Merge pull request #6202 from thinkyhead/rc_fix_broken_ubl

Patching up UBL, vetting recent commits

Marlin/G26_Mesh_Validation_Tool.cpp

@@ -128,7 +128,7 @@
   extern bool code_value_bool();
   extern bool code_has_value();
   extern void lcd_init();
-  extern void lcd_setstatuspgm(const char* const message, uint8_t level);
+  extern void lcd_setstatuspgm(const char* const message, const uint8_t level);
   #define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS])) //bob
   bool prepare_move_to_destination_cartesian();
   void line_to_destination();
@@ -156,7 +156,7 @@
                               // won't leave us in a bad state.
 
   float valid_trig_angle(float);
-  mesh_index_pair find_closest_circle_to_print(float, float);
+  mesh_index_pair find_closest_circle_to_print(const float&, const float&);
 
   static float extrusion_multiplier = EXTRUSION_MULTIPLIER,
                retraction_multiplier = RETRACTION_MULTIPLIER,
@@ -183,8 +183,8 @@
     int   i, xi, yi;
     mesh_index_pair location;
 
-    // Don't allow Mesh Validation without homing first
-    // If the paramter parsing did not go OK, we abort the command
+    // Don't allow Mesh Validation without homing first,
+    // or if the parameter parsing did not go OK, abort
     if (axis_unhomed_error(true, true, true) || parse_G26_parameters()) return;
 
     if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
@@ -391,8 +391,8 @@
     return d;
   }
 
-  mesh_index_pair find_closest_circle_to_print( float X, float Y) {
-    float f, mx, my, dx, dy, closest = 99999.99;
+  mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) {
+    float closest = 99999.99;
     mesh_index_pair return_val;
 
     return_val.x_index = return_val.y_index = -1;
@@ -400,28 +400,27 @@
     for (uint8_t i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
       for (uint8_t j = 0; j < UBL_MESH_NUM_Y_POINTS; j++) {
         if (!is_bit_set(circle_flags, i, j)) {
-          mx = ubl.mesh_index_to_xpos[i];  // We found a circle that needs to be printed
-          my = ubl.mesh_index_to_ypos[j];
+          const float mx = ubl.mesh_index_to_xpos[i],  // We found a circle that needs to be printed
+                      my = ubl.mesh_index_to_ypos[j];
 
-          dx = X - mx;        // Get the distance to this intersection
-          dy = Y - my;
-          f = HYPOT(dx, dy);
+          // Get the distance to this intersection
+          float f = HYPOT(X - mx, Y - my);
 
-          dx = x_pos - mx;                  // It is possible that we are being called with the values
-          dy = y_pos - my;                  // to let us find the closest circle to the start position.
-          f += HYPOT(dx, dy) / 15.0;        // But if this is not the case,
-                                            // we are going to add in a small
-                                            // weighting to the distance calculation to help it choose
-                                            // a better place to continue.
+          // It is possible that we are being called with the values
+          // to let us find the closest circle to the start position.
+          // But if this is not the case, add a small weighting to the
+          // distance calculation to help it choose a better place to continue.
+          f += HYPOT(x_pos - mx, y_pos - my) / 15.0;
 
+          // Add in the specified amount of Random Noise to our search
           if (random_deviation > 1.0)
-            f += random(0.0, random_deviation); // Add in the specified amount of Random Noise to our search
+            f += random(0.0, random_deviation);
 
           if (f < closest) {
             closest = f;              // We found a closer location that is still
             return_val.x_index = i;   // un-printed  --- save the data for it
             return_val.y_index = j;
-            return_val.distance= closest;
+            return_val.distance = closest;
           }
         }
       }

Marlin/Marlin.h

@@ -39,19 +39,7 @@
 #include "types.h"
 #include "fastio.h"
 #include "utility.h"
-
-#ifdef USBCON
-  #include "HardwareSerial.h"
-  #if ENABLED(BLUETOOTH)
-    #define MYSERIAL bluetoothSerial
-  #else
-    #define MYSERIAL Serial
-  #endif // BLUETOOTH
-#else
-  #include "MarlinSerial.h"
-  #define MYSERIAL customizedSerial
-#endif
-
+#include "serial.h"
 #include "WString.h"
 
 #if ENABLED(PRINTCOUNTER)
@@ -60,54 +48,6 @@
   #include "stopwatch.h"
 #endif
 
-extern const char echomagic[] PROGMEM;
-extern const char errormagic[] PROGMEM;
-
-#define SERIAL_CHAR(x) (MYSERIAL.write(x))
-#define SERIAL_EOL SERIAL_CHAR('\n')
-
-#define SERIAL_PROTOCOLCHAR(x)              SERIAL_CHAR(x)
-#define SERIAL_PROTOCOL(x)                  (MYSERIAL.print(x))
-#define SERIAL_PROTOCOL_F(x,y)              (MYSERIAL.print(x,y))
-#define SERIAL_PROTOCOLPGM(x)               (serialprintPGM(PSTR(x)))
-#define SERIAL_PROTOCOLLN(x)                do{ MYSERIAL.print(x); SERIAL_EOL; }while(0)
-#define SERIAL_PROTOCOLLNPGM(x)             (serialprintPGM(PSTR(x "\n")))
-#define SERIAL_PROTOCOLPAIR(name, value)    (serial_echopair_P(PSTR(name),(value)))
-#define SERIAL_PROTOCOLLNPAIR(name, value)  do{ SERIAL_PROTOCOLPAIR(name, value); SERIAL_EOL; }while(0)
-
-#define SERIAL_ECHO_START             (serialprintPGM(echomagic))
-#define SERIAL_ECHO(x)                 SERIAL_PROTOCOL(x)
-#define SERIAL_ECHOPGM(x)              SERIAL_PROTOCOLPGM(x)
-#define SERIAL_ECHOLN(x)               SERIAL_PROTOCOLLN(x)
-#define SERIAL_ECHOLNPGM(x)            SERIAL_PROTOCOLLNPGM(x)
-#define SERIAL_ECHOPAIR(name,value)    SERIAL_PROTOCOLPAIR(name, value)
-#define SERIAL_ECHOLNPAIR(name, value) SERIAL_PROTOCOLLNPAIR(name, value)
-#define SERIAL_ECHO_F(x,y)             SERIAL_PROTOCOL_F(x,y)
-
-#define SERIAL_ERROR_START            (serialprintPGM(errormagic))
-#define SERIAL_ERROR(x)                SERIAL_PROTOCOL(x)
-#define SERIAL_ERRORPGM(x)             SERIAL_PROTOCOLPGM(x)
-#define SERIAL_ERRORLN(x)              SERIAL_PROTOCOLLN(x)
-#define SERIAL_ERRORLNPGM(x)           SERIAL_PROTOCOLLNPGM(x)
-
-void serial_echopair_P(const char* s_P, const char *v);
-void serial_echopair_P(const char* s_P, char v);
-void serial_echopair_P(const char* s_P, int v);
-void serial_echopair_P(const char* s_P, long v);
-void serial_echopair_P(const char* s_P, float v);
-void serial_echopair_P(const char* s_P, double v);
-void serial_echopair_P(const char* s_P, unsigned int v);
-void serial_echopair_P(const char* s_P, unsigned long v);
-FORCE_INLINE void serial_echopair_P(const char* s_P, uint8_t v) { serial_echopair_P(s_P, (int)v); }
-FORCE_INLINE void serial_echopair_P(const char* s_P, uint16_t v) { serial_echopair_P(s_P, (int)v); }
-FORCE_INLINE void serial_echopair_P(const char* s_P, bool v) { serial_echopair_P(s_P, (int)v); }
-FORCE_INLINE void serial_echopair_P(const char* s_P, void *v) { serial_echopair_P(s_P, (unsigned long)v); }
-
-// Things to write to serial from Program memory. Saves 400 to 2k of RAM.
-FORCE_INLINE void serialprintPGM(const char* str) {
-  while (char ch = pgm_read_byte(str++)) MYSERIAL.write(ch);
-}
-
 void idle(
   #if ENABLED(FILAMENT_CHANGE_FEATURE)
     bool no_stepper_sleep = false  // pass true to keep steppers from disabling on timeout

Marlin/MarlinSerial.cpp

@@ -33,495 +33,490 @@
 #include "stepper.h"
 #include "Marlin.h"
 
-#ifndef USBCON
-// this next line disables the entire HardwareSerial.cpp,
-// this is so I can support Attiny series and any other chip without a UART
-#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
+// Disable HardwareSerial.cpp to support chips without a UART (Attiny, etc.)
 
-#if UART_PRESENT(SERIAL_PORT)
-  ring_buffer_r rx_buffer  =  { { 0 }, 0, 0 };
-  #if TX_BUFFER_SIZE > 0
-    ring_buffer_t tx_buffer  =  { { 0 }, 0, 0 };
-    static bool _written;
+#if !defined(USBCON) && (defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H))
+
+  #if UART_PRESENT(SERIAL_PORT)
+    ring_buffer_r rx_buffer  =  { { 0 }, 0, 0 };
+    #if TX_BUFFER_SIZE > 0
+      ring_buffer_t tx_buffer  =  { { 0 }, 0, 0 };
+      static bool _written;
+    #endif
   #endif
-#endif
 
+  #if ENABLED(EMERGENCY_PARSER)
+
+    #include "language.h"
+
+    // Currently looking for: M108, M112, M410
+    // If you alter the parser please don't forget to update the capabilities in Conditionals_post.h
+
+    FORCE_INLINE void emergency_parser(const unsigned char c) {
+
+      static e_parser_state state = state_RESET;
 
-FORCE_INLINE void store_char(unsigned char c) {
-  CRITICAL_SECTION_START;
-    uint8_t h = rx_buffer.head;
-    uint8_t i = (uint8_t)(h + 1)  & (RX_BUFFER_SIZE - 1);
+      switch (state) {
+        case state_RESET:
+          switch (c) {
+            case ' ': break;
+            case 'N': state = state_N;      break;
+            case 'M': state = state_M;      break;
+            default: state = state_IGNORE;
+          }
+          break;
+
+        case state_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 'M': state = state_M;      break;
+            default:  state = state_IGNORE;
+          }
+          break;
+
+        case state_M:
+          switch (c) {
+            case ' ': break;
+            case '1': state = state_M1;     break;
+            case '4': state = state_M4;     break;
+            default: state = state_IGNORE;
+          }
+          break;
 
-    // if we should be storing the received character into the location
-    // just before the tail (meaning that the head would advance to the
-    // current location of the tail), we're about to overflow the buffer
-    // and so we don't write the character or advance the head.
-    if (i != rx_buffer.tail) {
-      rx_buffer.buffer[h] = c;
-      rx_buffer.head = i;
+        case state_M1:
+          switch (c) {
+            case '0': state = state_M10;    break;
+            case '1': state = state_M11;    break;
+            default: state = state_IGNORE;
+          }
+          break;
+
+        case state_M10:
+          state = (c == '8') ? state_M108 : state_IGNORE;
+          break;
+
+        case state_M11:
+          state = (c == '2') ? state_M112 : state_IGNORE;
+          break;
+
+        case state_M4:
+          state = (c == '1') ? state_M41 : state_IGNORE;
+          break;
+
+        case state_M41:
+          state = (c == '0') ? state_M410 : state_IGNORE;
+          break;
+
+        case state_IGNORE:
+          if (c == '\n') state = state_RESET;
+          break;
+
+        default:
+          if (c == '\n') {
+            switch (state) {
+              case state_M108:
+                wait_for_user = wait_for_heatup = false;
+                break;
+              case state_M112:
+                kill(PSTR(MSG_KILLED));
+                break;
+              case state_M410:
+                quickstop_stepper();
+                break;
+              default:
+                break;
+            }
+            state = state_RESET;
+          }
+      }
     }
-  CRITICAL_SECTION_END;
 
-  #if ENABLED(EMERGENCY_PARSER)
-    emergency_parser(c);
   #endif
-}
 
-#if TX_BUFFER_SIZE > 0
 
-  FORCE_INLINE void _tx_udr_empty_irq(void) {
-    // If interrupts are enabled, there must be more data in the output
-    // buffer. Send the next byte
-    uint8_t t = tx_buffer.tail;
-    uint8_t c = tx_buffer.buffer[t];
-    tx_buffer.tail = (t + 1) & (TX_BUFFER_SIZE - 1);
+  FORCE_INLINE void store_char(unsigned char c) {
+    CRITICAL_SECTION_START;
+      uint8_t h = rx_buffer.head;
+      uint8_t i = (uint8_t)(h + 1)  & (RX_BUFFER_SIZE - 1);
+
+      // if we should be storing the received character into the location
+      // just before the tail (meaning that the head would advance to the
+      // current location of the tail), we're about to overflow the buffer
+      // and so we don't write the character or advance the head.
+      if (i != rx_buffer.tail) {
+        rx_buffer.buffer[h] = c;
+        rx_buffer.head = i;
+      }
+    CRITICAL_SECTION_END;
 
-    M_UDRx = c;
+    #if ENABLED(EMERGENCY_PARSER)
+      emergency_parser(c);
+    #endif
+  }
 
-    // clear the TXC bit -- "can be cleared by writing a one to its bit
-    // location". This makes sure flush() won't return until the bytes
-    // actually got written
-    SBI(M_UCSRxA, M_TXCx);
+  #if TX_BUFFER_SIZE > 0
 
-    if (tx_buffer.head == tx_buffer.tail) {
-      // Buffer empty, so disable interrupts
-      CBI(M_UCSRxB, M_UDRIEx);
-    }
-  }
+    FORCE_INLINE void _tx_udr_empty_irq(void) {
+      // If interrupts are enabled, there must be more data in the output
+      // buffer. Send the next byte
+      uint8_t t = tx_buffer.tail;
+      uint8_t c = tx_buffer.buffer[t];
+      tx_buffer.tail = (t + 1) & (TX_BUFFER_SIZE - 1);
 
-  #ifdef M_USARTx_UDRE_vect
-    ISR(M_USARTx_UDRE_vect) {
-      _tx_udr_empty_irq();
+      M_UDRx = c;
+
+      // clear the TXC bit -- "can be cleared by writing a one to its bit
+      // location". This makes sure flush() won't return until the bytes
+      // actually got written
+      SBI(M_UCSRxA, M_TXCx);
+
+      if (tx_buffer.head == tx_buffer.tail) {
+        // Buffer empty, so disable interrupts
+        CBI(M_UCSRxB, M_UDRIEx);
+      }
     }
-  #endif
 
-#endif // TX_BUFFER_SIZE
+    #ifdef M_USARTx_UDRE_vect
+      ISR(M_USARTx_UDRE_vect) {
+        _tx_udr_empty_irq();
+      }
+    #endif
 
-#ifdef M_USARTx_RX_vect
-  ISR(M_USARTx_RX_vect) {
-    unsigned char c  =  M_UDRx;
-    store_char(c);
-  }
-#endif
+  #endif // TX_BUFFER_SIZE
 
-// Constructors ////////////////////////////////////////////////////////////////
+  #ifdef M_USARTx_RX_vect
+    ISR(M_USARTx_RX_vect) {
+      unsigned char c  =  M_UDRx;
+      store_char(c);
+    }
+  #endif
 
-MarlinSerial::MarlinSerial() { }
+  // Public Methods
 
-// Public Methods //////////////////////////////////////////////////////////////
+  void MarlinSerial::begin(long baud) {
+    uint16_t baud_setting;
+    bool useU2X = true;
 
-void MarlinSerial::begin(long baud) {
-  uint16_t baud_setting;
-  bool useU2X = true;
+    #if F_CPU == 16000000UL && SERIAL_PORT == 0
+      // hard-coded exception for compatibility with the bootloader shipped
+      // with the Duemilanove and previous boards and the firmware on the 8U2
+      // on the Uno and Mega 2560.
+      if (baud == 57600) {
+        useU2X = false;
+      }
+    #endif
 
-  #if F_CPU == 16000000UL && SERIAL_PORT == 0
-    // hard-coded exception for compatibility with the bootloader shipped
-    // with the Duemilanove and previous boards and the firmware on the 8U2
-    // on the Uno and Mega 2560.
-    if (baud == 57600) {
-      useU2X = false;
+    if (useU2X) {
+      M_UCSRxA = _BV(M_U2Xx);
+      baud_setting = (F_CPU / 4 / baud - 1) / 2;
+    }
+    else {
+      M_UCSRxA = 0;
+      baud_setting = (F_CPU / 8 / baud - 1) / 2;
     }
-  #endif
 
-  if (useU2X) {
-    M_UCSRxA = _BV(M_U2Xx);
-    baud_setting = (F_CPU / 4 / baud - 1) / 2;
-  }
-  else {
-    M_UCSRxA = 0;
-    baud_setting = (F_CPU / 8 / baud - 1) / 2;
-  }
+    // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
+    M_UBRRxH = baud_setting >> 8;
+    M_UBRRxL = baud_setting;
 
-  // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
-  M_UBRRxH = baud_setting >> 8;
-  M_UBRRxL = baud_setting;
+    SBI(M_UCSRxB, M_RXENx);
+    SBI(M_UCSRxB, M_TXENx);
+    SBI(M_UCSRxB, M_RXCIEx);
+    #if TX_BUFFER_SIZE > 0
+      CBI(M_UCSRxB, M_UDRIEx);
+      _written = false;
+    #endif
+  }
 
-  SBI(M_UCSRxB, M_RXENx);
-  SBI(M_UCSRxB, M_TXENx);
-  SBI(M_UCSRxB, M_RXCIEx);
-  #if TX_BUFFER_SIZE > 0
+  void MarlinSerial::end() {
+    CBI(M_UCSRxB, M_RXENx);
+    CBI(M_UCSRxB, M_TXENx);
+    CBI(M_UCSRxB, M_RXCIEx);
     CBI(M_UCSRxB, M_UDRIEx);
-    _written = false;
-  #endif
-}
-
-void MarlinSerial::end() {
-  CBI(M_UCSRxB, M_RXENx);
-  CBI(M_UCSRxB, M_TXENx);
-  CBI(M_UCSRxB, M_RXCIEx);
-  CBI(M_UCSRxB, M_UDRIEx);
-}
-
-void MarlinSerial::checkRx(void) {
-  if (TEST(M_UCSRxA, M_RXCx)) {
-    uint8_t c  =  M_UDRx;
-    store_char(c);
   }
-}
-
-int MarlinSerial::peek(void) {
-  CRITICAL_SECTION_START;
-    int v = rx_buffer.head == rx_buffer.tail ? -1 : rx_buffer.buffer[rx_buffer.tail];
-  CRITICAL_SECTION_END;
-  return v;
-}
-
-int MarlinSerial::read(void) {
-  int v;
-  CRITICAL_SECTION_START;
-    uint8_t t = rx_buffer.tail;
-    if (rx_buffer.head == t) {
-      v = -1;
-    }
-    else {
-      v = rx_buffer.buffer[t];
-      rx_buffer.tail = (uint8_t)(t + 1) & (RX_BUFFER_SIZE - 1);
+
+  void MarlinSerial::checkRx(void) {
+    if (TEST(M_UCSRxA, M_RXCx)) {
+      uint8_t c  =  M_UDRx;
+      store_char(c);
     }
-  CRITICAL_SECTION_END;
-  return v;
-}
-
-uint8_t MarlinSerial::available(void) {
-  CRITICAL_SECTION_START;
-    uint8_t h = rx_buffer.head,
-            t = rx_buffer.tail;
-  CRITICAL_SECTION_END;
-  return (uint8_t)(RX_BUFFER_SIZE + h - t) & (RX_BUFFER_SIZE - 1);
-}
-
-void MarlinSerial::flush(void) {
-  // RX
-  // don't reverse this or there may be problems if the RX interrupt
-  // occurs after reading the value of rx_buffer_head but before writing
-  // the value to rx_buffer_tail; the previous value of rx_buffer_head
-  // may be written to rx_buffer_tail, making it appear as if the buffer
-  // were full, not empty.
-  CRITICAL_SECTION_START;
-    rx_buffer.head = rx_buffer.tail;
-  CRITICAL_SECTION_END;
-}
-
-#if TX_BUFFER_SIZE > 0
-  uint8_t MarlinSerial::availableForWrite(void) {
+  }
+
+  int MarlinSerial::peek(void) {
     CRITICAL_SECTION_START;
-      uint8_t h = tx_buffer.head;
-      uint8_t t = tx_buffer.tail;
+      int v = rx_buffer.head == rx_buffer.tail ? -1 : rx_buffer.buffer[rx_buffer.tail];
+    CRITICAL_SECTION_END;
+    return v;
+  }
+
+  int MarlinSerial::read(void) {
+    int v;
+    CRITICAL_SECTION_START;
+      uint8_t t = rx_buffer.tail;
+      if (rx_buffer.head == t) {
+        v = -1;
+      }
+      else {
+        v = rx_buffer.buffer[t];
+        rx_buffer.tail = (uint8_t)(t + 1) & (RX_BUFFER_SIZE - 1);
+      }
     CRITICAL_SECTION_END;
-    return (uint8_t)(TX_BUFFER_SIZE + h - t) & (TX_BUFFER_SIZE - 1);
+    return v;
   }
 
-  void MarlinSerial::write(uint8_t c) {
-    _written = true;
+  uint8_t MarlinSerial::available(void) {
     CRITICAL_SECTION_START;
-      bool emty = (tx_buffer.head == tx_buffer.tail);
+      uint8_t h = rx_buffer.head,
+              t = rx_buffer.tail;
     CRITICAL_SECTION_END;
-    // If the buffer and the data register is empty, just write the byte
-    // to the data register and be done. This shortcut helps
-    // significantly improve the effective datarate at high (>
-    // 500kbit/s) bitrates, where interrupt overhead becomes a slowdown.
-    if (emty && TEST(M_UCSRxA, M_UDREx)) {
+    return (uint8_t)(RX_BUFFER_SIZE + h - t) & (RX_BUFFER_SIZE - 1);
+  }
+
+  void MarlinSerial::flush(void) {
+    // RX
+    // don't reverse this or there may be problems if the RX interrupt
+    // occurs after reading the value of rx_buffer_head but before writing
+    // the value to rx_buffer_tail; the previous value of rx_buffer_head
+    // may be written to rx_buffer_tail, making it appear as if the buffer
+    // were full, not empty.
+    CRITICAL_SECTION_START;
+      rx_buffer.head = rx_buffer.tail;
+    CRITICAL_SECTION_END;
+  }
+
+  #if TX_BUFFER_SIZE > 0
+    uint8_t MarlinSerial::availableForWrite(void) {
       CRITICAL_SECTION_START;
-        M_UDRx = c;
-        SBI(M_UCSRxA, M_TXCx);
+        uint8_t h = tx_buffer.head;
+        uint8_t t = tx_buffer.tail;
       CRITICAL_SECTION_END;
-      return;
-    }
-    uint8_t i = (tx_buffer.head + 1) & (TX_BUFFER_SIZE - 1);
-
-    // If the output buffer is full, there's nothing for it other than to
-    // wait for the interrupt handler to empty it a bit
-    while (i == tx_buffer.tail) {
-      if (!TEST(SREG, SREG_I)) {
-        // Interrupts are disabled, so we'll have to poll the data
-        // register empty flag ourselves. If it is set, pretend an
-        // interrupt has happened and call the handler to free up
-        // space for us.
-        if (TEST(M_UCSRxA, M_UDREx))
-          _tx_udr_empty_irq();
-      } else {
-        // nop, the interrupt handler will free up space for us
-      }
+      return (uint8_t)(TX_BUFFER_SIZE + h - t) & (TX_BUFFER_SIZE - 1);
     }
 
-    tx_buffer.buffer[tx_buffer.head] = c;
-    { CRITICAL_SECTION_START;
-        tx_buffer.head = i;
-        SBI(M_UCSRxB, M_UDRIEx);
+    void MarlinSerial::write(uint8_t c) {
+      _written = true;
+      CRITICAL_SECTION_START;
+        bool emty = (tx_buffer.head == tx_buffer.tail);
       CRITICAL_SECTION_END;
-    }
-    return;
-  }
+      // If the buffer and the data register is empty, just write the byte
+      // to the data register and be done. This shortcut helps
+      // significantly improve the effective datarate at high (>
+      // 500kbit/s) bitrates, where interrupt overhead becomes a slowdown.
+      if (emty && TEST(M_UCSRxA, M_UDREx)) {
+        CRITICAL_SECTION_START;
+          M_UDRx = c;
+          SBI(M_UCSRxA, M_TXCx);
+        CRITICAL_SECTION_END;
+        return;
+      }
+      uint8_t i = (tx_buffer.head + 1) & (TX_BUFFER_SIZE - 1);
+
+      // If the output buffer is full, there's nothing for it other than to
+      // wait for the interrupt handler to empty it a bit
+      while (i == tx_buffer.tail) {
+        if (!TEST(SREG, SREG_I)) {
+          // Interrupts are disabled, so we'll have to poll the data
+          // register empty flag ourselves. If it is set, pretend an
+          // interrupt has happened and call the handler to free up
+          // space for us.
+          if (TEST(M_UCSRxA, M_UDREx))
+            _tx_udr_empty_irq();
+        } else {
+          // nop, the interrupt handler will free up space for us
+        }
+      }
 
-  void MarlinSerial::flushTX(void) {
-    // TX
-    // If we have never written a byte, no need to flush. This special
-    // case is needed since there is no way to force the TXC (transmit
-    // complete) bit to 1 during initialization
-    if (!_written)
+      tx_buffer.buffer[tx_buffer.head] = c;
+      { CRITICAL_SECTION_START;
+          tx_buffer.head = i;
+          SBI(M_UCSRxB, M_UDRIEx);
+        CRITICAL_SECTION_END;
+      }
       return;
-
-    while (TEST(M_UCSRxB, M_UDRIEx) || !TEST(M_UCSRxA, M_TXCx)) {
-      if (!TEST(SREG, SREG_I) && TEST(M_UCSRxB, M_UDRIEx))
-        // Interrupts are globally disabled, but the DR empty
-        // interrupt should be enabled, so poll the DR empty flag to
-        // prevent deadlock
-        if (TEST(M_UCSRxA, M_UDREx))
-          _tx_udr_empty_irq();
     }
-    // If we get here, nothing is queued anymore (DRIE is disabled) and
-    // the hardware finished tranmission (TXC is set).
-}
-
-#else
-  void MarlinSerial::write(uint8_t c) {
-    while (!TEST(M_UCSRxA, M_UDREx))
-      ;
-    M_UDRx = c;
+
+    void MarlinSerial::flushTX(void) {
+      // TX
+      // If we have never written a byte, no need to flush. This special
+      // case is needed since there is no way to force the TXC (transmit
+      // complete) bit to 1 during initialization
+      if (!_written)
+        return;
+
+      while (TEST(M_UCSRxB, M_UDRIEx) || !TEST(M_UCSRxA, M_TXCx)) {
+        if (!TEST(SREG, SREG_I) && TEST(M_UCSRxB, M_UDRIEx))
+          // Interrupts are globally disabled, but the DR empty
+          // interrupt should be enabled, so poll the DR empty flag to
+          // prevent deadlock
+          if (TEST(M_UCSRxA, M_UDREx))
+            _tx_udr_empty_irq();
+      }
+      // If we get here, nothing is queued anymore (DRIE is disabled) and
+      // the hardware finished tranmission (TXC is set).
   }
-#endif
 
-// end NEW
+  #else
+    void MarlinSerial::write(uint8_t c) {
+      while (!TEST(M_UCSRxA, M_UDREx))
+        ;
+      M_UDRx = c;
+    }
+  #endif
 
-/// imports from print.h
+  // end NEW
 
+  /// imports from print.h
 
-void MarlinSerial::print(char c, int base) {
-  print((long) c, base);
-}
 
-void MarlinSerial::print(unsigned char b, int base) {
-  print((unsigned long) b, base);
-}
+  void MarlinSerial::print(char c, int base) {
+    print((long) c, base);
+  }
 
-void MarlinSerial::print(int n, int base) {
-  print((long) n, base);
-}
+  void MarlinSerial::print(unsigned char b, int base) {
+    print((unsigned long) b, base);
+  }
 
-void MarlinSerial::print(unsigned int n, int base) {
-  print((unsigned long) n, base);
-}
+  void MarlinSerial::print(int n, int base) {
+    print((long) n, base);
+  }
 
-void MarlinSerial::print(long n, int base) {
-  if (base == 0) {
-    write(n);
+  void MarlinSerial::print(unsigned int n, int base) {
+    print((unsigned long) n, base);
   }
-  else if (base == 10) {
-    if (n < 0) {
-      print('-');
-      n = -n;
+
+  void MarlinSerial::print(long n, int base) {
+    if (base == 0) {
+      write(n);
+    }
+    else if (base == 10) {
+      if (n < 0) {
+        print('-');
+        n = -n;
+      }
+      printNumber(n, 10);
+    }
+    else {
+      printNumber(n, base);
     }
-    printNumber(n, 10);
   }
-  else {
-    printNumber(n, base);
+
+  void MarlinSerial::print(unsigned long n, int base) {
+    if (base == 0) write(n);
+    else printNumber(n, base);
   }
-}
-
-void MarlinSerial::print(unsigned long n, int base) {
-  if (base == 0) write(n);
-  else printNumber(n, base);
-}
-
-void MarlinSerial::print(double n, int digits) {
-  printFloat(n, digits);
-}
-
-void MarlinSerial::println(void) {
-  print('\r');
-  print('\n');
-}
-
-void MarlinSerial::println(const String& s) {
-  print(s);
-  println();
-}
-
-void MarlinSerial::println(const char c[]) {
-  print(c);
-  println();
-}
-
-void MarlinSerial::println(char c, int base) {
-  print(c, base);
-  println();
-}
-
-void MarlinSerial::println(unsigned char b, int base) {
-  print(b, base);
-  println();
-}
-
-void MarlinSerial::println(int n, int base) {
-  print(n, base);
-  println();
-}
-
-void MarlinSerial::println(unsigned int n, int base) {
-  print(n, base);
-  println();
-}
-
-void MarlinSerial::println(long n, int base) {
-  print(n, base);
-  println();
-}
-
-void MarlinSerial::println(unsigned long n, int base) {
-  print(n, base);
-  println();
-}
-
-void MarlinSerial::println(double n, int digits) {
-  print(n, digits);
-  println();
-}
-
-// Private Methods /////////////////////////////////////////////////////////////
-
-void MarlinSerial::printNumber(unsigned long n, uint8_t base) {
-  if (n) {
-    unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
-    int8_t i = 0;
-    while (n) {
-      buf[i++] = n % base;
-      n /= base;
-    }
-    while (i--)
-      print((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10)));
+
+  void MarlinSerial::print(double n, int digits) {
+    printFloat(n, digits);
   }
-  else
-    print('0');
-}
-
-void MarlinSerial::printFloat(double number, uint8_t digits) {
-  // Handle negative numbers
-  if (number < 0.0) {
-    print('-');
-    number = -number;
+
+  void MarlinSerial::println(void) {
+    print('\r');
+    print('\n');
   }
 
-  // Round correctly so that print(1.999, 2) prints as "2.00"
-  double rounding = 0.5;
-  for (uint8_t i = 0; i < digits; ++i)
-    rounding *= 0.1;
-
-  number += rounding;
-
-  // Extract the integer part of the number and print it
-  unsigned long int_part = (unsigned long)number;
-  double remainder = number - (double)int_part;
-  print(int_part);
-
-  // Print the decimal point, but only if there are digits beyond
-  if (digits) {
-    print('.');
-    // Extract digits from the remainder one at a time
-    while (digits--) {
-      remainder *= 10.0;
-      int toPrint = int(remainder);
-      print(toPrint);
-      remainder -= toPrint;
-    }
+  void MarlinSerial::println(const String& s) {
+    print(s);
+    println();
   }
-}
-// Preinstantiate Objects //////////////////////////////////////////////////////
 
+  void MarlinSerial::println(const char c[]) {
+    print(c);
+    println();
+  }
 
-MarlinSerial customizedSerial;
+  void MarlinSerial::println(char c, int base) {
+    print(c, base);
+    println();
+  }
 
-#endif // whole file
-#endif // !USBCON
+  void MarlinSerial::println(unsigned char b, int base) {
+    print(b, base);
+    println();
+  }
 
-// For AT90USB targets use the UART for BT interfacing
-#if defined(USBCON) && ENABLED(BLUETOOTH)
-  HardwareSerial bluetoothSerial;
-#endif
+  void MarlinSerial::println(int n, int base) {
+    print(n, base);
+    println();
+  }
 
-#if ENABLED(EMERGENCY_PARSER)
+  void MarlinSerial::println(unsigned int n, int base) {
+    print(n, base);
+    println();
+  }
 
-  // Currently looking for: M108, M112, M410
-  // If you alter the parser please don't forget to update the capabilities in Conditionals_post.h
+  void MarlinSerial::println(long n, int base) {
+    print(n, base);
+    println();
+  }
 
-  FORCE_INLINE void emergency_parser(unsigned char c) {
+  void MarlinSerial::println(unsigned long n, int base) {
+    print(n, base);
+    println();
+  }
 
-    static e_parser_state state = state_RESET;
+  void MarlinSerial::println(double n, int digits) {
+    print(n, digits);
+    println();
+  }
 
-    switch (state) {
-      case state_RESET:
-        switch (c) {
-          case ' ': break;
-          case 'N': state = state_N;      break;
-          case 'M': state = state_M;      break;
-          default: state = state_IGNORE;
-        }
-        break;
-
-      case state_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 'M': state = state_M;      break;
-          default:  state = state_IGNORE;
-        }
-        break;
-
-      case state_M:
-        switch (c) {
-          case ' ': break;
-          case '1': state = state_M1;     break;
-          case '4': state = state_M4;     break;
-          default: state = state_IGNORE;
-        }
-        break;
+  // Private Methods
 
-      case state_M1:
-        switch (c) {
-          case '0': state = state_M10;    break;
-          case '1': state = state_M11;    break;
-          default: state = state_IGNORE;
-        }
-        break;
-
-      case state_M10:
-        state = (c == '8') ? state_M108 : state_IGNORE;
-        break;
-
-      case state_M11:
-        state = (c == '2') ? state_M112 : state_IGNORE;
-        break;
-
-      case state_M4:
-        state = (c == '1') ? state_M41 : state_IGNORE;
-        break;
-
-      case state_M41:
-        state = (c == '0') ? state_M410 : state_IGNORE;
-        break;
-
-      case state_IGNORE:
-        if (c == '\n') state = state_RESET;
-        break;
-
-      default:
-        if (c == '\n') {
-          switch (state) {
-            case state_M108:
-              wait_for_user = wait_for_heatup = false;
-              break;
-            case state_M112:
-              kill(PSTR(MSG_KILLED));
-              break;
-            case state_M410:
-              quickstop_stepper();
-              break;
-            default:
-              break;
-          }
-          state = state_RESET;
-        }
+  void MarlinSerial::printNumber(unsigned long n, uint8_t base) {
+    if (n) {
+      unsigned char buf[8 * sizeof(long)]; // Enough space for base 2
+      int8_t i = 0;
+      while (n) {
+        buf[i++] = n % base;
+        n /= base;
+      }
+      while (i--)
+        print((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10)));
     }
+    else
+      print('0');
   }
 
+  void MarlinSerial::printFloat(double number, uint8_t digits) {
+    // Handle negative numbers
+    if (number < 0.0) {
+      print('-');
+      number = -number;
+    }
+
+    // Round correctly so that print(1.999, 2) prints as "2.00"
+    double rounding = 0.5;
+    for (uint8_t i = 0; i < digits; ++i)
+      rounding *= 0.1;
+
+    number += rounding;
+
+    // Extract the integer part of the number and print it
+    unsigned long int_part = (unsigned long)number;
+    double remainder = number - (double)int_part;
+    print(int_part);
+
+    // Print the decimal point, but only if there are digits beyond
+    if (digits) {
+      print('.');
+      // Extract digits from the remainder one at a time
+      while (digits--) {
+        remainder *= 10.0;
+        int toPrint = int(remainder);
+        print(toPrint);
+        remainder -= toPrint;
+      }
+    }
+  }
+
+  // Preinstantiate
+  MarlinSerial customizedSerial;
+
+#endif // !USBCON && (UBRRH || UBRR0H || UBRR1H || UBRR2H || UBRR3H)
+
+// For AT90USB targets use the UART for BT interfacing
+#if defined(USBCON) && ENABLED(BLUETOOTH)
+  HardwareSerial bluetoothSerial;
 #endif

Marlin/MarlinSerial.h

@@ -29,8 +29,8 @@
 
 */
 
-#ifndef MarlinSerial_h
-#define MarlinSerial_h
+#ifndef MARLINSERIAL_H
+#define MARLINSERIAL_H
 
 #include "MarlinConfig.h"
 
@@ -52,125 +52,118 @@
   #define SERIAL_REGNAME_INTERNAL(registerbase,number,suffix) registerbase##number##suffix
 #endif
 
-// Registers used by MarlinSerial class (these are expanded
-// depending on selected serial port
-#define M_UCSRxA SERIAL_REGNAME(UCSR,SERIAL_PORT,A) // defines M_UCSRxA to be UCSRnA where n is the serial port number
-#define M_UCSRxB SERIAL_REGNAME(UCSR,SERIAL_PORT,B)
-#define M_RXENx SERIAL_REGNAME(RXEN,SERIAL_PORT,)
-#define M_TXENx SERIAL_REGNAME(TXEN,SERIAL_PORT,)
-#define M_TXCx SERIAL_REGNAME(TXC,SERIAL_PORT,)
-#define M_RXCIEx SERIAL_REGNAME(RXCIE,SERIAL_PORT,)
-#define M_UDREx SERIAL_REGNAME(UDRE,SERIAL_PORT,)
-#define M_UDRIEx SERIAL_REGNAME(UDRIE,SERIAL_PORT,)
-#define M_UDRx SERIAL_REGNAME(UDR,SERIAL_PORT,)
-#define M_UBRRxH SERIAL_REGNAME(UBRR,SERIAL_PORT,H)
-#define M_UBRRxL SERIAL_REGNAME(UBRR,SERIAL_PORT,L)
-#define M_RXCx SERIAL_REGNAME(RXC,SERIAL_PORT,)
-#define M_USARTx_RX_vect SERIAL_REGNAME(USART,SERIAL_PORT,_RX_vect)
-#define M_U2Xx SERIAL_REGNAME(U2X,SERIAL_PORT,)
+// Registers used by MarlinSerial class (expanded depending on selected serial port)
+#define M_UCSRxA           SERIAL_REGNAME(UCSR,SERIAL_PORT,A) // defines M_UCSRxA to be UCSRnA where n is the serial port number
+#define M_UCSRxB           SERIAL_REGNAME(UCSR,SERIAL_PORT,B)
+#define M_RXENx            SERIAL_REGNAME(RXEN,SERIAL_PORT,)
+#define M_TXENx            SERIAL_REGNAME(TXEN,SERIAL_PORT,)
+#define M_TXCx             SERIAL_REGNAME(TXC,SERIAL_PORT,)
+#define M_RXCIEx           SERIAL_REGNAME(RXCIE,SERIAL_PORT,)
+#define M_UDREx            SERIAL_REGNAME(UDRE,SERIAL_PORT,)
+#define M_UDRIEx           SERIAL_REGNAME(UDRIE,SERIAL_PORT,)
+#define M_UDRx             SERIAL_REGNAME(UDR,SERIAL_PORT,)
+#define M_UBRRxH           SERIAL_REGNAME(UBRR,SERIAL_PORT,H)
+#define M_UBRRxL           SERIAL_REGNAME(UBRR,SERIAL_PORT,L)
+#define M_RXCx             SERIAL_REGNAME(RXC,SERIAL_PORT,)
+#define M_USARTx_RX_vect   SERIAL_REGNAME(USART,SERIAL_PORT,_RX_vect)
+#define M_U2Xx             SERIAL_REGNAME(U2X,SERIAL_PORT,)
 #define M_USARTx_UDRE_vect SERIAL_REGNAME(USART,SERIAL_PORT,_UDRE_vect)
 
-
 #define DEC 10
 #define HEX 16
 #define OCT 8
 #define BIN 2
 #define BYTE 0
 
-
 #ifndef USBCON
-// Define constants and variables for buffering incoming serial data.  We're
-// using a ring buffer (I think), in which rx_buffer_head is the index of the
-// location to which to write the next incoming character and rx_buffer_tail
-// is the index of the location from which to read.
-// 256 is the max limit due to uint8_t head and tail. Use only powers of 2. (...,16,32,64,128,256)
-#ifndef RX_BUFFER_SIZE
-  #define RX_BUFFER_SIZE 128
-#endif
-#ifndef TX_BUFFER_SIZE
-  #define TX_BUFFER_SIZE 32
-#endif
-#if !((RX_BUFFER_SIZE == 256) ||(RX_BUFFER_SIZE == 128) ||(RX_BUFFER_SIZE == 64) ||(RX_BUFFER_SIZE == 32) ||(RX_BUFFER_SIZE == 16) ||(RX_BUFFER_SIZE == 8) ||(RX_BUFFER_SIZE == 4) ||(RX_BUFFER_SIZE == 2))
-  #error "RX_BUFFER_SIZE has to be a power of 2 and >= 2"
-#endif
-#if !((TX_BUFFER_SIZE == 256) ||(TX_BUFFER_SIZE == 128) ||(TX_BUFFER_SIZE == 64) ||(TX_BUFFER_SIZE == 32) ||(TX_BUFFER_SIZE == 16) ||(TX_BUFFER_SIZE == 8) ||(TX_BUFFER_SIZE == 4) ||(TX_BUFFER_SIZE == 2) ||(TX_BUFFER_SIZE == 0))
-  #error TX_BUFFER_SIZE has to be a power of 2 or 0
-#endif
-
-struct ring_buffer_r {
-  unsigned char buffer[RX_BUFFER_SIZE];
-  volatile uint8_t head;
-  volatile uint8_t tail;
-};
+  // Define constants and variables for buffering incoming serial data.  We're
+  // using a ring buffer (I think), in which rx_buffer_head is the index of the
+  // location to which to write the next incoming character and rx_buffer_tail
+  // is the index of the location from which to read.
+  // 256 is the max limit due to uint8_t head and tail. Use only powers of 2. (...,16,32,64,128,256)
+  #ifndef RX_BUFFER_SIZE
+    #define RX_BUFFER_SIZE 128
+  #endif
+  #ifndef TX_BUFFER_SIZE
+    #define TX_BUFFER_SIZE 32
+  #endif
+  #if !((RX_BUFFER_SIZE == 256) ||(RX_BUFFER_SIZE == 128) ||(RX_BUFFER_SIZE == 64) ||(RX_BUFFER_SIZE == 32) ||(RX_BUFFER_SIZE == 16) ||(RX_BUFFER_SIZE == 8) ||(RX_BUFFER_SIZE == 4) ||(RX_BUFFER_SIZE == 2))
+    #error "RX_BUFFER_SIZE has to be a power of 2 and >= 2"
+  #endif
+  #if !((TX_BUFFER_SIZE == 256) ||(TX_BUFFER_SIZE == 128) ||(TX_BUFFER_SIZE == 64) ||(TX_BUFFER_SIZE == 32) ||(TX_BUFFER_SIZE == 16) ||(TX_BUFFER_SIZE == 8) ||(TX_BUFFER_SIZE == 4) ||(TX_BUFFER_SIZE == 2) ||(TX_BUFFER_SIZE == 0))
+    #error TX_BUFFER_SIZE has to be a power of 2 or 0
+  #endif
 
-#if TX_BUFFER_SIZE > 0
-  struct ring_buffer_t {
-    unsigned char buffer[TX_BUFFER_SIZE];
+  struct ring_buffer_r {
+    unsigned char buffer[RX_BUFFER_SIZE];
     volatile uint8_t head;
     volatile uint8_t tail;
   };
-#endif
 
-#if UART_PRESENT(SERIAL_PORT)
-  extern ring_buffer_r rx_buffer;
   #if TX_BUFFER_SIZE > 0
-    extern ring_buffer_t tx_buffer;
+    struct ring_buffer_t {
+      unsigned char buffer[TX_BUFFER_SIZE];
+      volatile uint8_t head;
+      volatile uint8_t tail;
+    };
   #endif
-#endif
-
-#if ENABLED(EMERGENCY_PARSER)
-  #include "language.h"
-  void emergency_parser(unsigned char c);
-#endif
 
-class MarlinSerial { //: public Stream
-
-  public:
-    MarlinSerial();
-    static void begin(long);
-    static void end();
-    static int peek(void);
-    static int read(void);
-    static void flush(void);
-    static uint8_t available(void);
-    static void checkRx(void);
-    static void write(uint8_t c);
+  #if UART_PRESENT(SERIAL_PORT)
+    extern ring_buffer_r rx_buffer;
     #if TX_BUFFER_SIZE > 0
-      static uint8_t availableForWrite(void);
-      static void flushTX(void);
+      extern ring_buffer_t tx_buffer;
     #endif
+  #endif
+
+  class MarlinSerial { //: public Stream
+
+    public:
+      MarlinSerial() {};
+      static void begin(long);
+      static void end();
+      static int peek(void);
+      static int read(void);
+      static void flush(void);
+      static uint8_t available(void);
+      static void checkRx(void);
+      static void write(uint8_t c);
+      #if TX_BUFFER_SIZE > 0
+        static uint8_t availableForWrite(void);
+        static void flushTX(void);
+      #endif
+
+    private:
+      static void printNumber(unsigned long, uint8_t);
+      static void printFloat(double, uint8_t);
+
+    public:
+      static FORCE_INLINE void write(const char* str) { while (*str) write(*str++); }
+      static FORCE_INLINE void write(const uint8_t* buffer, size_t size) { while (size--) write(*buffer++); }
+      static FORCE_INLINE void print(const String& s) { for (int i = 0; i < (int)s.length(); i++) write(s[i]); }
+      static FORCE_INLINE void print(const char* str) { write(str); }
+
+      static void print(char, int = BYTE);
+      static void print(unsigned char, int = BYTE);
+      static void print(int, int = DEC);
+      static void print(unsigned int, int = DEC);
+      static void print(long, int = DEC);
+      static void print(unsigned long, int = DEC);
+      static void print(double, int = 2);
+
+      static void println(const String& s);
+      static void println(const char[]);
+      static void println(char, int = BYTE);
+      static void println(unsigned char, int = BYTE);
+      static void println(int, int = DEC);
+      static void println(unsigned int, int = DEC);
+      static void println(long, int = DEC);
+      static void println(unsigned long, int = DEC);
+      static void println(double, int = 2);
+      static void println(void);
+  };
+
+  extern MarlinSerial customizedSerial;
 
-  private:
-    static void printNumber(unsigned long, uint8_t);
-    static void printFloat(double, uint8_t);
-
-  public:
-    static FORCE_INLINE void write(const char* str) { while (*str) write(*str++); }
-    static FORCE_INLINE void write(const uint8_t* buffer, size_t size) { while (size--) write(*buffer++); }
-    static FORCE_INLINE void print(const String& s) { for (int i = 0; i < (int)s.length(); i++) write(s[i]); }
-    static FORCE_INLINE void print(const char* str) { write(str); }
-
-    static void print(char, int = BYTE);
-    static void print(unsigned char, int = BYTE);
-    static void print(int, int = DEC);
-    static void print(unsigned int, int = DEC);
-    static void print(long, int = DEC);
-    static void print(unsigned long, int = DEC);
-    static void print(double, int = 2);
-
-    static void println(const String& s);
-    static void println(const char[]);
-    static void println(char, int = BYTE);
-    static void println(unsigned char, int = BYTE);
-    static void println(int, int = DEC);
-    static void println(unsigned int, int = DEC);
-    static void println(long, int = DEC);
-    static void println(unsigned long, int = DEC);
-    static void println(double, int = 2);
-    static void println(void);
-};
-
-extern MarlinSerial customizedSerial;
 #endif // !USBCON
 
 // Use the UART for Bluetooth in AT90USB configurations
@@ -178,4 +171,4 @@ extern MarlinSerial customizedSerial;
   extern HardwareSerial bluetoothSerial;
 #endif
 
-#endif
+#endif // MARLINSERIAL_H

Marlin/Marlin_main.cpp

@@ -447,8 +447,6 @@ volatile bool wait_for_heatup = true;
   volatile bool wait_for_user = false;
 #endif
 
-const char errormagic[] PROGMEM = "Error:";
-const char echomagic[] PROGMEM = "echo:";
 const char axis_codes[XYZE] = {'X', 'Y', 'Z', 'E'};
 
 // Number of characters read in the current line of serial input
@@ -696,14 +694,6 @@ void set_current_from_steppers_for_axis(const AxisEnum axis);
   void plan_cubic_move(const float offset[4]);
 #endif
 
-void serial_echopair_P(const char* s_P, const char *v)   { serialprintPGM(s_P); SERIAL_ECHO(v); }
-void serial_echopair_P(const char* s_P, char v)          { serialprintPGM(s_P); SERIAL_CHAR(v); }
-void serial_echopair_P(const char* s_P, int v)           { serialprintPGM(s_P); SERIAL_ECHO(v); }
-void serial_echopair_P(const char* s_P, long v)          { serialprintPGM(s_P); SERIAL_ECHO(v); }
-void serial_echopair_P(const char* s_P, float v)         { serialprintPGM(s_P); SERIAL_ECHO(v); }
-void serial_echopair_P(const char* s_P, double v)        { serialprintPGM(s_P); SERIAL_ECHO(v); }
-void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
-
 void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
 static void report_current_position();
 
@@ -1789,15 +1779,10 @@ static void clean_up_after_endstop_or_probe_move() {
       SERIAL_ECHOLNPGM(" " MSG_FIRST);
 
       #if ENABLED(ULTRA_LCD)
-        char message[3 * (LCD_WIDTH) + 1] = ""; // worst case is kana.utf with up to 3*LCD_WIDTH+1
-        strcat_P(message, PSTR(MSG_HOME " "));
-        if (xx) strcat_P(message, PSTR(MSG_X));
-        if (yy) strcat_P(message, PSTR(MSG_Y));
-        if (zz) strcat_P(message, PSTR(MSG_Z));
-        strcat_P(message, PSTR(" " MSG_FIRST));
-        lcd_setstatus(message);
+        lcd_status_printf_P(0, PSTR(MSG_HOME " %s%s%s " MSG_FIRST), xx ? MSG_X : "", yy ? MSG_Y : "", zz ? MSG_Z : "");
       #endif
       return true;
+
     }
     return false;
   }
@@ -5153,7 +5138,6 @@ inline void gcode_M31() {
   char buffer[21];
   duration_t elapsed = print_job_timer.duration();
   elapsed.toString(buffer);
-
   lcd_setstatus(buffer);
 
   SERIAL_ECHO_START;
@@ -5700,7 +5684,7 @@ inline void gcode_M104() {
       }
     #endif
 
-    if (code_value_temp_abs() > thermalManager.degHotend(target_extruder)) status_printf(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
+    if (code_value_temp_abs() > thermalManager.degHotend(target_extruder)) lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
   }
 
   #if ENABLED(AUTOTEMP)
@@ -5898,7 +5882,7 @@ inline void gcode_M109() {
       else print_job_timer.start();
     #endif
 
-    if (thermalManager.isHeatingHotend(target_extruder)) status_printf(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
+    if (thermalManager.isHeatingHotend(target_extruder)) lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
   }
 
   #if ENABLED(AUTOTEMP)
@@ -8903,7 +8887,7 @@ void process_next_command() {
         gcode_G28();
         break;
 
-      #if PLANNER_LEVELING && !ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_EDITING)
+      #if PLANNER_LEVELING || ENABLED(AUTO_BED_LEVELING_UBL)
         case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
                  // or provides access to the UBL System if enabled.
           gcode_G29();
@@ -10175,6 +10159,8 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
   /**
    * Prepare a linear move in a Cartesian setup.
    * If Mesh Bed Leveling is enabled, perform a mesh move.
+   *
+   * Returns true if the caller didn't update current_position.
    */
   inline bool prepare_move_to_destination_cartesian() {
     // Do not use feedrate_percentage for E or Z only moves
@@ -10190,9 +10176,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
         else
       #elif ENABLED(AUTO_BED_LEVELING_UBL)
         if (ubl.state.active) {
-
           ubl_line_to_destination(MMS_SCALED(feedrate_mm_s), active_extruder);
-
           return false;
         }
         else

Marlin/UBL.h

@@ -29,6 +29,7 @@
 
   #if ENABLED(AUTO_BED_LEVELING_UBL)
 
+    #define UBL_VERSION "1.00"
     #define UBL_OK false
     #define UBL_ERR true
 
@@ -98,9 +99,6 @@
         float g29_correction_fade_height = 10.0,
               g29_fade_height_multiplier = 1.0 / 10.0; // It's cheaper to do a floating point multiply than divide,
                                                        // so keep this value and its reciprocal.
-      #else
-        const float g29_correction_fade_height = 10.0,
-                    g29_fade_height_multiplier = 1.0 / 10.0;
       #endif
 
       // If you change this struct, adjust TOTAL_STRUCT_SIZE
@@ -118,8 +116,7 @@
     class unified_bed_leveling {
       private:
 
-        static float last_specified_z,
-                     fade_scaling_factor_for_current_height;
+        static float last_specified_z;
 
       public:
 
@@ -307,32 +304,29 @@
         }
 
         /**
-         * This routine is used to scale the Z correction depending upon the current nozzle height. It is
-         * optimized for speed. It avoids floating point operations by checking if the requested scaling
-         * factor is going to be the same as the last time the function calculated a value. If so, it just
-         * returns it.
+         * This function sets the Z leveling fade factor based on the given Z height,
+         * only re-calculating when necessary.
          *
-         * It returns a scaling factor of 1.0 if UBL is inactive.
-         * It returns a scaling factor of 0.0 if Z is past the specified 'Fade Height'
+         *  Returns 1.0 if g29_correction_fade_height is 0.0.
+         *  Returns 0.0 if Z is past the specified 'Fade Height'.
          */
         #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
 
           static FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) {
+            if (state.g29_correction_fade_height == 0.0) return 1.0;
+
+            static float fade_scaling_factor = 1.0;
             const float rz = RAW_Z_POSITION(lz);
             if (last_specified_z != rz) {
               last_specified_z = rz;
-              fade_scaling_factor_for_current_height =
-                state.active && rz < state.g29_correction_fade_height
+              fade_scaling_factor =
+                rz < state.g29_correction_fade_height
                   ? 1.0 - (rz * state.g29_fade_height_multiplier)
                   : 0.0;
             }
-            return fade_scaling_factor_for_current_height;
+            return fade_scaling_factor;
           }
 
-        #else
-
-          static constexpr float fade_scaling_factor_for_z(const float &lz) { UNUSED(lz); return 1.0; }
-
         #endif
 
     }; // class unified_bed_leveling

Marlin/UBL_Bed_Leveling.cpp

@@ -61,7 +61,6 @@
 
   float unified_bed_leveling::z_values[UBL_MESH_NUM_X_POINTS][UBL_MESH_NUM_Y_POINTS],
         unified_bed_leveling::last_specified_z,
-        unified_bed_leveling::fade_scaling_factor_for_current_height,
         unified_bed_leveling::mesh_index_to_xpos[UBL_MESH_NUM_X_POINTS + 1], // +1 safety margin for now, until determinism prevails
         unified_bed_leveling::mesh_index_to_ypos[UBL_MESH_NUM_Y_POINTS + 1];
 
@@ -102,8 +101,9 @@
        * updated, but until then, we try to ease the transition
        * for our Beta testers.
        */
-      if (ubl.state.g29_fade_height_multiplier != 1.0 / ubl.state.g29_correction_fade_height) {
-        ubl.state.g29_fade_height_multiplier = 1.0 / ubl.state.g29_correction_fade_height;
+      const float recip = ubl.state.g29_correction_fade_height ? 1.0 / ubl.state.g29_correction_fade_height : 1.0;
+      if (ubl.state.g29_fade_height_multiplier != recip) {
+        ubl.state.g29_fade_height_multiplier = recip;
         store_state();
       }
     #endif
@@ -160,7 +160,6 @@
     ZERO(z_values);
 
     last_specified_z = -999.9;
-    fade_scaling_factor_for_current_height = 0.0;
   }
 
   void unified_bed_leveling::invalidate() {

Marlin/UBL_G29.cpp

@@ -307,7 +307,8 @@
   static float x_pos, y_pos, measured_z, card_thickness = 0.0, ubl_constant = 0.0;
 
   #if ENABLED(ULTRA_LCD)
-    void lcd_setstatus(const char* message, bool persist);
+    extern void lcd_setstatus(const char* message, const bool persist);
+    extern void lcd_setstatuspgm(const char* message, const uint8_t level);
   #endif
 
   void gcode_G29() {
@@ -655,7 +656,7 @@
           if (ELAPSED(millis(), nxt)) {
             SERIAL_PROTOCOLLNPGM("\nZ-Offset Adjustment Stopped.");
             do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
-            lcd_setstatus("Z-Offset Stopped", true);
+            lcd_setstatuspgm("Z-Offset Stopped");
             restore_ubl_active_state_and_leave();
             goto LEAVE;
           }
@@ -673,7 +674,8 @@
     LEAVE:
 
     #if ENABLED(ULTRA_LCD)
-      lcd_setstatus("                         ", true);
+      lcd_reset_alert_level();
+      lcd_setstatuspgm("");
       lcd_quick_feedback();
     #endif
 
@@ -977,7 +979,7 @@
 
   bool g29_parameter_parsing() {
     #if ENABLED(ULTRA_LCD)
-      lcd_setstatus("Doing G29 UBL !", true);
+      lcd_setstatuspgm("Doing G29 UBL!");
       lcd_quick_feedback();
     #endif
 
@@ -1088,7 +1090,7 @@
     ubl_state_recursion_chk++;
     if (ubl_state_recursion_chk != 1) {
       SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row.");
-      lcd_setstatus("save_UBL_active() error", true);
+      lcd_setstatuspgm("save_UBL_active() error");
       lcd_quick_feedback();
       return;
     }
@@ -1099,7 +1101,7 @@
   void restore_ubl_active_state_and_leave() {
     if (--ubl_state_recursion_chk) {
       SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times.");
-      lcd_setstatus("restore_UBL_active() error", true);
+      lcd_setstatuspgm("restore_UBL_active() error");
       lcd_quick_feedback();
       return;
     }
@@ -1114,7 +1116,7 @@
   void g29_what_command() {
     const uint16_t k = E2END - ubl.eeprom_start;
 
-    SERIAL_PROTOCOLPGM("Unified Bed Leveling System Version 1.00 ");
+    SERIAL_PROTOCOLPGM("Unified Bed Leveling System Version " UBL_VERSION " ");
     if (ubl.state.active)
       SERIAL_PROTOCOLCHAR('A');
     else
@@ -1132,8 +1134,7 @@
     safe_delay(50);
 
     #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-      SERIAL_PROTOCOLPAIR("g29_correction_fade_height : ", ubl.state.g29_correction_fade_height);
-      SERIAL_EOL;
+      SERIAL_PROTOCOLLNPAIR("g29_correction_fade_height : ", ubl.state.g29_correction_fade_height);
     #endif
 
     SERIAL_PROTOCOLPGM("z_offset: ");
@@ -1340,7 +1341,7 @@
     memset(not_done, 0xFF, sizeof(not_done));
 
     #if ENABLED(ULTRA_LCD)
-      lcd_setstatus("Fine Tuning Mesh.", true);
+      lcd_setstatuspgm("Fine Tuning Mesh");
     #endif
 
     do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
@@ -1399,7 +1400,7 @@
           lcd_return_to_status();
           //SERIAL_PROTOCOLLNPGM("\nFine Tuning of Mesh Stopped.");
           do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
-          lcd_setstatus("Mesh Editing Stopped", true);
+          lcd_setstatuspgm("Mesh Editing Stopped");
 
           while (ubl_lcd_clicked()) idle();
 
@@ -1427,9 +1428,9 @@
     do_blocking_move_to_xy(lx, ly);
 
     #if ENABLED(ULTRA_LCD)
-      lcd_setstatus("Done Editing Mesh", true);
+      lcd_setstatuspgm("Done Editing Mesh");
     #endif
-    SERIAL_ECHOLNPGM("Done Editing Mesh.");
+    SERIAL_ECHOLNPGM("Done Editing Mesh");
   }
 
 #endif // AUTO_BED_LEVELING_UBL

Marlin/endstops.cpp

@@ -170,9 +170,7 @@ void Endstops::report_state() {
     SERIAL_EOL;
 
     #if ENABLED(ULTRA_LCD)
-      char msg[3 * strlen(MSG_LCD_ENDSTOPS) + 8 + 1]; // Room for a UTF 8 string
-      sprintf_P(msg, PSTR(MSG_LCD_ENDSTOPS " %c %c %c %c"), chrX, chrY, chrZ, chrP);
-      lcd_setstatus(msg);
+      lcd_status_printf_P(0, PSTR(MSG_LCD_ENDSTOPS " %c %c %c %c"), chrX, chrY, chrZ, chrP);
     #endif
 
     hit_on_purpose();

Marlin/serial.cpp

@@ -0,0 +1,34 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "serial.h"
+
+const char errormagic[] PROGMEM = "Error:";
+const char echomagic[] PROGMEM = "echo:";
+
+void serial_echopair_P(const char* s_P, const char *v)   { serialprintPGM(s_P); SERIAL_ECHO(v); }
+void serial_echopair_P(const char* s_P, char v)          { serialprintPGM(s_P); SERIAL_CHAR(v); }
+void serial_echopair_P(const char* s_P, int v)           { serialprintPGM(s_P); SERIAL_ECHO(v); }
+void serial_echopair_P(const char* s_P, long v)          { serialprintPGM(s_P); SERIAL_ECHO(v); }
+void serial_echopair_P(const char* s_P, float v)         { serialprintPGM(s_P); SERIAL_ECHO(v); }
+void serial_echopair_P(const char* s_P, double v)        { serialprintPGM(s_P); SERIAL_ECHO(v); }
+void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }

Marlin/serial.h

@@ -0,0 +1,88 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef __SERIAL_H__
+#define __SERIAL_H__
+
+#ifdef USBCON
+  #include "HardwareSerial.h"
+  #if ENABLED(BLUETOOTH)
+    #define MYSERIAL bluetoothSerial
+  #else
+    #define MYSERIAL Serial
+  #endif // BLUETOOTH
+#else
+  #include "MarlinSerial.h"
+  #define MYSERIAL customizedSerial
+#endif
+
+extern const char echomagic[] PROGMEM;
+extern const char errormagic[] PROGMEM;
+
+#define SERIAL_CHAR(x) (MYSERIAL.write(x))
+#define SERIAL_EOL SERIAL_CHAR('\n')
+
+#define SERIAL_PROTOCOLCHAR(x)              SERIAL_CHAR(x)
+#define SERIAL_PROTOCOL(x)                  (MYSERIAL.print(x))
+#define SERIAL_PROTOCOL_F(x,y)              (MYSERIAL.print(x,y))
+#define SERIAL_PROTOCOLPGM(x)               (serialprintPGM(PSTR(x)))
+#define SERIAL_PROTOCOLLN(x)                do{ MYSERIAL.print(x); SERIAL_EOL; }while(0)
+#define SERIAL_PROTOCOLLNPGM(x)             (serialprintPGM(PSTR(x "\n")))
+#define SERIAL_PROTOCOLPAIR(name, value)    (serial_echopair_P(PSTR(name),(value)))
+#define SERIAL_PROTOCOLLNPAIR(name, value)  do{ SERIAL_PROTOCOLPAIR(name, value); SERIAL_EOL; }while(0)
+
+#define SERIAL_ECHO_START             (serialprintPGM(echomagic))
+#define SERIAL_ECHO(x)                 SERIAL_PROTOCOL(x)
+#define SERIAL_ECHOPGM(x)              SERIAL_PROTOCOLPGM(x)
+#define SERIAL_ECHOLN(x)               SERIAL_PROTOCOLLN(x)
+#define SERIAL_ECHOLNPGM(x)            SERIAL_PROTOCOLLNPGM(x)
+#define SERIAL_ECHOPAIR(name,value)    SERIAL_PROTOCOLPAIR(name, value)
+#define SERIAL_ECHOLNPAIR(name, value) SERIAL_PROTOCOLLNPAIR(name, value)
+#define SERIAL_ECHO_F(x,y)             SERIAL_PROTOCOL_F(x,y)
+
+#define SERIAL_ERROR_START            (serialprintPGM(errormagic))
+#define SERIAL_ERROR(x)                SERIAL_PROTOCOL(x)
+#define SERIAL_ERRORPGM(x)             SERIAL_PROTOCOLPGM(x)
+#define SERIAL_ERRORLN(x)              SERIAL_PROTOCOLLN(x)
+#define SERIAL_ERRORLNPGM(x)           SERIAL_PROTOCOLLNPGM(x)
+
+void serial_echopair_P(const char* s_P, const char *v);
+void serial_echopair_P(const char* s_P, char v);
+void serial_echopair_P(const char* s_P, int v);
+void serial_echopair_P(const char* s_P, long v);
+void serial_echopair_P(const char* s_P, float v);
+void serial_echopair_P(const char* s_P, double v);
+void serial_echopair_P(const char* s_P, unsigned int v);
+void serial_echopair_P(const char* s_P, unsigned long v);
+FORCE_INLINE void serial_echopair_P(const char* s_P, uint8_t v) { serial_echopair_P(s_P, (int)v); }
+FORCE_INLINE void serial_echopair_P(const char* s_P, uint16_t v) { serial_echopair_P(s_P, (int)v); }
+FORCE_INLINE void serial_echopair_P(const char* s_P, bool v) { serial_echopair_P(s_P, (int)v); }
+FORCE_INLINE void serial_echopair_P(const char* s_P, void *v) { serial_echopair_P(s_P, (unsigned long)v); }
+
+//
+// Functions for serial printing from PROGMEM. (Saves loads of SRAM.)
+//
+FORCE_INLINE void serialprintPGM(const char* str) {
+  while (char ch = pgm_read_byte(str++)) MYSERIAL.write(ch);
+}
+
+#endif // __SERIAL_H__

Marlin/ultralcd.cpp

@@ -677,7 +677,7 @@ void kill_screen(const char* lcd_msg) {
         thermalManager.autotempShutdown();
       #endif
       wait_for_heatup = false;
-      lcd_setstatus(MSG_PRINT_ABORTED, true);
+      lcd_setstatuspgm(PSTR(MSG_PRINT_ABORTED), true);
     }
 
   #endif // SDSUPPORT
@@ -3552,30 +3552,30 @@ void lcd_finishstatus(bool persist=false) {
 
 bool lcd_hasstatus() { return (lcd_status_message[0] != '\0'); }
 
-void lcd_setstatus(const char* const message, bool persist) {
+void lcd_setstatus(const char * const message, const bool persist) {
   if (lcd_status_message_level > 0) return;
   strncpy(lcd_status_message, message, 3 * (LCD_WIDTH));
   lcd_finishstatus(persist);
 }
 
-void lcd_setstatuspgm(const char* const message, uint8_t level) {
+void lcd_setstatuspgm(const char * const message, const uint8_t level) {
   if (level < lcd_status_message_level) return;
   lcd_status_message_level = level;
   strncpy_P(lcd_status_message, message, 3 * (LCD_WIDTH));
   lcd_finishstatus(level > 0);
 }
 
-void status_printf(uint8_t level, const char *status, ...) {
+void lcd_status_printf_P(const uint8_t level, const char * const fmt, ...) {
   if (level < lcd_status_message_level) return;
   lcd_status_message_level = level;
   va_list args;
-  va_start(args, status);
-  vsnprintf_P(lcd_status_message, 3 * (LCD_WIDTH), status, args);
+  va_start(args, fmt);
+  vsnprintf_P(lcd_status_message, 3 * (LCD_WIDTH), fmt, args);
   va_end(args);
   lcd_finishstatus(level > 0);
 }
 
-void lcd_setalertstatuspgm(const char* const message) {
+void lcd_setalertstatuspgm(const char * const message) {
   lcd_setstatuspgm(message, 1);
   #if ENABLED(ULTIPANEL)
     lcd_return_to_status();

Marlin/ultralcd.h

@@ -39,7 +39,7 @@
   bool lcd_hasstatus();
   void lcd_setstatus(const char* message, const bool persist=false);
   void lcd_setstatuspgm(const char* message, const uint8_t level=0);
-  void status_printf(uint8_t level, const char *Status, ...);
+  void lcd_status_printf_P(const uint8_t level, const char * const fmt, ...);
   void lcd_setalertstatuspgm(const char* message);
   void lcd_reset_alert_level();
   void lcd_kill_screen();
@@ -154,7 +154,7 @@
   inline bool lcd_hasstatus() { return false; }
   inline void lcd_setstatus(const char* const message, const bool persist=false) { UNUSED(message); UNUSED(persist); }
   inline void lcd_setstatuspgm(const char* const message, const uint8_t level=0) { UNUSED(message); UNUSED(level); }
-  inline void status_printf(uint8_t level, const char *status, ...) { UNUSED(level); UNUSED(status); }
+  inline void lcd_status_printf_P(const uint8_t level, const char * const fmt, ...) { UNUSED(level); UNUSED(fmt); }
   inline void lcd_buttons_update() {}
   inline void lcd_reset_alert_level() {}
   inline bool lcd_detected() { return true; }