FULL_REPORT_TO_HOST_FEATURE

MarlinFirmware · Sep 11, 2020 · 56747e9 · 56747e9
1 parent 6759aff
commit 56747e9
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Showing 18 changed files with 225 additions and 66 deletions.
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
@@ -1495,7 +1495,9 @@
 //
 #define HOST_KEEPALIVE_FEATURE        // Disable this if your host doesn't like keepalive messages
 #define DEFAULT_KEEPALIVE_INTERVAL 2  // Number of seconds between "busy" messages. Set with M113.
+#define KEEPALIVE_INTERVAL_DIVIDER 3  // Divide the KEEPALIVE_INTERVAL for faster reporting
 #define BUSY_WHILE_HEATING            // Some hosts require "busy" messages even during heating
+#define FULL_REPORT_TO_HOST_FEATURE   // Enable this to send Machine status reports while moving and status reports GRBL style
 
 //
 // G20/G21 Inch mode support

diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
@@ -236,6 +236,8 @@ PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMST
 
 MarlinState marlin_state = MF_INITIALIZING;
 
+M_StateEnum M_State_grbl = M_INIT;
+
 // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
 bool wait_for_heatup = true;
 
@@ -341,6 +343,16 @@ void quickstop_stepper() {
   sync_plan_position();
 }
 
+void quickpause_stepper() {
+  planner.quick_pause();
+  //planner.synchronize();
+}
+
+void quickresume_stepper() {
+  planner.quick_resume();
+  //planner.synchronize();
+}
+
 void enable_e_steppers() {
   #define _ENA_E(N) ENABLE_AXIS_E##N();
   REPEAT(E_STEPPERS, _ENA_E)

diff --git a/Marlin/src/MarlinCore.h b/Marlin/src/MarlinCore.h
@@ -60,6 +60,8 @@ void kill(PGM_P const lcd_error=nullptr, PGM_P const lcd_component=nullptr, cons
 void minkill(const bool steppers_off=false);
 
 void quickstop_stepper();
+void quickpause_stepper();
+void quickresume_stepper();
 
 // Global State of the firmware
 enum MarlinState : uint8_t {
@@ -76,6 +78,27 @@ extern MarlinState marlin_state;
 inline bool IsRunning() { return marlin_state == MF_RUNNING; }
 inline bool IsStopped() { return marlin_state != MF_RUNNING; }
 
+//
+// Enumerated Status indices
+// Coding as GRBL or TinyG for Machine states
+//
+enum M_StateEnum : uint8_t {
+  M_INIT = 0, //  0 machine is initializing
+  M_RESET,    //  1 machine is ready for use
+  M_ALARM,    //  2 machine is in alarm state (soft shut down)
+  M_IDLE,     //  3 program stop or no more blocks (M0, M1, M60)
+  M_END,      //  4 program end via M2, M30
+  M_RUNNING,  //  5 motion is running
+  M_HOLD,     //  6 motion is holding
+  M_PROBE,    //  7 probe cycle active
+  M_CYCLING,  //  8 machine is running (cycling)
+  M_HOMING,   //  9 machine is homing
+  M_JOGGING,  // 10 machine is jogging
+  M_ERROR     // 11 machine is in hard alarm state (shut down)
+};
+
+extern M_StateEnum M_State_grbl;
+
 bool printingIsActive();
 bool printingIsPaused();
 void startOrResumeJob();

diff --git a/Marlin/src/feature/e_parser.h b/Marlin/src/feature/e_parser.h
@@ -34,30 +34,29 @@
 // External references
 extern bool wait_for_user, wait_for_heatup;
 void quickstop_stepper();
+void quickpause_stepper();
+void quickresume_stepper();
+void report_current_position_moving();
 
 class EmergencyParser {
 
 public:
 
   // Currently looking for: M108, M112, M410, M876
+  // S000 STATE , P000 for Pause, R000 for resume
   enum State : char {
     EP_RESET,
     EP_N,
     EP_M,
     EP_M1,
-    EP_M10,
-    EP_M108,
-    EP_M11,
-    EP_M112,
-    EP_M4,
-    EP_M41,
-    EP_M410,
+    EP_M10, EP_M108,
+    EP_M11, EP_M112,
+    EP_M4, EP_M41, EP_M410,
+    EP_S, EP_S0, EP_S00, EP_grblSTATUS,
+    EP_R, EP_R0, EP_R00, EP_grblRESUME,
+    EP_P, EP_P0, EP_P00, EP_grblPAUSE,
     #if ENABLED(HOST_PROMPT_SUPPORT)
-      EP_M8,
-      EP_M87,
-      EP_M876,
-      EP_M876S,
-      EP_M876SN,
+      EP_M8, EP_M87, EP_M876, EP_M876S, EP_M876SN,
     #endif
     EP_IGNORE // to '\n'
   };
@@ -71,7 +70,6 @@ class EmergencyParser {
   EmergencyParser() { enable(); }
 
   FORCE_INLINE static void enable()  { enabled = true; }
-
   FORCE_INLINE static void disable() { enabled = false; }
 
   FORCE_INLINE static void update(State &state, const uint8_t c) {
@@ -80,23 +78,35 @@ class EmergencyParser {
       case EP_RESET:
         switch (c) {
           case ' ': case '\n': case '\r': break;
-          case 'N': state = EP_N;      break;
-          case 'M': state = EP_M;      break;
-          default: state  = EP_IGNORE;
+          case 'N': state = EP_N; break;
+          case 'M': state = EP_M; break;
+          case 'S': state = EP_S; break;
+          case 'P': state = EP_P; break;
+          case 'R': state = EP_R; break;
+           default: state = EP_IGNORE;
         }
         break;
 
       case EP_N:
         switch (c) {
-          case '0': case '1': case '2':
-          case '3': case '4': case '5':
-          case '6': case '7': case '8':
-          case '9': case '-': case ' ':   break;
+          case '0' ... '9': case '-': case ' ':   break;
           case 'M': state = EP_M;      break;
-          default:  state = EP_IGNORE;
+           default: state = EP_IGNORE;
         }
         break;
 
+      case EP_S:   state = (c == '0' ? EP_S0 : EP_IGNORE);         break;
+      case EP_S0:  state = (c == '0' ? EP_S00 : EP_IGNORE);        break;
+      case EP_S00: state = (c == '0' ? EP_grblSTATUS : EP_IGNORE); break;
+
+      case EP_R:   state = (c == '0' ? EP_R0 : EP_IGNORE);         break;
+      case EP_R0:  state = (c == '0' ? EP_R00 : EP_IGNORE);        break;
+      case EP_R00: state = (c == '0' ? EP_grblRESUME : EP_IGNORE); break;
+
+      case EP_P:   state = (c == '0' ? EP_P0 : EP_IGNORE);         break;
+      case EP_P0:  state = (c == '0' ? EP_P00 : EP_IGNORE);        break;
+      case EP_P00: state = (c == '0' ? EP_grblPAUSE : EP_IGNORE);  break;
+
       case EP_M:
         switch (c) {
           case ' ': break;
@@ -117,52 +127,35 @@ class EmergencyParser {
         }
         break;
 
-      case EP_M10:
-        state = (c == '8') ? EP_M108 : EP_IGNORE;
-        break;
-
-      case EP_M11:
-        state = (c == '2') ? EP_M112 : EP_IGNORE;
-        break;
-
-      case EP_M4:
-        state = (c == '1') ? EP_M41 : EP_IGNORE;
-        break;
-
-      case EP_M41:
-        state = (c == '0') ? EP_M410 : EP_IGNORE;
-        break;
+      case EP_M10: state = (c == '8') ? EP_M108 : EP_IGNORE; break;
+      case EP_M11: state = (c == '2') ? EP_M112 : EP_IGNORE; break;
+      case EP_M4:  state = (c == '1') ? EP_M41 : EP_IGNORE;  break;
+      case EP_M41: state = (c == '0') ? EP_M410 : EP_IGNORE; break;
 
       #if ENABLED(HOST_PROMPT_SUPPORT)
-      case EP_M8:
-        state = (c == '7') ? EP_M87 : EP_IGNORE;
-        break;
 
-      case EP_M87:
-        state = (c == '6') ? EP_M876 : EP_IGNORE;
-        break;
+        case EP_M8:  state = (c == '7') ? EP_M87 : EP_IGNORE;  break;
+        case EP_M87: state = (c == '6') ? EP_M876 : EP_IGNORE; break;
 
-      case EP_M876:
-        switch (c) {
-          case ' ': break;
-          case 'S': state = EP_M876S; break;
-          default:  state = EP_IGNORE; break;
-        }
-        break;
+        case EP_M876:
+          switch (c) {
+            case ' ': break;
+            case 'S': state = EP_M876S; break;
+             default: state = EP_IGNORE; break;
+          }
+          break;
+
+        case EP_M876S:
+          switch (c) {
+            case ' ': break;
+            case '0' ... '9':
+              state = EP_M876SN;
+              M876_reason = (uint8_t)(c - '0');
+              break;
+          }
+          break;
 
-      case EP_M876S:
-        switch (c) {
-          case ' ': break;
-          case '0': case '1': case '2':
-          case '3': case '4': case '5':
-          case '6': case '7': case '8':
-          case '9':
-            state = EP_M876SN;
-            M876_reason = (uint8_t)(c - '0');
-            break;
-        }
-        break;
-      #endif
+      #endif // HOST_PROMPT_SUPPORT
 
       case EP_IGNORE:
         if (ISEOL(c)) state = EP_RESET;
@@ -177,6 +170,9 @@ class EmergencyParser {
             #if ENABLED(HOST_PROMPT_SUPPORT)
               case EP_M876SN: host_response_handler(M876_reason); break;
             #endif
+            case EP_grblSTATUS: report_current_position_moving(); break;
+            case EP_grblPAUSE: quickpause_stepper(); break;
+            case EP_grblRESUME: quickresume_stepper(); break;
             default: break;
           }
           state = EP_RESET;

diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -164,6 +164,9 @@
  */
 G29_TYPE GcodeSuite::G29() {
 
+  M_State_grbl = M_PROBE;
+  report_current_grblstate_moving();
+
   reset_stepper_timeout();
 
   const bool seenQ = EITHER(DEBUG_LEVELING_FEATURE, PROBE_MANUALLY) && parser.seen('Q');
@@ -898,6 +901,9 @@ G29_TYPE GcodeSuite::G29() {
 
   report_current_position();
 
+  M_State_grbl = M_IDLE;
+  report_current_grblstate_moving();
+
   G29_RETURN(isnan(measured_z));
 }
 

diff --git a/Marlin/src/gcode/bedlevel/mbl/G29.cpp b/Marlin/src/gcode/bedlevel/mbl/G29.cpp
@@ -61,6 +61,9 @@ inline void echo_not_entered(const char c) { SERIAL_CHAR(c); SERIAL_ECHOLNPGM("
  */
 void GcodeSuite::G29() {
 
+  M_State_grbl = M_PROBE;
+  report_current_grblstate_moving();
+
   static int mbl_probe_index = -1;
   TERN_(HAS_SOFTWARE_ENDSTOPS, static bool saved_soft_endstops_state);
 
@@ -197,6 +200,9 @@ void GcodeSuite::G29() {
   }
 
   report_current_position();
+
+  M_State_grbl = M_IDLE;
+  report_current_grblstate_moving();
 }
 
 #endif // MESH_BED_LEVELING
diff --git a/Marlin/src/gcode/bedlevel/ubl/G29.cpp b/Marlin/src/gcode/bedlevel/ubl/G29.cpp
@@ -31,6 +31,18 @@
 #include "../../gcode.h"
 #include "../../../feature/bedlevel/bedlevel.h"
 
-void GcodeSuite::G29() { ubl.G29(); }
+#include "../../../MarlinCore.h" // for M_State_grbl
+
+void GcodeSuite::G29() {
+
+  M_State_grbl = M_PROBE;
+  report_current_grblstate_moving();
+
+  ubl.G29();
+
+  M_State_grbl = M_IDLE;
+  report_current_grblstate_moving();
+
+}
 
 #endif // AUTO_BED_LEVELING_UBL
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
@@ -202,6 +202,9 @@ void GcodeSuite::G28() {
 
   TERN_(DWIN_CREALITY_LCD, HMI_flag.home_flag = true);
 
+  M_State_grbl = M_HOMING;
+  report_current_grblstate_moving();
+
   #if ENABLED(DUAL_X_CARRIAGE)
     bool IDEX_saved_duplication_state = extruder_duplication_enabled;
     DualXMode IDEX_saved_mode = dual_x_carriage_mode;
@@ -464,6 +467,9 @@ void GcodeSuite::G28() {
   if (ENABLED(NANODLP_Z_SYNC) && (doZ || ENABLED(NANODLP_ALL_AXIS)))
     SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
 
+  M_State_grbl = M_IDLE;
+  report_current_grblstate_moving();
+
   #if HAS_L64XX
     // Set L6470 absolute position registers to counts
     // constexpr *might* move this to PROGMEM.

diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp
@@ -385,6 +385,9 @@ static float auto_tune_a() {
  */
 void GcodeSuite::G33() {
 
+  M_State_grbl = M_PROBE;
+  report_current_grblstate_moving();
+
   const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
   if (!WITHIN(probe_points, 0, 10)) {
     SERIAL_ECHOLNPGM("?(P)oints implausible (0-10).");
@@ -643,6 +646,9 @@ void GcodeSuite::G33() {
   while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
 
   ac_cleanup(TERN_(HAS_MULTI_HOTEND, old_tool_index));
+
+  M_State_grbl = M_IDLE;
+  report_current_grblstate_moving();
 }
 
 #endif // DELTA_AUTO_CALIBRATION
diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp
@@ -61,7 +61,7 @@ GcodeSuite gcode;
   #include "../feature/password/password.h"
 #endif
 
-#include "../MarlinCore.h" // for idle()
+#include "../MarlinCore.h" // for idle(), M_State_grbl
 
 // Inactivity shutdown
 millis_t GcodeSuite::previous_move_ms = 0,
@@ -82,6 +82,10 @@ uint8_t GcodeSuite::axis_relative = (
 #endif
 
 #if ENABLED(HOST_KEEPALIVE_FEATURE)
+  #if !KEEPALIVE_INTERVAL_DIVIDER
+    #undef KEEPALIVE_INTERVAL_DIVIDER
+    #define KEEPALIVE_INTERVAL_DIVIDER 1
+  #endif
   GcodeSuite::MarlinBusyState GcodeSuite::busy_state = NOT_BUSY;
   uint8_t GcodeSuite::host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
 #endif
@@ -1017,18 +1021,23 @@ void GcodeSuite::process_subcommands_now(char * gcode) {
         case IN_HANDLER:
         case IN_PROCESS:
           SERIAL_ECHO_MSG(STR_BUSY_PROCESSING);
+          TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_position_moving());
           break;
         case PAUSED_FOR_USER:
           SERIAL_ECHO_MSG(STR_BUSY_PAUSED_FOR_USER);
+          M_State_grbl = M_HOLD;
+          report_current_grblstate_moving();
           break;
         case PAUSED_FOR_INPUT:
           SERIAL_ECHO_MSG(STR_BUSY_PAUSED_FOR_INPUT);
+          M_State_grbl = M_HOLD;
+          report_current_grblstate_moving();
           break;
         default:
           break;
       }
     }
-    next_busy_signal_ms = ms + SEC_TO_MS(host_keepalive_interval);
+    next_busy_signal_ms = ms + SEC_TO_MS(host_keepalive_interval) / (KEEPALIVE_INTERVAL_DIVIDER);
   }
 
 #endif // HOST_KEEPALIVE_FEATURE