Improve Power-loss Recovery (#15135)

Marlin/src/module/planner.cpp

@@ -96,6 +96,10 @@
   #include "../feature/backlash.h"
 #endif
 
+#if ENABLED(POWER_LOSS_RECOVERY)
+  #include "../feature/power_loss_recovery.h"
+#endif
+
 // Delay for delivery of first block to the stepper ISR, if the queue contains 2 or
 // fewer movements. The delay is measured in milliseconds, and must be less than 250ms
 #define BLOCK_DELAY_FOR_1ST_MOVE 100
@@ -2507,6 +2511,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     mixer.gradient_control(target_float[Z_AXIS]);
   #endif
 
+  #if ENABLED(POWER_LOSS_RECOVERY)
+    block->sdpos = recovery.command_sdpos();
+  #endif
+
   // Movement was accepted
   return true;
 } // _populate_block()

Marlin/src/module/planner.h

@@ -159,6 +159,10 @@ typedef struct block_t {
     uint32_t segment_time_us;
   #endif
 
+  #if ENABLED(POWER_LOSS_RECOVERY)
+    uint32_t sdpos;
+  #endif
+
 } block_t;
 
 #define HAS_POSITION_FLOAT ANY(LIN_ADVANCE, SCARA_FEEDRATE_SCALING, GRADIENT_MIX)

Marlin/src/module/stepper.cpp

@@ -121,6 +121,10 @@ Stepper stepper; // Singleton
   #include "../libs/L6470/L6470_Marlin.h"
 #endif
 
+#if ENABLED(POWER_LOSS_RECOVERY)
+  #include "../feature/power_loss_recovery.h"
+#endif
+
 // public:
 
 #if HAS_EXTRA_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
@@ -1663,6 +1667,10 @@ uint32_t Stepper::stepper_block_phase_isr() {
           return interval; // No more queued movements!
       }
 
+      #if ENABLED(POWER_LOSS_RECOVERY)
+        recovery.info.sdpos = current_block->sdpos;
+      #endif
+
       // Flag all moving axes for proper endstop handling
 
       #if IS_CORE