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Firmware2/Marlin/src/feature/powerloss.cpp
Jason Smith 76b67d55e2
Fix some Power Loss Recovery behaviors (#18558)
2020-07-15 01:14:03 -05:00

597 lines
17 KiB
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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 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 "powerloss.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];
#if ENABLED(DWIN_CREALITY_LCD)
bool PrintJobRecovery::dwin_flag; // = false
#endif
#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_ZRAISE
#define POWER_LOSS_ZRAISE 2 // Move on loss with backup power, or on resume without it
#endif
#if DISABLED(BACKUP_POWER_SUPPLY)
#undef POWER_LOSS_RETRACT_LEN // No retract at outage without backup power
#endif
#ifndef POWER_LOSS_RETRACT_LEN
#define POWER_LOSS_RETRACT_LEN 0
#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 (!card.isMounted()) card.mount();
if (card.isMounted()) {
load();
if (!valid()) return cancel();
queue.inject_P(PSTR("M1000 S"));
TERN_(DWIN_CREALITY_LCD, dwin_flag = true);
}
}
/**
* 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 float zraise/*=0*/) {
#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;
info.zraise = zraise;
TERN_(HAS_HOME_OFFSET, info.home_offset = home_offset);
TERN_(HAS_POSITION_SHIFT, info.position_shift = position_shift);
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[0] = planner.filament_size[active_extruder];
#endif
#endif
#if EXTRUDERS
HOTEND_LOOP() info.target_temperature[e] = thermalManager.temp_hotend[e].target;
#endif
TERN_(HAS_HEATED_BED, info.target_temperature_bed = thermalManager.temp_bed.target);
#if HAS_FAN
COPY(info.fan_speed, thermalManager.fan_speed);
#endif
#if HAS_LEVELING
info.leveling = planner.leveling_active;
info.fade = TERN0(ENABLE_LEVELING_FADE_HEIGHT, planner.z_fade_height);
#endif
TERN_(GRADIENT_MIX, memcpy(&info.gradient, &mixer.gradient, sizeof(info.gradient)));
#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)
#if ENABLED(BACKUP_POWER_SUPPLY)
void PrintJobRecovery::retract_and_lift(const float &zraise) {
#if POWER_LOSS_RETRACT_LEN || POWER_LOSS_ZRAISE
gcode.set_relative_mode(true); // Use relative coordinates
#if POWER_LOSS_RETRACT_LEN
// Retract filament now
gcode.process_subcommands_now_P(PSTR("G1 F3000 E-" STRINGIFY(POWER_LOSS_RETRACT_LEN)));
#endif
#if POWER_LOSS_ZRAISE
// Raise the Z axis now
if (zraise) {
char cmd[20], str_1[16];
sprintf_P(cmd, PSTR("G0 Z%s"), dtostrf(zraise, 1, 3, str_1));
gcode.process_subcommands_now(cmd);
}
#else
UNUSED(zraise);
#endif
//gcode.axis_relative = info.axis_relative;
planner.synchronize();
#endif
}
#endif
/**
* An outage was detected by a sensor pin.
* - If not SD printing, let the machine turn off on its own with no "KILL" screen
* - Disable all heaters first to save energy
* - Save the recovery data for the current instant
* - If backup power is available Retract E and Raise Z
* - Go to the KILL screen
*/
void PrintJobRecovery::_outage() {
#if ENABLED(BACKUP_POWER_SUPPLY)
static bool lock = false;
if (lock) return; // No re-entrance from idle() during retract_and_lift()
lock = true;
#endif
#if POWER_LOSS_ZRAISE
// Get the limited Z-raise to do now or on resume
const float zraise = _MAX(0, _MIN(current_position.z + POWER_LOSS_ZRAISE, Z_MAX_POS - 1) - current_position.z);
#else
constexpr float zraise = 0;
#endif
// Save, including the limited Z raise
if (IS_SD_PRINTING()) save(true, zraise);
// Disable all heaters to reduce power loss
thermalManager.disable_all_heaters();
#if ENABLED(BACKUP_POWER_SUPPLY)
// Do a hard-stop of the steppers (with possibly a loud thud)
quickstop_stepper();
// With backup power a retract and raise can be done now
retract_and_lift(zraise);
#endif
kill(GET_TEXT(MSG_OUTAGE_RECOVERY));
}
#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() {
char cmd[MAX_CMD_SIZE+16], str_1[16], str_2[16];
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...
#if Z_HOME_DIR > 0
// If Z homing goes to max, just reset E and home all
gcode.process_subcommands_now_P(PSTR(
"G92.9 E0\n"
"G28R0" TERN_(MARLIN_DEV_MODE, "S")
));
#else // "G92.9 E0 ..."
// Set Z to 0, raise Z by info.zraise, and Home (XY only for Cartesian)
// with no raise. (Only do simulated homing in Marlin Dev Mode.)
sprintf_P(cmd, PSTR("G92.9 E0 "
#if ENABLED(BACKUP_POWER_SUPPLY)
"Z%s" // Z was already raised at outage
#else
"Z0\nG1Z%s" // Set Z=0 and Raise Z now
#endif
),
dtostrf(info.zraise, 1, 3, str_1)
);
gcode.process_subcommands_now(cmd);
gcode.process_subcommands_now_P(PSTR(
"G28R0" // No raise during G28
TERN_(MARLIN_DEV_MODE, "S") // Simulated Homing
TERN_(IS_CARTESIAN, "XY") // Don't home Z on Cartesian
));
#endif
// Pretend that all axes are homed
axis_homed = axis_known_position = xyz_bits;
// Recover volumetric extrusion state
#if DISABLED(NO_VOLUMETRICS)
#if EXTRUDERS > 1
for (int8_t e = 0; e < EXTRUDERS; e++) {
sprintf_P(cmd, PSTR("M200 T%i D%s"), e, dtostrf(info.filament_size[e], 1, 3, 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) {
sprintf_P(cmd, PSTR("M200 D%s"), dtostrf(info.filament_size[0], 1, 3, 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 HAS_HOTEND
HOTEND_LOOP() {
const int16_t et = info.target_temperature[e];
if (et) {
#if HAS_MULTI_HOTEND
sprintf_P(cmd, PSTR("T%i S"), e);
gcode.process_subcommands_now(cmd);
#endif
sprintf_P(cmd, PSTR("M109 S%i"), et);
gcode.process_subcommands_now(cmd);
}
}
#endif
// 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
// 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)
LOOP_L_N(e, EXTRUDERS) {
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
// Un-retract if there was a retract at outage
#if POWER_LOSS_RETRACT_LEN
gcode.process_subcommands_now_P(PSTR("G1 E" STRINGIFY(POWER_LOSS_RETRACT_LEN) " F3000"));
#endif
// Additional purge if configured
#if POWER_LOSS_PURGE_LEN
sprintf_P(cmd, PSTR("G1 E%d F200"), (POWER_LOSS_PURGE_LEN) + (POWER_LOSS_RETRACT_LEN));
gcode.process_subcommands_now(cmd);
#endif
#if ENABLED(NOZZLE_CLEAN_FEATURE)
gcode.process_subcommands_now_P(PSTR("G12"));
#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);
// 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;
TERN_(HAS_HOME_OFFSET, home_offset = info.home_offset);
TERN_(HAS_POSITION_SHIFT, position_shift = info.position_shift);
#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_DECIMAL(info.current_position[i]);
}
DEBUG_EOL();
DEBUG_ECHOLNPAIR("zraise: ", info.zraise);
#if HAS_HOME_OFFSET
DEBUG_ECHOPGM("home_offset: ");
LOOP_XYZ(i) {
if (i) DEBUG_CHAR(',');
DEBUG_DECIMAL(info.home_offset[i]);
}
DEBUG_EOL();
#endif
#if HAS_POSITION_SHIFT
DEBUG_ECHOPGM("position_shift: ");
LOOP_XYZ(i) {
if (i) DEBUG_CHAR(',');
DEBUG_DECIMAL(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 HAS_HOTEND
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), " fade: ", 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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