Add M41 GCODE_REPEAT_MARKERS

Marlin/Configuration_adv.h

@@ -1173,6 +1173,8 @@
 
   //#define SDCARD_READONLY                 // Read-only SD card (to save over 2K of flash)
 
+  //#define GCODE_REPEAT_MARKERS            // Enable G-code M41 to set repeat markers and do looping
+
   #define SD_PROCEDURE_DEPTH 1              // Increase if you need more nested M32 calls
 
   #define SD_FINISHED_STEPPERRELEASE true   // Disable steppers when SD Print is finished

Marlin/src/feature/repeat.cpp

@@ -0,0 +1,72 @@
+/**
+ * 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#include "../inc/MarlinConfig.h"
+
+#if ENABLED(GCODE_REPEAT_MARKERS)
+
+#include "repeat.h"
+
+#include "../gcode/gcode.h"
+#include "../sd/cardreader.h"
+
+repeat_marker_t Repeat::marker[MAX_REPEAT_NESTING];
+int8_t Repeat::index;
+
+bool Repeat::is_command_M41(char * const cmd) {
+  parser.parse(cmd);
+  return parser.is_command('M', 41);
+}
+
+bool Repeat::early_parse_M41(char * const cmd, const uint32_t &sdpos) {
+  if (is_command_M41(cmd)) {
+    if (sdpos) {
+      gcode.process_parsed_command();
+      marker[index].sdpos = sdpos;
+    }
+    return false;
+  }
+  return true;
+}
+
+void Repeat::add_marker(const uint16_t count) {
+  if (index < MAX_REPEAT_NESTING) {
+    marker[index].counter = count ? count : -1;
+    index++;
+  }
+}
+
+void Repeat::loop() {
+  if (!index)                              // No marker has been set?
+    card.setIndex(0);                      // Go back to the top
+  else {
+    const uint16_t ind = index - 1;        // The relevant marker index
+    if (!marker[ind].counter)              // Did the counter run out?
+      --index;                             // Carry on and loop elsewhere on the next 'M41'
+    else {
+      card.setIndex(marker[ind].sdpos);    // Loop back to the marker.
+      if (marker[ind].counter > 0)         // Don't decrement a negative (or zero) counter.
+        --marker[ind].counter;             // Decrement the counter. If zero this 'M41' will be skipped next time.
+    }
+  }
+}
+
+#endif // GCODE_REPEAT_MARKERS

Marlin/src/feature/repeat.h

@@ -0,0 +1,45 @@
+/**
+ * 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../inc/MarlinConfigPre.h"
+
+#include <stdint.h>
+
+#define MAX_REPEAT_NESTING 10
+
+typedef struct {
+  uint32_t sdpos;   // The repeat file position
+  int16_t counter;  // The counter for looping
+} repeat_marker_t;
+
+class Repeat {
+public:
+  static repeat_marker_t marker[MAX_REPEAT_NESTING];
+  static int8_t index;
+  static bool is_command_M41(char * const cmd);
+  static bool early_parse_M41(char * const cmd, const uint32_t &sdpos);
+  static void add_marker(const uint16_t count);
+  static void loop();
+};
+
+extern Repeat repeat;

Marlin/src/gcode/gcode.cpp

@@ -250,7 +250,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
   * Will still block Gcodes if M511 is disabled, in which case the printer should be unlocked via LCD Menu
   */
   #if ENABLED(PASSWORD_FEATURE)
-    if (password.is_locked && !(parser.command_letter == 'M' && parser.codenum == 511)) {
+    if (password.is_locked && !parser.is_command('M', 511)) {
       SERIAL_ECHO_MSG(STR_PRINTER_LOCKED);
       return;
     }
@@ -449,6 +449,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
 
       case 31: M31(); break;                                      // M31: Report time since the start of SD print or last M109
 
+      #if ENABLED(GCODE_REPEAT_MARKERS)
+        case 41: M41(); break;                                    // M41: Set / Goto repeat markers
+      #endif
+
       #if ENABLED(DIRECT_PIN_CONTROL)
         case 42: M42(); break;                                    // M42: Change pin state
       #endif

Marlin/src/gcode/gcode.h

@@ -548,6 +548,8 @@ class GcodeSuite {
     #endif
   #endif
 
+  TERN_(GCODE_REPEAT_MARKERS, static void M41());
+
   TERN_(DIRECT_PIN_CONTROL, static void M42());
   TERN_(PINS_DEBUGGING, static void M43());
 

Marlin/src/gcode/host/M115.cpp

@@ -117,6 +117,9 @@ void GcodeSuite::M115() {
     // SDCARD (M20, M23, M24, etc.)
     cap_line(PSTR("SDCARD"), ENABLED(SDSUPPORT));
 
+    // REPEAT (M41)
+    cap_line(PSTR("REPEAT"), ENABLED(GCODE_REPEAT_MARKERS));
+
     // AUTOREPORT_SD_STATUS (M27 extension)
     cap_line(PSTR("AUTOREPORT_SD_STATUS"), ENABLED(AUTO_REPORT_SD_STATUS));
 

Marlin/src/gcode/parser.cpp

@@ -45,7 +45,7 @@ char *GCodeParser::command_ptr,
      *GCodeParser::string_arg,
      *GCodeParser::value_ptr;
 char GCodeParser::command_letter;
-int GCodeParser::codenum;
+uint16_t GCodeParser::codenum;
 
 #if ENABLED(USE_GCODE_SUBCODES)
   uint8_t GCodeParser::subcode;
@@ -270,7 +270,7 @@ void GCodeParser::parse(char *p) {
 
     // Special handling for M32 [P] !/path/to/file.g#
     // The path must be the last parameter
-    if (param == '!' && letter == 'M' && codenum == 32) {
+    if (param == '!' && is_command('M', 32)) {
       string_arg = p;                           // Name starts after '!'
       char * const lb = strchr(p, '#');         // Already seen '#' as SD char (to pause buffering)
       if (lb) *lb = '\0';                       // Safe to mark the end of the filename

Marlin/src/gcode/parser.h

@@ -84,7 +84,7 @@ class GCodeParser {
   static char *command_ptr,               // The command, so it can be echoed
               *string_arg,                // string of command line
               command_letter;             // G, M, or T
-  static int codenum;                     // 123
+  static uint16_t codenum;                // 123
   #if ENABLED(USE_GCODE_SUBCODES)
     static uint8_t subcode;               // .1
   #endif
@@ -244,6 +244,9 @@ class GCodeParser {
     static bool chain();
   #endif
 
+  // Test whether the parsed command matches the input
+  static inline bool is_command(const char ltr, const uint16_t num) { return command_letter == ltr && codenum == num; }
+
   // The code value pointer was set
   FORCE_INLINE static bool has_value() { return !!value_ptr; }
 

Marlin/src/gcode/queue.cpp

@@ -51,6 +51,10 @@ GCodeQueue queue;
   #include "../feature/powerloss.h"
 #endif
 
+#if ENABLED(GCODE_REPEAT_MARKERS)
+  #include "../feature/repeat.h"
+#endif
+
 /**
  * GCode line number handling. Hosts may opt to include line numbers when
  * sending commands to Marlin, and lines will be checked for sequentiality.
@@ -416,11 +420,14 @@ inline void process_stream_char(const char c, uint8_t &sis, char (&buff)[MAX_CMD
  * keep sensor readings going and watchdog alive.
  */
 inline bool process_line_done(uint8_t &sis, char (&buff)[MAX_CMD_SIZE], int &ind) {
-  sis = PS_NORMAL;
-  buff[ind] = 0;
-  if (ind) { ind = 0; return false; }
-  thermalManager.manage_heater();
-  return true;
+  sis = PS_NORMAL;                    // "Normal" Serial Input State
+  buff[ind] = '\0';                   // Of course, I'm a Terminator.
+  const bool is_empty = (ind == 0);   // An empty line?
+  if (is_empty)
+    thermalManager.manage_heater();   // Keep sensors satisfied
+  else
+    ind = 0;                          // Start a new line
+  return is_empty;                    // Inform the caller
 }
 
 /**
@@ -547,12 +554,14 @@ void GCodeQueue::get_serial_commands() {
           last_command_time = ms;
         #endif
 
-        // Add the command to the queue
-        _enqueue(serial_line_buffer[i], true
-          #if HAS_MULTI_SERIAL
-            , i
-          #endif
-        );
+        if (TERN1(GCODE_REPEAT_MARKERS, !repeat.is_command_M41(serial_line_buffer[i]))) { // Ignore 'M41' from serial
+          // Add the command to the queue
+          _enqueue(serial_line_buffer[i], true
+            #if HAS_MULTI_SERIAL
+              , i
+            #endif
+          );
+        }
       }
       else
         process_stream_char(serial_char, serial_input_state[i], serial_line_buffer[i], serial_count[i]);
@@ -588,10 +597,9 @@ void GCodeQueue::get_serial_commands() {
         // Reset stream state, terminate the buffer, and commit a non-empty command
         if (!is_eol && sd_count) ++sd_count;          // End of file with no newline
         if (!process_line_done(sd_input_state, command_buffer[index_w], sd_count)) {
-          _commit_command(false);
-          #if ENABLED(POWER_LOSS_RECOVERY)
-            recovery.cmd_sdpos = card.getIndex();     // Prime for the NEXT _commit_command
-          #endif
+          if (TERN1(GCODE_REPEAT_MARKERS, repeat.early_parse_M41(command_buffer[index_w], card.getIndex())))
+            _commit_command(false);
+          TERN_(POWER_LOSS_RECOVERY, recovery.cmd_sdpos = card.getIndex()); // Prime for the NEXT _commit_command
         }
 
         if (card_eof) card.fileHasFinished();         // Handle end of file reached

Marlin/src/gcode/sd/M41.cpp

@@ -0,0 +1,50 @@
+/**
+ * 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(GCODE_REPEAT_MARKERS)
+
+#include "../gcode.h"
+#include "../../feature/repeat.h"
+
+/**
+ * M41: Set / Goto a repeat marker
+ *
+ *  S<count> - Set a repeat marker with 'count' repetitions. If omitted, infinity.
+ *
+ * Examples:
+ *
+ *    M41 S   ; Set a loop marker with a count of infinity
+ *    M41 S2  ; Set a loop marker with a count of 2
+ *    M41     ; Decrement and loop if not zero.
+ */
+void GcodeSuite::M41() {
+
+  if (parser.seen('S'))                       // If 'S' was seen...
+    repeat.add_marker(parser.value_ushort()); // Add a marker with a count. 'S' or 'S0' = forever.
+  else
+    repeat.loop();
+
+}
+
+#endif // GCODE_REPEAT_MARKERS

Marlin/src/lcd/marlinui.h

@@ -84,10 +84,6 @@
     inline void wrap_string_P(uint8_t &col, uint8_t &row, PGM_P const pstr, const bool wordwrap=false) { _wrap_string(col, row, pstr, read_byte_rom, wordwrap); }
     inline void wrap_string(uint8_t &col, uint8_t &row, const char * const string, const bool wordwrap=false) { _wrap_string(col, row, string, read_byte_ram, wordwrap); }
 
-    #if ENABLED(SDSUPPORT)
-      #include "../sd/cardreader.h"
-    #endif
-
     typedef void (*screenFunc_t)();
     typedef void (*menuAction_t)();
 

buildroot/tests/mega2560-tests

@@ -82,7 +82,7 @@ restore_configs
 opt_set MOTHERBOARD BOARD_MEGACONTROLLER
 opt_set LCD_LANGUAGE de
 opt_enable EEPROM_SETTINGS EEPROM_CHITCHAT \
-           MINIPANEL SDSUPPORT PCA9632 LCD_INFO_MENU SOUND_MENU_ITEM \
+           MINIPANEL SDSUPPORT PCA9632 LCD_INFO_MENU SOUND_MENU_ITEM GCODE_REPEAT_MARKERS \
            AUTO_BED_LEVELING_BILINEAR PROBE_MANUALLY LCD_BED_LEVELING G26_MESH_VALIDATION MESH_EDIT_MENU \
            LIN_ADVANCE EXTRA_LIN_ADVANCE_K \
            INCH_MODE_SUPPORT TEMPERATURE_UNITS_SUPPORT EXPERIMENTAL_I2CBUS M100_FREE_MEMORY_WATCHER \

platformio.ini

@@ -179,8 +179,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
   -<src/gcode/probe/M851.cpp>
   -<src/gcode/probe/M951.cpp>
   -<src/gcode/scara>
-  -<src/gcode/sd>
-  -<src/gcode/sd/M32.cpp>
+  -<src/gcode/sd> -<src/gcode/sd/M32.cpp> -<src/gcode/sd/M41.cpp>
   -<src/gcode/temp/M104_M109.cpp>
   -<src/gcode/temp/M155.cpp>
   -<src/gcode/units/G20_G21.cpp>
@@ -372,6 +371,7 @@ G38_PROBE_TARGET        = src_filter=+<src/gcode/probe/G38.cpp>
 MAGNETIC_PARKING_EXTRUDER = src_filter=+<src/gcode/probe/M951.cpp>
 SDSUPPORT               = src_filter=+<src/gcode/sd>
 HAS_MEDIA_SUBCALLS      = src_filter=+<src/gcode/sd/M32.cpp>
+GCODE_REPEAT_MARKERS    = src_filter=+<src/gcode/sd/M41.cpp>
 HAS_EXTRUDERS           = src_filter=+<src/gcode/temp/M104_M109.cpp> +<src/gcode/config/M221.cpp>
 AUTO_REPORT_TEMPERATURES = src_filter=+<src/gcode/temp/M155.cpp>
 INCH_MODE_SUPPORT       = src_filter=+<src/gcode/units/G20_G21.cpp>