✨ EP_BABYSTEPPING

Marlin/Configuration_adv.h

@@ -1543,7 +1543,7 @@
    */
   #define SHOW_BOOTSCREEN                 // Show the Marlin bootscreen on startup. ** ENABLE FOR PRODUCTION **
   #if ENABLED(SHOW_BOOTSCREEN)
-    #define BOOTSCREEN_TIMEOUT 4000       // (ms) Total Duration to display the boot screen(s)
+    #define BOOTSCREEN_TIMEOUT 3000       // (ms) Total Duration to display the boot screen(s)
     #if EITHER(HAS_MARLINUI_U8GLIB, TFT_COLOR_UI)
       #define BOOT_MARLIN_LOGO_SMALL      // Show a smaller Marlin logo on the Boot Screen (saving lots of flash)
     #endif
@@ -2190,9 +2190,10 @@
  */
 //#define BABYSTEPPING
 #if ENABLED(BABYSTEPPING)
-  //#define INTEGRATED_BABYSTEPPING         // EXPERIMENTAL integration of babystepping into the Stepper ISR
+  //#define INTEGRATED_BABYSTEPPING         // Integration of babystepping into the Stepper ISR
+  //#define EP_BABYSTEPPING                 // M293/M294 babystepping with EMERGENCY_PARSER support
   //#define BABYSTEP_WITHOUT_HOMING
-  //#define BABYSTEP_ALWAYS_AVAILABLE       // Allow babystepping at all times (not just during movement).
+  //#define BABYSTEP_ALWAYS_AVAILABLE       // Allow babystepping at all times (not just during movement)
   //#define BABYSTEP_XY                     // Also enable X/Y Babystepping. Not supported on DELTA!
   //#define BABYSTEP_INVERT_Z               // Enable if Z babysteps should go the other way
   //#define BABYSTEP_MILLIMETER_UNITS       // Specify BABYSTEP_MULTIPLICATOR_(XY|Z) in mm instead of micro-steps

Marlin/src/MarlinCore.cpp

@@ -726,6 +726,10 @@ inline void manage_inactivity(const bool no_stepper_sleep=false) {
   #endif
 }
 
+#if BOTH(EP_BABYSTEPPING, EMERGENCY_PARSER)
+  #include "feature/babystep.h"
+#endif
+
 /**
  * Standard idle routine keeps the machine alive:
  *  - Core Marlin activities
@@ -848,6 +852,11 @@ void idle(const bool no_stepper_sleep/*=false*/) {
   // Handle Joystick jogging
   TERN_(POLL_JOG, joystick.inject_jog_moves());
 
+  // Async Babystepping via the Emergency Parser
+  #if BOTH(EP_BABYSTEPPING, EMERGENCY_PARSER)
+    babystep.do_ep_steps();
+  #endif
+
   // Direct Stepping
   TERN_(DIRECT_STEPPING, page_manager.write_responses());
 

Marlin/src/feature/babystep.cpp

@@ -26,7 +26,7 @@
 
 #include "babystep.h"
 #include "../MarlinCore.h"
-#include "../module/motion.h"   // for axes_should_home()
+#include "../module/motion.h"   // for axes_should_home(), BABYSTEP_ALLOWED
 #include "../module/planner.h"  // for axis_steps_per_mm[]
 #include "../module/stepper.h"
 
@@ -42,6 +42,10 @@ volatile int16_t Babystep::steps[BS_AXIS_IND(Z_AXIS) + 1];
 #endif
 int16_t Babystep::accum;
 
+#if BOTH(EP_BABYSTEPPING, EMERGENCY_PARSER)
+  int16_t Babystep::ep_babysteps;
+#endif
+
 void Babystep::step_axis(const AxisEnum axis) {
   const int16_t curTodo = steps[BS_AXIS_IND(axis)]; // get rid of volatile for performance
   if (curTodo) {
@@ -76,4 +80,10 @@ void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
   TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
 }
 
+#if ENABLED(EP_BABYSTEPPING)
+  // Step Z for M293 / M294
+  void Babystep::z_up()   { if (BABYSTEP_ALLOWED()) add_steps(Z_AXIS, +BABYSTEP_SIZE_Z); }
+  void Babystep::z_down() { if (BABYSTEP_ALLOWED()) add_steps(Z_AXIS, -BABYSTEP_SIZE_Z); }
+#endif
+
 #endif // BABYSTEPPING

Marlin/src/feature/babystep.h

@@ -52,6 +52,10 @@ class Babystep {
   static volatile int16_t steps[BS_AXIS_IND(Z_AXIS) + 1];
   static int16_t accum;                                     // Total babysteps in current edit
 
+  #if BOTH(EP_BABYSTEPPING, EMERGENCY_PARSER)
+    static int16_t ep_babysteps;
+  #endif
+
   #if ENABLED(BABYSTEP_DISPLAY_TOTAL)
     static int16_t axis_total[BS_TOTAL_IND(Z_AXIS) + 1];   // Total babysteps since G28
     static void reset_total(const AxisEnum axis) {
@@ -63,6 +67,21 @@ class Babystep {
   static void add_steps(const AxisEnum axis, const int16_t distance);
   static void add_mm(const AxisEnum axis, const_float_t mm);
 
+  #if ENABLED(EP_BABYSTEPPING)
+    // Step Z for M293 / M294
+    static void z_up();
+    static void z_down();
+    #if ENABLED(EMERGENCY_PARSER)
+      // Step Z according to steps accumulated by the EP
+      FORCE_INLINE static void do_ep_steps() {
+        if (ep_babysteps) {
+          if (ep_babysteps > 0) { z_up();   ep_babysteps--; }
+          else                  { z_down(); ep_babysteps++; }
+        }
+      }
+    #endif
+  #endif // EP_BABYSTEPPING
+
   #if ENABLED(BD_SENSOR)
     static void set_mm(const AxisEnum axis, const_float_t mm);
   #endif

Marlin/src/feature/e_parser.cpp

@@ -24,7 +24,7 @@
  * e_parser.cpp - Intercept special commands directly in the serial stream
  */
 
-#include "../inc/MarlinConfigPre.h"
+#include "../inc/MarlinConfig.h"
 
 #if ENABLED(EMERGENCY_PARSER)
 
@@ -39,10 +39,193 @@ bool EmergencyParser::killed_by_M112, // = false
      EmergencyParser::enabled;
 
 #if ENABLED(HOST_PROMPT_SUPPORT)
+  #include "host_actions.h"
   uint8_t EmergencyParser::M876_reason; // = 0
 #endif
 
 // Global instance
 EmergencyParser emergency_parser;
 
+// External references
+extern bool wait_for_user, wait_for_heatup;
+
+#if ENABLED(EP_BABYSTEPPING)
+  #include "babystep.h"
+#endif
+
+#if ENABLED(REALTIME_REPORTING_COMMANDS)
+  // From motion.h, which cannot be included here
+  void report_current_position_moving();
+  void quickpause_stepper();
+  void quickresume_stepper();
+#endif
+
+void EmergencyParser::update(EmergencyParser::State &state, const uint8_t c) {
+  switch (state) {
+    case EP_RESET:
+      switch (c) {
+        case ' ': case '\n': case '\r': break;
+        case 'N': state = EP_N; break;
+        case 'M': state = EP_M; break;
+        #if ENABLED(REALTIME_REPORTING_COMMANDS)
+          case 'S': state = EP_S; break;
+          case 'P': state = EP_P; break;
+          case 'R': state = EP_R; break;
+        #endif
+        #if ENABLED(SOFT_RESET_VIA_SERIAL)
+          case '^': state = EP_ctrl; break;
+          case 'K': state = EP_K; break;
+        #endif
+        default: state = EP_IGNORE;
+      }
+      break;
+
+    case EP_N:
+      switch (c) {
+        case '0' ... '9':
+        case '-': case ' ':     break;
+        case 'M': state = EP_M; break;
+        #if ENABLED(REALTIME_REPORTING_COMMANDS)
+          case 'S': state = EP_S; break;
+          case 'P': state = EP_P; break;
+          case 'R': state = EP_R; break;
+        #endif
+        default: state = EP_IGNORE;
+      }
+      break;
+
+    #if ENABLED(REALTIME_REPORTING_COMMANDS)
+      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_GRBL_STATUS : 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_GRBL_RESUME : 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_GRBL_PAUSE  : EP_IGNORE; break;
+    #endif
+
+    #if ENABLED(SOFT_RESET_VIA_SERIAL)
+      case EP_ctrl: state = (c == 'X') ? EP_KILL : EP_IGNORE; break;
+      case EP_K:    state = (c == 'I') ? EP_KI   : EP_IGNORE; break;
+      case EP_KI:   state = (c == 'L') ? EP_KIL  : EP_IGNORE; break;
+      case EP_KIL:  state = (c == 'L') ? EP_KILL : EP_IGNORE; break;
+    #endif
+
+    case EP_M:
+      switch (c) {
+        case ' ': break;
+        case '1': state = EP_M1;     break;
+        #if ENABLED(EP_BABYSTEPPING)
+          case '2': state = EP_M2;   break;
+        #endif
+        case '4': state = EP_M4;     break;
+        #if HAS_MEDIA
+          case '5': state = EP_M5;   break;
+        #endif
+        #if ENABLED(HOST_PROMPT_SUPPORT)
+          case '8': state = EP_M8;   break;
+        #endif
+        default: state  = EP_IGNORE;
+      }
+      break;
+
+    case EP_M1:
+      switch (c) {
+        case '0': state = EP_M10;    break;
+        case '1': state = EP_M11;    break;
+        default: state  = 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 HAS_MEDIA
+      case EP_M5:  state = (c == '2') ? EP_M52  : EP_IGNORE; break;
+      case EP_M52: state = (c == '4') ? EP_M524 : EP_IGNORE; break;
+    #endif
+
+    #if ENABLED(EP_BABYSTEPPING)
+      case EP_M2:
+        switch (c) {
+          case '9': state = EP_M29;    break;
+          default: state  = EP_IGNORE;
+        }
+        break;
+
+      case EP_M29:
+        switch (c) {
+          case '3': state = EP_M293;   break;
+          case '4': state = EP_M294;   break;
+          default: state  = EP_IGNORE;
+        }
+        break;
+    #endif
+
+    #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_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;
+
+    #endif
+
+    case EP_IGNORE:
+      if (ISEOL(c)) state = EP_RESET;
+      break;
+
+    default:
+      if (ISEOL(c)) {
+        if (enabled) switch (state) {
+          case EP_M108: wait_for_user = wait_for_heatup = false; break;
+          case EP_M112: killed_by_M112 = true; break;
+          case EP_M410: quickstop_by_M410 = true; break;
+          #if ENABLED(EP_BABYSTEPPING)
+            case EP_M293: babystep.ep_babysteps++; break;
+            case EP_M294: babystep.ep_babysteps--; break;
+          #endif
+          #if HAS_MEDIA
+            case EP_M524: sd_abort_by_M524 = true; break;
+          #endif
+          #if ENABLED(HOST_PROMPT_SUPPORT)
+            case EP_M876SN: hostui.handle_response(M876_reason); break;
+          #endif
+          #if ENABLED(REALTIME_REPORTING_COMMANDS)
+            case EP_GRBL_STATUS: report_current_position_moving(); break;
+            case EP_GRBL_PAUSE: quickpause_stepper(); break;
+            case EP_GRBL_RESUME: quickresume_stepper(); break;
+          #endif
+          #if ENABLED(SOFT_RESET_VIA_SERIAL)
+            case EP_KILL: hal.reboot(); break;
+          #endif
+          default: break;
+        }
+        state = EP_RESET;
+      }
+  }
+}
+
 #endif // EMERGENCY_PARSER