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Add an emergency-command parser to MarlinSerial (supporting M108)
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Add an emergency-command parser to MarlinSerial's RX interrupt.

The parser tries to find and execute M108,M112,M410 before the commands disappear in the RX-buffer.

To avoid false positives for M117, comments and commands followed by filenames (M23, M28, M30, M32, M33) are filtered.

This enables Marlin to receive and react on the Emergency command at all times - regardless of whether the buffers are full or not. It remains to convince hosts to send the commands. To inform the hosts about the new feature a new entry in the M115-report was made. "`EMERGENCY_CODES:M112,M108,M410;`".

The parser is fast. It only ever needs two switch decisions and one assignment of the new state for every character.

One problem remains. If the host has sent an incomplete line before sending an emergency command the emergency command could be omitted when the parser is in `state_IGNORE`.
In that case the host should send "\ncommand\n"

Also introduces M108 to break the waiting for the heaters in M109, M190 and M303.

Rename `cancel_heatup` to `wait_for_heatup` to better see the purpose.
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@AnHardt @thinkyhead
AnHardt authored and thinkyhead committed Jul 7, 2016
1 parent 4e84c80 commit a129078
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6 changes: 6 additions & 0 deletions Marlin/Conditionals.h
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Expand Up @@ -284,6 +284,12 @@
#define HardwareSerial_h // trick to disable the standard HWserial
#endif

#if ENABLED(EMERGENCY_PARSER)
#define EMERGENCY_PARSER_CAPABILITIES " EMERGENCY_CODES:M108,M112,M410"
#else
#define EMERGENCY_PARSER_CAPABILITIES ""
#endif

#include "Arduino.h"

/**
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6 changes: 6 additions & 0 deletions Marlin/Configuration_adv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -520,6 +520,12 @@ const unsigned int dropsegments = 5; //everything with less than this number of
#define MAX_CMD_SIZE 96
#define BUFSIZE 4

// Enable an emergency-command parser to intercept certain commands as they
// enter the serial receive buffer, so they cannot be blocked.
// Currently handles M108, M112, M410
// Does not work on boards using AT90USB (USBCON) processors!
//#define EMERGENCY_PARSER

// Bad Serial-connections can miss a received command by sending an 'ok'
// Therefore some clients abort after 30 seconds in a timeout.
// Some other clients start sending commands while receiving a 'wait'.
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1 change: 1 addition & 0 deletions Marlin/Marlin.h
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Expand Up @@ -288,6 +288,7 @@ extern float sw_endstop_min[3]; // axis[n].sw_endstop_min
extern float sw_endstop_max[3]; // axis[n].sw_endstop_max
extern bool axis_known_position[3]; // axis[n].is_known
extern bool axis_homed[3]; // axis[n].is_homed
extern bool wait_for_heatup;

// GCode support for external objects
bool code_seen(char);
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158 changes: 158 additions & 0 deletions Marlin/MarlinSerial.cpp
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Expand Up @@ -30,6 +30,7 @@

#include "Marlin.h"
#include "MarlinSerial.h"
#include "stepper.h"

#ifndef USBCON
// this next line disables the entire HardwareSerial.cpp,
Expand All @@ -54,6 +55,10 @@ FORCE_INLINE void store_char(unsigned char c) {
rx_buffer.head = i;
}
CRITICAL_SECTION_END;

#if ENABLED(EMERGENCY_PARSER)
emergency_parser(c);
#endif
}


Expand Down Expand Up @@ -310,3 +315,156 @@ MarlinSerial customizedSerial;
#if defined(USBCON) && ENABLED(BLUETOOTH)
HardwareSerial bluetoothSerial;
#endif

#if ENABLED(EMERGENCY_PARSER)

// Currently looking for: M108, M112, M410
// If you alter the parser please don't forget to update the capabilities in Conditionals.h

void emergency_parser(unsigned char c) {

enum e_parser_state {
state_RESET,
state_M,
state_M1,
state_M10,
state_M11,
state_M2,
state_M3,
state_M4,
state_M41,
state_IGNORE // to '\n'
};

static e_parser_state state = state_RESET;

switch (state) {
case state_RESET:
switch (c) {
case 'M':
state = state_M;
break;
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;

case state_M:
switch (c) {
case '1':
state = state_M1;
break;
case '2':
state = state_M2;
break;
case '3':
state = state_M3;
break;
case '4':
state = state_M4;
break;
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;

case state_M1:
switch (c) {
case '0':
state = state_M10;
break;
case '1':
state = state_M11;
break;
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;

case state_M2:
switch (c) {
case '3': // M23
case '8': // M28
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;

case state_M3:
switch (c) {
case '0': // M30
case '2': // M32
case '3': // M33
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;

case state_M10:
switch (c) {
case '8': // M108
{ state = state_RESET; wait_for_heatup = false; }
break;
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;

case state_M11:
switch (c) {
case '2': // M112
state = state_RESET; kill(PSTR(MSG_KILLED));
break;
case '7': // M117
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;

case state_M4:
switch (c) {
case '1':
state = state_M41;
break;
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;

case state_M41:
switch (c) {
case '0':
{ state = state_RESET; stepper.quick_stop(); }
break;
case ';':
state = state_IGNORE;
break;
default: state = state_RESET;
}
break;

case state_IGNORE:
if (c == '\n') state = state_RESET;
break;

default:
state = state_RESET;
}
}
#endif
9 changes: 9 additions & 0 deletions Marlin/MarlinSerial.h
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Expand Up @@ -101,6 +101,11 @@ struct ring_buffer {
extern ring_buffer rx_buffer;
#endif

#if ENABLED(EMERGENCY_PARSER)
#include "language.h"
void emergency_parser(unsigned char c);
#endif

class MarlinSerial { //: public Stream

public:
Expand Down Expand Up @@ -141,6 +146,10 @@ class MarlinSerial { //: public Stream
rx_buffer.head = i;
}
CRITICAL_SECTION_END;

#if ENABLED(EMERGENCY_PARSER)
emergency_parser(c);
#endif
}
}

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65 changes: 41 additions & 24 deletions Marlin/Marlin_main.cpp
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Expand Up @@ -160,7 +160,7 @@
* M105 - Read current temp
* M106 - Fan on
* M107 - Fan off
* M108 - Cancel heatup and wait for the hotend and bed, this G-code is asynchronously handled in the get_serial_commands() parser
* M108 - Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
* M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
* Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
* IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
Expand Down Expand Up @@ -1105,9 +1105,12 @@ inline void get_serial_commands() {
}
}

// If command was e-stop process now
if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
if (strcmp(command, "M108") == 0) wait_for_heatup = false;
#if DISABLED(EMERGENCY_PARSER)
// If command was e-stop process now
if (strcmp(command, "M108") == 0) wait_for_heatup = false;
if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
if (strcmp(command, "M410") == 0) stepper.quick_stop();
#endif

#if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
last_command_time = ms;
Expand Down Expand Up @@ -4533,10 +4536,14 @@ inline void gcode_M105() {

#endif // FAN_COUNT > 0

/**
* M108: Cancel heatup and wait for the hotend and bed, this G-code is asynchronously handled in the get_serial_commands() parser
*/
inline void gcode_M108() { wait_for_heatup = false; }
#if DISABLED(EMERGENCY_PARSER)

/**
* M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
*/
inline void gcode_M108() { wait_for_heatup = false; }

#endif

/**
* M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
Expand Down Expand Up @@ -4811,7 +4818,9 @@ inline void gcode_M111() {
/**
* M112: Emergency Stop
*/
inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
#if DISABLED(EMERGENCY_PARSER)
inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
#endif

#if ENABLED(HOST_KEEPALIVE_FEATURE)

Expand Down Expand Up @@ -5991,13 +6000,15 @@ inline void gcode_M400() { stepper.synchronize(); }
* This will stop the carriages mid-move, so most likely they
* will be out of sync with the stepper position after this.
*/
inline void gcode_M410() {
stepper.quick_stop();
#if DISABLED(DELTA) && DISABLED(SCARA)
set_current_position_from_planner();
#endif
}

#if DISABLED(EMERGENCY_PARSER)
inline void gcode_M410() {
stepper.quick_stop();
#if DISABLED(DELTA) && DISABLED(SCARA)
set_current_position_from_planner();
#endif
}
#endif

#if ENABLED(MESH_BED_LEVELING)

Expand Down Expand Up @@ -6953,9 +6964,11 @@ void process_next_command() {
gcode_M111();
break;

case 112: // M112: Emergency Stop
gcode_M112();
break;
#if DISABLED(EMERGENCY_PARSER)
case 112: // M112: Emergency Stop
gcode_M112();
break;
#endif

#if ENABLED(HOST_KEEPALIVE_FEATURE)

Expand All @@ -6974,9 +6987,11 @@ void process_next_command() {
KEEPALIVE_STATE(NOT_BUSY);
return; // "ok" already printed

case 108:
gcode_M108();
break;
#if DISABLED(EMERGENCY_PARSER)
case 108:
gcode_M108();
break;
#endif

case 109: // M109: Wait for temperature
gcode_M109();
Expand Down Expand Up @@ -7261,9 +7276,11 @@ void process_next_command() {
break;
#endif // ENABLED(FILAMENT_WIDTH_SENSOR)

case 410: // M410 quickstop - Abort all the planned moves.
gcode_M410();
break;
#if DISABLED(EMERGENCY_PARSER)
case 410: // M410 quickstop - Abort all the planned moves.
gcode_M410();
break;
#endif

#if ENABLED(MESH_BED_LEVELING)
case 420: // M420 Enable/Disable Mesh Bed Leveling
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7 changes: 7 additions & 0 deletions Marlin/SanityCheck.h
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Expand Up @@ -579,6 +579,13 @@
#endif

/**
* emergency-command parser
*/
#if ENABLED(EMERGENCY_PARSER) && ENABLED(USBCON)
#error "EMERGENCY_PARSER does not work on boards with AT90USB processors (USBCON)."
#endif

/**
* Warnings for old configurations
*/
#if WATCH_TEMP_PERIOD > 500
Expand Down
6 changes: 6 additions & 0 deletions Marlin/example_configurations/Cartesio/Configuration_adv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -520,6 +520,12 @@ const unsigned int dropsegments = 5; //everything with less than this number of
#define MAX_CMD_SIZE 96
#define BUFSIZE 4

// Enable an emergency-command parser to intercept certain commands as they
// enter the serial receive buffer, so they cannot be blocked.
// Currently handles M108, M112, M410
// Does not work on boards using AT90USB (USBCON) processors!
//#define EMERGENCY_PARSER

// Bad Serial-connections can miss a received command by sending an 'ok'
// Therefore some clients abort after 30 seconds in a timeout.
// Some other clients start sending commands while receiving a 'wait'.
Expand Down
6 changes: 6 additions & 0 deletions Marlin/example_configurations/Felix/Configuration_adv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -520,6 +520,12 @@ const unsigned int dropsegments = 5; //everything with less than this number of
#define MAX_CMD_SIZE 96
#define BUFSIZE 4

// Enable an emergency-command parser to intercept certain commands as they
// enter the serial receive buffer, so they cannot be blocked.
// Currently handles M108, M112, M410
// Does not work on boards using AT90USB (USBCON) processors!
//#define EMERGENCY_PARSER

// Bad Serial-connections can miss a received command by sending an 'ok'
// Therefore some clients abort after 30 seconds in a timeout.
// Some other clients start sending commands while receiving a 'wait'.
Expand Down
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