENDENT_XY_HOMING
   - opt_set GRID_MAX_POINTS_X 16
   - opt_set_adv FANMUX0_PIN 53

Marlin/Conditionals_post.h

@@ -1225,7 +1225,7 @@
   #define GRID_MAX_POINTS ((GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y))
 
   // Add commands that need sub-codes to this list
-  #define USE_GCODE_SUBCODES ENABLED(G38_PROBE_TARGET) || ENABLED(CNC_COORDINATE_SYSTEMS)
+  #define USE_GCODE_SUBCODES ENABLED(G38_PROBE_TARGET) || ENABLED(CNC_COORDINATE_SYSTEMS) || ENABLED(POWER_LOSS_RECOVERY)
 
   // Parking Extruder
   #if ENABLED(PARKING_EXTRUDER)

Marlin/Configuration_adv.h

@@ -555,6 +555,16 @@
   // Add an option in the menu to run all auto#.g files
   //#define MENU_ADDAUTOSTART
 
+  /**
+   * Continue after Power-Loss (Creality3D)
+   *
+   * Store the current state to the SD Card at the start of each layer
+   * during SD printing. If the recovery file is found at boot time, present
+   * an option on the LCD screen to continue the print from the last-known
+   * point in the file.
+   */
+  //#define POWER_LOSS_RECOVERY
+
   /**
    * Sort SD file listings in alphabetical order.
    *

Marlin/M100_Free_Mem_Chk.cpp

@@ -59,8 +59,6 @@
 
 #define TEST_BYTE ((char) 0xE5)
 
-extern char command_queue[BUFSIZE][MAX_CMD_SIZE];
-
 extern char* __brkval;
 extern size_t  __heap_start, __heap_end, __flp;
 extern char __bss_end;

Marlin/Marlin.h

@@ -197,6 +197,10 @@ bool enqueue_and_echo_command(const char* cmd, bool say_ok=false); // Add a sing
 void enqueue_and_echo_commands_P(const char * const cmd);          // Set one or more commands to be prioritized over the next Serial/SD command.
 void clear_command_queue();
 
+#if ENABLED(M100_FREE_MEMORY_WATCHER) || ENABLED(POWER_LOSS_RECOVERY)
+  extern char command_queue[BUFSIZE][MAX_CMD_SIZE];
+#endif
+
 #define HAS_LCD_QUEUE_NOW (ENABLED(MALYAN_LCD) || (ENABLED(ULTIPANEL) && (ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(PID_AUTOTUNE_MENU) || ENABLED(ADVANCED_PAUSE_FEATURE))))
 #define HAS_QUEUE_NOW (ENABLED(SDSUPPORT) || HAS_LCD_QUEUE_NOW)
 #if HAS_QUEUE_NOW

Marlin/Marlin_main.cpp

@@ -288,6 +288,10 @@
   #include "fwretract.h"
 #endif
 
+#if ENABLED(POWER_LOSS_RECOVERY)
+  #include "power_loss_recovery.h"
+#endif
+
 #if ENABLED(FILAMENT_RUNOUT_SENSOR)
   #include "runout.h"
 #endif
@@ -415,14 +419,11 @@ static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  * the main loop. The process_next_command function parses the next
  * command and hands off execution to individual handler functions.
  */
-uint8_t commands_in_queue = 0; // Count of commands in the queue
+uint8_t commands_in_queue = 0, // Count of commands in the queue
-static uint8_t cmd_queue_index_r = 0, // Ring buffer read position
+        cmd_queue_index_r = 0, // Ring buffer read (out) position
-               cmd_queue_index_w = 0; // Ring buffer write position
+        cmd_queue_index_w = 0; // Ring buffer write (in) position
-#if ENABLED(M100_FREE_MEMORY_WATCHER)
+
-  char command_queue[BUFSIZE][MAX_CMD_SIZE];  // Necessary so M100 Free Memory Dumper can show us the commands and any corruption
+char command_queue[BUFSIZE][MAX_CMD_SIZE];
-#else                                         // This can be collapsed back to the way it was soon.
-static char command_queue[BUFSIZE][MAX_CMD_SIZE];
-#endif
 
 /**
  * Next Injected Command pointer. NULL if no commands are being injected.
@@ -1231,21 +1232,43 @@ inline void get_serial_commands() {
     }
   }
 
+  #if ENABLED(POWER_LOSS_RECOVERY)
+
+    inline bool drain_job_recovery_commands() {
+      static uint8_t job_recovery_commands_index = 0; // Resets on reboot
+      if (job_recovery_commands_count) {
+        if (_enqueuecommand(job_recovery_commands[job_recovery_commands_index])) {
+          ++job_recovery_commands_index;
+          if (!--job_recovery_commands_count) job_recovery_phase = JOB_RECOVERY_IDLE;
+        }
+        return true;
+      }
+      return false;
+    }
+
+  #endif
+
 #endif // SDSUPPORT
 
 /**
  * Add to the circular command queue the next command from:
  *  - The command-injection queue (injected_commands_P)
  *  - The active serial input (usually USB)
+ *  - Commands left in the queue after power-loss
  *  - The SD card file being actively printed
  */
 void get_available_commands() {
 
-  // if any immediate commands remain, don't get other commands yet
+  // Immediate commands block the other queues
   if (drain_injected_commands_P()) return;
 
   get_serial_commands();
 
+  #if ENABLED(POWER_LOSS_RECOVERY)
+    // Commands for power-loss recovery take precedence
+    if (job_recovery_phase == JOB_RECOVERY_YES && drain_job_recovery_commands()) return;
+  #endif
+
   #if ENABLED(SDSUPPORT)
     get_sdcard_commands();
   #endif
@@ -7017,6 +7040,10 @@ inline void gcode_M17() {
    * M24: Start or Resume SD Print
    */
   inline void gcode_M24() {
+    #if ENABLED(POWER_LOSS_RECOVERY)
+      card.removeJobRecoveryFile();
+    #endif
+
     #if ENABLED(PARK_HEAD_ON_PAUSE)
       resume_print();
     #endif
@@ -14274,6 +14301,10 @@ void setup() {
     #endif
   #endif
 
+  #if ENABLED(POWER_LOSS_RECOVERY)
+    do_print_job_recovery();
+  #endif
+
   #if ENABLED(USE_WATCHDOG)
     watchdog_init();
   #endif
@@ -14351,8 +14382,12 @@ void loop() {
             ok_to_send();
         }
       }
-      else
+      else {
         process_next_command();
+        #if ENABLED(POWER_LOSS_RECOVERY)
+          if (card.cardOK && card.sdprinting) save_job_recovery_info();
+        #endif
+      }
 
     #else
 

Marlin/SanityCheck.h

@@ -435,7 +435,7 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
   #elif ENABLED(BABYSTEP_ZPROBE_OFFSET) && !HAS_BED_PROBE
     #error "BABYSTEP_ZPROBE_OFFSET requires a probe."
   #elif ENABLED(BABYSTEP_ZPROBE_GFX_OVERLAY) && !ENABLED(DOGLCD)
-    #error "BABYSTEP_ZPROBE_GFX_OVERLAY requires a DOGLCD."
+    #error "BABYSTEP_ZPROBE_GFX_OVERLAY requires a Graphical LCD."
   #elif ENABLED(BABYSTEP_ZPROBE_GFX_OVERLAY) && !ENABLED(BABYSTEP_ZPROBE_OFFSET)
     #error "BABYSTEP_ZPROBE_GFX_OVERLAY requires a BABYSTEP_ZPROBE_OFFSET."
   #endif
@@ -1743,4 +1743,8 @@ static_assert(COUNT(sanity_arr_3) <= XYZE_N, "DEFAULT_MAX_ACCELERATION has too m
   #endif
 #endif
 
+#if ENABLED(POWER_LOSS_RECOVERY) && !ENABLED(ULTIPANEL)
+  #error "POWER_LOSS_RECOVERY currently requires an LCD Controller."
+#endif
+
 #endif // _SANITYCHECK_H_

Marlin/cardreader.cpp

@@ -31,6 +31,10 @@
 #include "language.h"
 #include "printcounter.h"
 
+#if ENABLED(POWER_LOSS_RECOVERY)
+  #include "power_loss_recovery.h"
+#endif
+
 #define LONGEST_FILENAME (longFilename[0] ? longFilename : filename)
 
 CardReader::CardReader() {
@@ -420,8 +424,7 @@ void CardReader::openFile(char* name, const bool read, const bool subcall/*=fals
         strncpy(subdirname, dirname_start, dirname_end - dirname_start);
         subdirname[dirname_end - dirname_start] = '\0';
         if (!myDir.open(curDir, subdirname, O_READ)) {
-          SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
+          SERIAL_PROTOCOLPAIR(MSG_SD_OPEN_FILE_FAIL, subdirname);
-          SERIAL_PROTOCOL(subdirname);
           SERIAL_PROTOCOLCHAR('.');
           return;
         }
@@ -928,6 +931,15 @@ void CardReader::printingHasFinished() {
   }
   else {
     sdprinting = false;
+
+    #if ENABLED(POWER_LOSS_RECOVERY)
+      openJobRecoveryFile(false);
+      job_recovery_info.valid_head = job_recovery_info.valid_foot = 0;
+      (void)saveJobRecoveryInfo();
+      closeJobRecoveryFile();
+      job_recovery_commands_count = 0;
+    #endif
+
     #if ENABLED(SD_FINISHED_STEPPERRELEASE) && defined(SD_FINISHED_RELEASECOMMAND)
       stepper.cleaning_buffer_counter = 1; // The command will fire from the Stepper ISR
     #endif
@@ -959,4 +971,46 @@ void CardReader::printingHasFinished() {
   }
 #endif // AUTO_REPORT_SD_STATUS
 
+#if ENABLED(POWER_LOSS_RECOVERY)
+
+  char job_recovery_file_name[4] = "bin";
+
+  void CardReader::openJobRecoveryFile(const bool read) {
+    if (!cardOK) return;
+    if (jobRecoveryFile.isOpen()) return;
+    if (!jobRecoveryFile.open(&root, job_recovery_file_name, read ? O_READ : O_CREAT | O_WRITE | O_TRUNC | O_SYNC)) {
+      SERIAL_PROTOCOLPAIR(MSG_SD_OPEN_FILE_FAIL, job_recovery_file_name);
+      SERIAL_PROTOCOLCHAR('.');
+      SERIAL_EOL();
+    }
+    else
+      SERIAL_PROTOCOLLNPAIR(MSG_SD_WRITE_TO_FILE, job_recovery_file_name);
+  }
+
+  void CardReader::closeJobRecoveryFile() { jobRecoveryFile.close(); }
+
+  bool CardReader::jobRecoverFileExists() {
+    return jobRecoveryFile.open(&root, job_recovery_file_name, O_READ);
+  }
+
+  int16_t CardReader::saveJobRecoveryInfo() {
+    jobRecoveryFile.seekSet(0);
+    const int16_t ret = jobRecoveryFile.write(&job_recovery_info, sizeof(job_recovery_info));
+    if (ret == -1) SERIAL_PROTOCOLLNPGM("Power-loss file write failed.");
+    return ret;
+  }
+
+  int16_t CardReader::loadJobRecoveryInfo() {
+    return jobRecoveryFile.read(&job_recovery_info, sizeof(job_recovery_info));
+  }
+
+  void CardReader::removeJobRecoveryFile() {
+    if (jobRecoveryFile.remove(&root, job_recovery_file_name))
+      SERIAL_PROTOCOLLNPGM("Power-loss file deleted.");
+    else
+      SERIAL_PROTOCOLLNPGM("Power-loss file delete failed.");
+  }
+
+#endif // POWER_LOSS_RECOVERY
+
 #endif // SDSUPPORT

Marlin/cardreader.h

@@ -89,11 +89,21 @@ public:
     #endif
   #endif
 
+  #if ENABLED(POWER_LOSS_RECOVERY)
+    void openJobRecoveryFile(const bool read);
+    void closeJobRecoveryFile();
+    bool jobRecoverFileExists();
+    int16_t saveJobRecoveryInfo();
+    int16_t loadJobRecoveryInfo();
+    void removeJobRecoveryFile();
+  #endif
+
   FORCE_INLINE void pauseSDPrint() { sdprinting = false; }
   FORCE_INLINE bool isFileOpen() { return file.isOpen(); }
   FORCE_INLINE bool eof() { return sdpos >= filesize; }
   FORCE_INLINE int16_t get() { sdpos = file.curPosition(); return (int16_t)file.read(); }
-  FORCE_INLINE void setIndex(long index) { sdpos = index; file.seekSet(index); }
+  FORCE_INLINE void setIndex(const uint32_t index) { sdpos = index; file.seekSet(index); }
+  FORCE_INLINE uint32_t getIndex() { return sdpos; }
   FORCE_INLINE uint8_t percentDone() { return (isFileOpen() && filesize) ? sdpos / ((filesize + 99) / 100) : 0; }
   FORCE_INLINE char* getWorkDirName() { workDir.getFilename(filename); return filename; }
 
@@ -168,6 +178,10 @@ private:
   SdVolume volume;
   SdFile file;
 
+  #if ENABLED(POWER_LOSS_RECOVERY)
+    SdFile jobRecoveryFile;
+  #endif
+
   #define SD_PROCEDURE_DEPTH 1
   #define MAXPATHNAMELENGTH (FILENAME_LENGTH*MAX_DIR_DEPTH + MAX_DIR_DEPTH + 1)
   uint8_t file_subcall_ctr;

Marlin/power_loss_recovery.cpp

@@ -0,0 +1,237 @@
+/**
+ * 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 "MarlinConfig.h"
+
+#if ENABLED(POWER_LOSS_RECOVERY)
+
+#include "power_loss_recovery.h"
+
+#include "cardreader.h"
+#include "planner.h"
+#include "printcounter.h"
+#include "serial.h"
+#include "temperature.h"
+#include "ultralcd.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
+extern uint8_t commands_in_queue, cmd_queue_index_r;
+
+// Private
+static char sd_filename[MAXPATHNAMELENGTH];
+
+#if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
+  void debug_print_job_recovery(const bool recovery) {
+    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_PROTOCOLPAIR(": ", job_recovery_info.current_position[i]);
+        SERIAL_EOL();
+        SERIAL_PROTOCOLLNPAIR("feedrate: ", job_recovery_info.feedrate);
+        SERIAL_PROTOCOLPGM("target_temperature");
+        HOTEND_LOOP() SERIAL_PROTOCOLPAIR(": ", job_recovery_info.target_temperature[e]);
+        SERIAL_EOL();
+        SERIAL_PROTOCOLPGM("fanSpeeds");
+        for(uint8_t i = 0; i < FAN_COUNT; i++) SERIAL_PROTOCOLPAIR(": ", job_recovery_info.fanSpeeds[i]);
+        SERIAL_EOL();
+        #if HAS_LEVELING
+          SERIAL_PROTOCOLPAIR("leveling: ", int(job_recovery_info.leveling));
+          SERIAL_PROTOCOLLNPAIR(" fade: ", int(job_recovery_info.fade));
+        #endif
+        SERIAL_PROTOCOLLNPAIR("target_temperature_bed: ", job_recovery_info.target_temperature_bed);
+        SERIAL_PROTOCOLLNPAIR("cmd_queue_index_r: ", job_recovery_info.cmd_queue_index_r);
+        SERIAL_PROTOCOLLNPAIR("commands_in_queue: ", 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: ", 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");
+    }
+  }
+#endif // DEBUG_POWER_LOSS_RECOVERY
+
+/**
+ * Check for Print Job Recovery
+ * If the file has a saved state, populate the job_recovery_commands queue
+ */
+void do_print_job_recovery() {
+  //if (job_recovery_commands_count > 0) return;
+  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 !IS_KINEMATIC
+            " X Y"                                                                  // Home X and Y for Cartesian
+          #endif
+        ));
+
+        #if HAS_LEVELING
+          // Restore leveling state before G92 sets Z
+          // This ensures the steppers correspond to the native Z
+          sprintf_P(job_recovery_commands[ind++], PSTR("M420 S%i Z%s"), int(job_recovery_info.leveling), job_recovery_info.fade);
+        #endif
+
+        char str_1[16], str_2[16];
+        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
+
+        strcpy_P(job_recovery_commands[ind++], PSTR("M117 Continuing..."));
+
+        uint8_t r = job_recovery_info.cmd_queue_index_r;
+        while (job_recovery_info.commands_in_queue) {
+          strcpy(job_recovery_commands[ind++], job_recovery_info.command_queue[r]);
+          job_recovery_info.commands_in_queue--;
+          r = (r + 1) % BUFSIZE;
+        }
+
+        job_recovery_commands_count = ind;
+
+        #if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
+          debug_print_job_recovery(true);
+        #endif
+
+        card.openFile(sd_filename, true);
+        card.setIndex(job_recovery_info.sdpos);
+      }
+      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 "bin" 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 (
+    #if SAVE_INFO_INTERVAL_MS > 0
+      ELAPSED(ms, next_save_ms) ||
+    #endif
+    #if ENABLED(SAVE_EACH_CMD_MODE)
+      true
+    #else
+      (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;
+    COPY(job_recovery_info.target_temperature, thermalManager.target_temperature);
+    job_recovery_info.target_temperature_bed = thermalManager.target_temperature_bed;
+    COPY(job_recovery_info.fanSpeeds, fanSpeeds);
+
+    #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() * 1000UL;
+
+    // SD file position
+    card.getAbsFilename(sd_filename);
+    job_recovery_info.sdpos = card.getIndex();
+
+    #if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
+      SERIAL_PROTOCOLLNPGM("Saving job_recovery_info");
+      debug_print_job_recovery(false);
+    #endif
+
+    card.openJobRecoveryFile(false);
+    (void)card.saveJobRecoveryInfo();
+  }
+}
+
+#endif // POWER_LOSS_RECOVERY

Marlin/power_loss_recovery.h

@@ -0,0 +1,86 @@
+/**
+ * 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.h - Resume an SD print after power-loss
+ */
+
+#ifndef _POWER_LOSS_RECOVERY_H_
+#define _POWER_LOSS_RECOVERY_H_
+
+#include "cardreader.h"
+#include "types.h"
+#include "MarlinConfig.h"
+
+#define SAVE_INFO_INTERVAL_MS 0
+//#define SAVE_EACH_CMD_MODE
+//#define DEBUG_POWER_LOSS_RECOVERY
+
+typedef struct {
+  uint8_t valid_head;
+
+  // Machine state
+  float current_position[NUM_AXIS], feedrate;
+  int16_t target_temperature[HOTENDS],
+          target_temperature_bed,
+          fanSpeeds[FAN_COUNT];
+
+  #if HAS_LEVELING
+    bool leveling;
+    float fade;
+  #endif
+
+  // Command queue
+  uint8_t cmd_queue_index_r, commands_in_queue;
+  char command_queue[BUFSIZE][MAX_CMD_SIZE];
+
+  // SD File position
+  uint32_t sdpos;
+
+  // Job elapsed time
+  millis_t print_job_elapsed;
+
+  uint8_t valid_foot;
+} job_recovery_info_t;
+
+extern job_recovery_info_t job_recovery_info;
+
+enum JobRecoveryPhase : unsigned char {
+  JOB_RECOVERY_IDLE,
+  JOB_RECOVERY_MAYBE,
+  JOB_RECOVERY_YES
+};
+extern JobRecoveryPhase job_recovery_phase;
+
+#if HAS_LEVELING
+  #define APPEND_CMD_COUNT 7
+#else
+  #define APPEND_CMD_COUNT 5
+#endif
+
+extern char job_recovery_commands[BUFSIZE + APPEND_CMD_COUNT][MAX_CMD_SIZE];
+extern uint8_t job_recovery_commands_count;
+
+void do_print_job_recovery();
+void save_job_recovery_info();
+
+#endif // _POWER_LOSS_RECOVERY_H_

Marlin/ultralcd.cpp

@@ -65,6 +65,10 @@
   bool lcd_external_control; // = false
 #endif
 
+#if ENABLED(POWER_LOSS_RECOVERY)
+  #include "power_loss_recovery.h"
+#endif
+
 // Initialized by settings.load()
 int16_t lcd_preheat_hotend_temp[2], lcd_preheat_bed_temp[2], lcd_preheat_fan_speed[2];
 
@@ -831,10 +835,70 @@ void kill_screen(const char* lcd_msg) {
       abort_sd_printing = true;
       lcd_setstatusPGM(PSTR(MSG_PRINT_ABORTED), -1);
       lcd_return_to_status();
+
+      #if ENABLED(POWER_LOSS_RECOVERY)
+        card.openJobRecoveryFile(false);
+        job_recovery_info.valid_head = job_recovery_info.valid_foot = 0;
+        (void)card.saveJobRecoveryInfo();
+        card.closeJobRecoveryFile();
+        job_recovery_commands_count = 0;
+      #endif
     }
 
   #endif // SDSUPPORT
 
+  #if ENABLED(POWER_LOSS_RECOVERY)
+
+    static void lcd_sdcard_recover_job() {
+      char cmd[20];
+
+      // Return to status now
+      lcd_return_to_status();
+
+      // Turn leveling off and home
+      enqueue_and_echo_commands_P(PSTR("M420 S0\nG28"
+        #if !IS_KINEMATIC
+          " X Y"
+        #endif
+      ));
+
+      // Restore the bed temperature
+      sprintf_P(cmd, PSTR("M190 S%i"), job_recovery_info.target_temperature_bed);
+      enqueue_and_echo_command(cmd);
+
+      // Restore all hotend temperatures
+      HOTEND_LOOP() {
+        sprintf_P(cmd, PSTR("M109 S%i"), job_recovery_info.target_temperature[e]);
+        enqueue_and_echo_command(cmd);
+      }
+
+      // Restore print cooling fan speeds
+      for (uint8_t i = 0; i < FAN_COUNT; i++) {
+        sprintf_P(cmd, PSTR("M106 P%i S%i"), i, job_recovery_info.fanSpeeds[i]);
+        enqueue_and_echo_command(cmd);
+      }
+
+      // Start draining the job recovery command queue
+      job_recovery_phase = JOB_RECOVERY_YES;
+
+      // Resume the print job timer
+      if (job_recovery_info.print_job_elapsed)
+        print_job_timer.resume(job_recovery_info.print_job_elapsed);
+
+      // Start getting commands from SD
+      card.startFileprint();
+    }
+
+    static void lcd_job_recovery_menu() {
+      defer_return_to_status = true;
+      START_MENU();
+      MENU_ITEM(function, MSG_RESUME_PRINT, lcd_sdcard_recover_job);
+      MENU_ITEM(function, MSG_STOP_PRINT, lcd_sdcard_stop);
+      END_MENU();
+    }
+
+  #endif
+
   #if ENABLED(MENU_ITEM_CASE_LIGHT)
 
     extern uint8_t case_light_brightness;
@@ -5025,7 +5089,7 @@ void lcd_update() {
       }
     #endif
 
-  #endif
+  #endif // ULTIPANEL
 
   #if ENABLED(SDSUPPORT) && PIN_EXISTS(SD_DETECT)
 
@@ -5055,6 +5119,13 @@ void lcd_update() {
 
   #endif // SDSUPPORT && SD_DETECT_PIN
 
+  #if ENABLED(POWER_LOSS_RECOVERY)
+    if (job_recovery_commands_count && job_recovery_phase == JOB_RECOVERY_IDLE) {
+      lcd_goto_screen(lcd_job_recovery_menu);
+      job_recovery_phase = JOB_RECOVERY_MAYBE; // Waiting for a response
+    }
+  #endif
+
   const millis_t ms = millis();
   if (ELAPSED(ms, next_lcd_update_ms)
     #if ENABLED(DOGLCD)