✨ D576 Buffer Monitoring (#19674)

Marlin/Configuration_adv.h

@@ -4174,6 +4174,14 @@
 // Enable Marlin dev mode which adds some special commands
 //#define MARLIN_DEV_MODE
 
+#if ENABLED(MARLIN_DEV_MODE)
+  /**
+   * D576 - Buffer Monitoring
+   * To help diagnose print quality issues stemming from empty command buffers.
+   */
+  //#define BUFFER_MONITORING
+#endif
+
 /**
  * Postmortem Debugging captures misbehavior and outputs the CPU status and backtrace to serial.
  * When running in the debugger it will break for debugging. This is useful to help understand

Marlin/src/MarlinCore.cpp

@@ -868,6 +868,7 @@ void idle(bool no_stepper_sleep/*=false*/) {
       TERN_(AUTO_REPORT_TEMPERATURES, thermalManager.auto_reporter.tick());
       TERN_(AUTO_REPORT_SD_STATUS, card.auto_reporter.tick());
       TERN_(AUTO_REPORT_POSITION, position_auto_reporter.tick());
+      TERN_(BUFFER_MONITORING, queue.auto_report_buffer_statistics());
     }
   #endif
 

Marlin/src/gcode/gcode.h

@@ -241,6 +241,7 @@
  * M553 - Get or set IP netmask. (Requires enabled Ethernet port)
  * M554 - Get or set IP gateway. (Requires enabled Ethernet port)
  * M569 - Enable stealthChop on an axis. (Requires at least one _DRIVER_TYPE to be TMC2130/2160/2208/2209/5130/5160)
+ * M575 - Change the serial baud rate. (Requires BAUD_RATE_GCODE)
  * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE)
  * M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
  * M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
@@ -297,6 +298,7 @@
  * M997 - Perform in-application firmware update
  * M999 - Restart after being stopped by error
  * D... - Custom Development G-code. Add hooks to 'gcode_D.cpp' for developers to test features. (Requires MARLIN_DEV_MODE)
+ *        D576 - Set buffer monitoring options. (Requires BUFFER_MONITORING)
  *
  * "T" Codes
  *

Marlin/src/gcode/gcode_d.cpp

@@ -23,248 +23,279 @@
 
 #if ENABLED(MARLIN_DEV_MODE)
 
-  #include "gcode.h"
-  #include "../module/settings.h"
-  #include "../module/temperature.h"
-  #include "../libs/hex_print.h"
-  #include "../HAL/shared/eeprom_if.h"
-  #include "../HAL/shared/Delay.h"
-  #include "../sd/cardreader.h"
-  #include "../MarlinCore.h" // for kill
+#include "gcode.h"
 
-  extern void dump_delay_accuracy_check();
+#if ENABLED(BUFFER_MONITORING)
+  #include "queue.h"
+#endif
 
-  /**
-   * Dn: G-code for development and testing
-   *
-   * See https://reprap.org/wiki/G-code#D:_Debug_codes
-   *
-   * Put whatever else you need here to test ongoing development.
-   */
-  void GcodeSuite::D(const int16_t dcode) {
-    switch (dcode) {
+#include "../module/settings.h"
+#include "../module/temperature.h"
+#include "../libs/hex_print.h"
+#include "../HAL/shared/eeprom_if.h"
+#include "../HAL/shared/Delay.h"
+#include "../sd/cardreader.h"
+#include "../MarlinCore.h" // for kill
 
-      case -1:
-        for (;;) { /* loop forever (watchdog reset) */ }
+extern void dump_delay_accuracy_check();
 
-      case 0:
-        HAL_reboot();
-        break;
+/**
+ * Dn: G-code for development and testing
+ *
+ * See https://reprap.org/wiki/G-code#D:_Debug_codes
+ *
+ * Put whatever else you need here to test ongoing development.
+ */
+void GcodeSuite::D(const int16_t dcode) {
+  switch (dcode) {
 
-      case 10:
-        kill(PSTR("D10"), PSTR("KILL TEST"), parser.seen_test('P'));
-        break;
+    case -1:
+      for (;;) { /* loop forever (watchdog reset) */ }
 
-      case 1: {
-        // Zero or pattern-fill the EEPROM data
-        #if ENABLED(EEPROM_SETTINGS)
-          persistentStore.access_start();
-          size_t total = persistentStore.capacity();
-          int pos = 0;
-          const uint8_t value = 0x0;
-          while (total--) persistentStore.write_data(pos, &value, 1);
-          persistentStore.access_finish();
-        #else
-          settings.reset();
-          settings.save();
-        #endif
-        HAL_reboot();
-      } break;
+    case 0:
+      HAL_reboot();
+      break;
 
-      case 2: { // D2 Read / Write SRAM
-        #define SRAM_SIZE 8192
-        uint8_t *pointer = parser.hex_adr_val('A');
-        uint16_t len = parser.ushortval('C', 1);
-        uintptr_t addr = (uintptr_t)pointer;
-        NOMORE(addr, size_t(SRAM_SIZE - 1));
-        NOMORE(len, SRAM_SIZE - addr);
-        if (parser.seenval('X')) {
-          // Write the hex bytes after the X
-          uint16_t val = parser.hex_val('X');
-          while (len--) {
-            *pointer = val;
-            pointer++;
-          }
-        }
-        else {
-          while (len--) print_hex_byte(*(pointer++));
-          SERIAL_EOL();
-        }
-      } break;
+    case 10:
+      kill(PSTR("D10"), PSTR("KILL TEST"), parser.seen_test('P'));
+      break;
 
+    case 1: {
+      // Zero or pattern-fill the EEPROM data
       #if ENABLED(EEPROM_SETTINGS)
-        case 3: { // D3 Read / Write EEPROM
-          uint8_t *pointer = parser.hex_adr_val('A');
-          uint16_t len = parser.ushortval('C', 1);
-          uintptr_t addr = (uintptr_t)pointer;
-          NOMORE(addr, size_t(persistentStore.capacity() - 1));
-          NOMORE(len, persistentStore.capacity() - addr);
-          if (parser.seenval('X')) {
-            uint16_t val = parser.hex_val('X');
-            #if ENABLED(EEPROM_SETTINGS)
-              persistentStore.access_start();
-              while (len--) {
-                int pos = 0;
-                persistentStore.write_data(pos, (uint8_t *)&val, sizeof(val));
-              }
-              SERIAL_EOL();
-              persistentStore.access_finish();
-            #else
-              SERIAL_ECHOLNPGM("NO EEPROM");
-            #endif
-          }
-          else {
-            // Read bytes from EEPROM
-            #if ENABLED(EEPROM_SETTINGS)
-              persistentStore.access_start();
-              int pos = 0;
-              uint8_t val;
-              while (len--) if (!persistentStore.read_data(pos, &val, 1)) print_hex_byte(val);
-              SERIAL_EOL();
-              persistentStore.access_finish();
-            #else
-              SERIAL_ECHOLNPGM("NO EEPROM");
-              len = 0;
-            #endif
-            SERIAL_EOL();
-          }
-        } break;
+        persistentStore.access_start();
+        size_t total = persistentStore.capacity();
+        int pos = 0;
+        const uint8_t value = 0x0;
+        while (total--) persistentStore.write_data(pos, &value, 1);
+        persistentStore.access_finish();
+      #else
+        settings.reset();
+        settings.save();
       #endif
+      HAL_reboot();
+    } break;
 
-      case 4: { // D4 Read / Write PIN
-        //const bool is_out = parser.boolval('F');
-        //const uint8_t pin = parser.byteval('P'),
-        //              val = parser.byteval('V', LOW);
-        if (parser.seenval('X')) {
-          // TODO: Write the hex bytes after the X
-          //while (len--) {
-          //}
+    case 2: { // D2 Read / Write SRAM
+      #define SRAM_SIZE 8192
+      uint8_t *pointer = parser.hex_adr_val('A');
+      uint16_t len = parser.ushortval('C', 1);
+      uintptr_t addr = (uintptr_t)pointer;
+      NOMORE(addr, size_t(SRAM_SIZE - 1));
+      NOMORE(len, SRAM_SIZE - addr);
+      if (parser.seenval('X')) {
+        // Write the hex bytes after the X
+        uint16_t val = parser.hex_val('X');
+        while (len--) {
+          *pointer = val;
+          pointer++;
         }
-        else {
-          //while (len--) {
-          //// TODO: Read bytes from EEPROM
-          //  print_hex_byte(eeprom_read_byte(adr++));
-          //}
-          SERIAL_EOL();
-        }
-      } break;
+      }
+      else {
+        while (len--) print_hex_byte(*(pointer++));
+        SERIAL_EOL();
+      }
+    } break;
 
-      case 5: { // D5 Read / Write onboard Flash
-        #define FLASH_SIZE 1024
+    #if ENABLED(EEPROM_SETTINGS)
+      case 3: { // D3 Read / Write EEPROM
         uint8_t *pointer = parser.hex_adr_val('A');
         uint16_t len = parser.ushortval('C', 1);
         uintptr_t addr = (uintptr_t)pointer;
-        NOMORE(addr, size_t(FLASH_SIZE - 1));
-        NOMORE(len, FLASH_SIZE - addr);
+        NOMORE(addr, size_t(persistentStore.capacity() - 1));
+        NOMORE(len, persistentStore.capacity() - addr);
         if (parser.seenval('X')) {
-          // TODO: Write the hex bytes after the X
-          //while (len--) {}
+          uint16_t val = parser.hex_val('X');
+          #if ENABLED(EEPROM_SETTINGS)
+            persistentStore.access_start();
+            while (len--) {
+              int pos = 0;
+              persistentStore.write_data(pos, (uint8_t *)&val, sizeof(val));
+            }
+            SERIAL_EOL();
+            persistentStore.access_finish();
+          #else
+            SERIAL_ECHOLNPGM("NO EEPROM");
+          #endif
         }
         else {
-          //while (len--) {
-          //// TODO: Read bytes from EEPROM
-          //  print_hex_byte(eeprom_read_byte(adr++));
-          //}
+          // Read bytes from EEPROM
+          #if ENABLED(EEPROM_SETTINGS)
+            persistentStore.access_start();
+            int pos = 0;
+            uint8_t val;
+            while (len--) if (!persistentStore.read_data(pos, &val, 1)) print_hex_byte(val);
+            SERIAL_EOL();
+            persistentStore.access_finish();
+          #else
+            SERIAL_ECHOLNPGM("NO EEPROM");
+            len = 0;
+          #endif
           SERIAL_EOL();
         }
       } break;
+    #endif
 
-      case 6: // D6 Check delay loop accuracy
-        dump_delay_accuracy_check();
-        break;
+    case 4: { // D4 Read / Write PIN
+      //const bool is_out = parser.boolval('F');
+      //const uint8_t pin = parser.byteval('P'),
+      //              val = parser.byteval('V', LOW);
+      if (parser.seenval('X')) {
+        // TODO: Write the hex bytes after the X
+        //while (len--) {
+        //}
+      }
+      else {
+        //while (len--) {
+        //// TODO: Read bytes from EEPROM
+        //  print_hex_byte(eeprom_read_byte(adr++));
+        //}
+        SERIAL_EOL();
+      }
+    } break;
 
-      case 7: // D7 dump the current serial port type (hence configuration)
-        SERIAL_ECHOLNPAIR("Current serial configuration RX_BS:", RX_BUFFER_SIZE, ", TX_BS:", TX_BUFFER_SIZE);
-        SERIAL_ECHOLN(gtn(&SERIAL_IMPL));
-        break;
+    case 5: { // D5 Read / Write onboard Flash
+      #define FLASH_SIZE 1024
+      uint8_t *pointer = parser.hex_adr_val('A');
+      uint16_t len = parser.ushortval('C', 1);
+      uintptr_t addr = (uintptr_t)pointer;
+      NOMORE(addr, size_t(FLASH_SIZE - 1));
+      NOMORE(len, FLASH_SIZE - addr);
+      if (parser.seenval('X')) {
+        // TODO: Write the hex bytes after the X
+        //while (len--) {}
+      }
+      else {
+        //while (len--) {
+        //// TODO: Read bytes from EEPROM
+        //  print_hex_byte(eeprom_read_byte(adr++));
+        //}
+        SERIAL_EOL();
+      }
+    } break;
 
-      case 100: { // D100 Disable heaters and attempt a hard hang (Watchdog Test)
-        SERIAL_ECHOLNPGM("Disabling heaters and attempting to trigger Watchdog");
-        SERIAL_ECHOLNPGM("(USE_WATCHDOG " TERN(USE_WATCHDOG, "ENABLED", "DISABLED") ")");
-        thermalManager.disable_all_heaters();
-        delay(1000); // Allow time to print
-        DISABLE_ISRS();
-        // Use a low-level delay that does not rely on interrupts to function
-        // Do not spin forever, to avoid thermal risks if heaters are enabled and
-        // watchdog does not work.
-        for (int i = 10000; i--;) DELAY_US(1000UL);
-        ENABLE_ISRS();
-        SERIAL_ECHOLNPGM("FAILURE: Watchdog did not trigger board reset.");
-      } break;
+    case 6: // D6 Check delay loop accuracy
+      dump_delay_accuracy_check();
+      break;
 
-      #if ENABLED(SDSUPPORT)
+    case 7: // D7 dump the current serial port type (hence configuration)
+      SERIAL_ECHOLNPAIR("Current serial configuration RX_BS:", RX_BUFFER_SIZE, ", TX_BS:", TX_BUFFER_SIZE);
+      SERIAL_ECHOLN(gtn(&SERIAL_IMPL));
+      break;
 
-        case 101: { // D101 Test SD Write
-          card.openFileWrite("test.gco");
-          if (!card.isFileOpen()) {
-            SERIAL_ECHOLNPAIR("Failed to open test.gco to write.");
-            return;
-          }
-          __attribute__((aligned(sizeof(size_t)))) uint8_t buf[512];
+    case 100: { // D100 Disable heaters and attempt a hard hang (Watchdog Test)
+      SERIAL_ECHOLNPGM("Disabling heaters and attempting to trigger Watchdog");
+      SERIAL_ECHOLNPGM("(USE_WATCHDOG " TERN(USE_WATCHDOG, "ENABLED", "DISABLED") ")");
+      thermalManager.disable_all_heaters();
+      delay(1000); // Allow time to print
+      DISABLE_ISRS();
+      // Use a low-level delay that does not rely on interrupts to function
+      // Do not spin forever, to avoid thermal risks if heaters are enabled and
+      // watchdog does not work.
+      for (int i = 10000; i--;) DELAY_US(1000UL);
+      ENABLE_ISRS();
+      SERIAL_ECHOLNPGM("FAILURE: Watchdog did not trigger board reset.");
+    } break;
 
-          uint16_t c;
-          for (c = 0; c < COUNT(buf); c++)
-            buf[c] = 'A' + (c % ('Z' - 'A'));
+    #if ENABLED(SDSUPPORT)
 
-          c = 1024 * 4;
-          while (c--) {
-            TERN_(USE_WATCHDOG, watchdog_refresh());
-            card.write(buf, COUNT(buf));
-          }
-          SERIAL_ECHOLNPGM(" done");
-          card.closefile();
-        } break;
+      case 101: { // D101 Test SD Write
+        card.openFileWrite("test.gco");
+        if (!card.isFileOpen()) {
+          SERIAL_ECHOLNPAIR("Failed to open test.gco to write.");
+          return;
+        }
+        __attribute__((aligned(sizeof(size_t)))) uint8_t buf[512];
 
-        case 102: { // D102 Test SD Read
-          char testfile[] = "test.gco";
-          card.openFileRead(testfile);
-          if (!card.isFileOpen()) {
-            SERIAL_ECHOLNPAIR("Failed to open test.gco to read.");
-            return;
-          }
-          __attribute__((aligned(sizeof(size_t)))) uint8_t buf[512];
-          uint16_t c = 1024 * 4;
-          while (c--) {
-            TERN_(USE_WATCHDOG, watchdog_refresh());
-            card.read(buf, COUNT(buf));
-            bool error = false;
-            for (uint16_t i = 0; i < COUNT(buf); i++) {
-              if (buf[i] != ('A' + (i % ('Z' - 'A')))) {
-                error = true;
-                break;
-              }
-            }
-            if (error) {
-              SERIAL_ECHOLNPGM(" Read error!");
+        uint16_t c;
+        for (c = 0; c < COUNT(buf); c++)
+          buf[c] = 'A' + (c % ('Z' - 'A'));
+
+        c = 1024 * 4;
+        while (c--) {
+          TERN_(USE_WATCHDOG, watchdog_refresh());
+          card.write(buf, COUNT(buf));
+        }
+        SERIAL_ECHOLNPGM(" done");
+        card.closefile();
+      } break;
+
+      case 102: { // D102 Test SD Read
+        char testfile[] = "test.gco";
+        card.openFileRead(testfile);
+        if (!card.isFileOpen()) {
+          SERIAL_ECHOLNPAIR("Failed to open test.gco to read.");
+          return;
+        }
+        __attribute__((aligned(sizeof(size_t)))) uint8_t buf[512];
+        uint16_t c = 1024 * 4;
+        while (c--) {
+          TERN_(USE_WATCHDOG, watchdog_refresh());
+          card.read(buf, COUNT(buf));
+          bool error = false;
+          for (uint16_t i = 0; i < COUNT(buf); i++) {
+            if (buf[i] != ('A' + (i % ('Z' - 'A')))) {
+              error = true;
               break;
             }
           }
-          SERIAL_ECHOLNPGM(" done");
-          card.closefile();
-        } break;
+          if (error) {
+            SERIAL_ECHOLNPGM(" Read error!");
+            break;
+          }
+        }
+        SERIAL_ECHOLNPGM(" done");
+        card.closefile();
+      } break;
 
-      #endif // SDSUPPORT
+    #endif // SDSUPPORT
 
-      #if ENABLED(POSTMORTEM_DEBUGGING)
+    #if ENABLED(POSTMORTEM_DEBUGGING)
 
-        case 451: { // Trigger all kind of faults to test exception catcher
-          SERIAL_ECHOLNPGM("Disabling heaters");
-          thermalManager.disable_all_heaters();
-          delay(1000); // Allow time to print
-          volatile uint8_t type[5] = { parser.byteval('T', 1) };
+      case 451: { // Trigger all kind of faults to test exception catcher
+        SERIAL_ECHOLNPGM("Disabling heaters");
+        thermalManager.disable_all_heaters();
+        delay(1000); // Allow time to print
+        volatile uint8_t type[5] = { parser.byteval('T', 1) };
 
-          // The code below is obviously wrong and it's full of quirks to fool the compiler from optimizing away the code
-          switch (type[0]) {
-            case 1: default: *(int*)0 = 451; break; // Write at bad address
-            case 2: { volatile int a = 0; volatile int b = 452 / a; *(int*)&a = b; } break; // Divide by zero (some CPUs accept this, like ARM)
-            case 3: { *(uint32_t*)&type[1] = 453; volatile int a = *(int*)&type[1]; type[0] = a / 255; } break; // Unaligned access (some CPUs accept this)
-            case 4: { volatile void (*func)() = (volatile void (*)()) 0xE0000000; func(); } break; // Invalid instruction
-          }
-          break;
+        // The code below is obviously wrong and it's full of quirks to fool the compiler from optimizing away the code
+        switch (type[0]) {
+          case 1: default: *(int*)0 = 451; break; // Write at bad address
+          case 2: { volatile int a = 0; volatile int b = 452 / a; *(int*)&a = b; } break; // Divide by zero (some CPUs accept this, like ARM)
+          case 3: { *(uint32_t*)&type[1] = 453; volatile int a = *(int*)&type[1]; type[0] = a / 255; } break; // Unaligned access (some CPUs accept this)
+          case 4: { volatile void (*func)() = (volatile void (*)()) 0xE0000000; func(); } break; // Invalid instruction
         }
+        break;
+      }
 
-      #endif
-    }
+    #endif
+
+    #if ENABLED(BUFFER_MONITORING)
+
+      /**
+       * D576: Return buffer stats or set the auto-report interval.
+       * Usage: D576 [S<seconds>]
+       *
+       * With no parameters emits the following output:
+       * "D576 P<nn> B<nn> PU<nn> PD<nn> BU<nn> BD<nn>"
+       * Where:
+       *   P : Planner buffers free
+       *   B : Command buffers free
+       *   PU: Planner buffer underruns (since the last report)
+       *   PD: Longest duration (ms) the planner buffer was empty (since the last report)
+       *   BU: Command buffer underruns (since the last report)
+       *   BD: Longest duration (ms) command buffer was empty (since the last report)
+       */
+      case 576: {
+        if (parser.seenval('S'))
+          queue.set_auto_report_interval((uint8_t)parser.value_byte());
+        else
+          queue.report_buffer_statistics();
+        break;
+      }
+
+    #endif // BUFFER_MONITORING
   }
+}
 
-#endif
+#endif // MARLIN_DEV_MODE

Marlin/src/gcode/queue.cpp

@@ -68,6 +68,23 @@ GCodeQueue::RingBuffer GCodeQueue::ring_buffer = { 0 };
 #endif
 
 /**
+ * Track buffer underruns
+ */
+#if ENABLED(BUFFER_MONITORING)
+  uint32_t GCodeQueue::command_buffer_underruns = 0,
+           GCodeQueue::planner_buffer_underruns = 0;
+  bool GCodeQueue::command_buffer_empty = false,
+       GCodeQueue::planner_buffer_empty = false;
+  millis_t GCodeQueue::max_command_buffer_empty_duration = 0,
+           GCodeQueue::max_planner_buffer_empty_duration = 0,
+           GCodeQueue::command_buffer_empty_at = 0,
+           GCodeQueue::planner_buffer_empty_at = 0;
+
+  uint8_t GCodeQueue::auto_buffer_report_interval;
+  millis_t GCodeQueue::next_buffer_report_ms;
+#endif
+
+/**
  * Serial command injection
  */
 
@@ -82,7 +99,6 @@ PGM_P GCodeQueue::injected_commands_P; // = nullptr
  */
 char GCodeQueue::injected_commands[64]; // = { 0 }
 
-
 void GCodeQueue::RingBuffer::commit_command(bool skip_ok
   OPTARG(HAS_MULTI_SERIAL, serial_index_t serial_ind/*=-1*/)
 ) {
@@ -621,7 +637,24 @@ void GCodeQueue::advance() {
   if (process_injected_command_P() || process_injected_command()) return;
 
   // Return if the G-code buffer is empty
-  if (ring_buffer.empty()) return;
+  if (ring_buffer.empty()) {
+    #if ENABLED(BUFFER_MONITORING)
+      if (!command_buffer_empty) {
+        command_buffer_empty = true;
+        command_buffer_underruns++;
+        command_buffer_empty_at = millis();
+      }
+    #endif
+    return;
+  }
+
+  #if ENABLED(BUFFER_MONITORING)
+    if (command_buffer_empty) {
+      command_buffer_empty = false;
+      const millis_t command_buffer_empty_duration = millis() - command_buffer_empty_at;
+      NOLESS(max_command_buffer_empty_duration, command_buffer_empty_duration);
+    }
+  #endif
 
   #if ENABLED(SDSUPPORT)
 
@@ -664,3 +697,41 @@ void GCodeQueue::advance() {
   // The queue may be reset by a command handler or by code invoked by idle() within a handler
   ring_buffer.advance_pos(ring_buffer.index_r, -1);
 }
+
+#if ENABLED(BUFFER_MONITORING)
+
+  void GCodeQueue::report_buffer_statistics() {
+    SERIAL_ECHOLNPAIR("D576"
+      " P:", planner.moves_free(),         " ", -queue.planner_buffer_underruns, " (", queue.max_planner_buffer_empty_duration, ")"
+      " B:", BUFSIZE - ring_buffer.length, " ", -queue.command_buffer_underruns, " (", queue.max_command_buffer_empty_duration, ")"
+    );
+    command_buffer_underruns = planner_buffer_underruns = 0;
+    max_command_buffer_empty_duration = max_planner_buffer_empty_duration = 0;
+  }
+
+  void GCodeQueue::auto_report_buffer_statistics() {
+    // Bit of a hack to try to catch planner buffer underruns without having logic
+    // running inside Stepper::block_phase_isr
+    const millis_t ms = millis();
+    if (planner.movesplanned() == 0) {
+      if (!planner_buffer_empty) { // the planner buffer wasn't empty, but now it is
+        planner_buffer_empty = true;
+        planner_buffer_underruns++;
+        planner_buffer_empty_at = ms;
+      }
+    }
+    else if (planner_buffer_empty) { // the planner buffer was empty, but now it's not
+      planner_buffer_empty = false;
+      const millis_t planner_buffer_empty_duration = ms - planner_buffer_empty_at;
+      NOLESS(max_planner_buffer_empty_duration, planner_buffer_empty_duration); // if it's longer than the currently tracked max duration, replace it
+    }
+
+    if (queue.auto_buffer_report_interval && ELAPSED(ms, queue.next_buffer_report_ms)) {
+      queue.next_buffer_report_ms = ms + 1000UL * queue.auto_buffer_report_interval;
+      PORT_REDIRECT(SERIAL_BOTH);
+      report_buffer_statistics();
+      PORT_RESTORE();
+    }
+  }
+
+#endif // BUFFER_MONITORING

Marlin/src/gcode/queue.h

@@ -197,6 +197,46 @@ public:
    */
   static inline void set_current_line_number(long n) { serial_state[ring_buffer.command_port().index].last_N = n; }
 
+  #if ENABLED(BUFFER_MONITORING)
+
+    private:
+
+    /**
+     * Track buffer underruns
+     */
+    static uint32_t command_buffer_underruns, planner_buffer_underruns;
+    static bool command_buffer_empty, planner_buffer_empty;
+    static millis_t max_command_buffer_empty_duration, max_planner_buffer_empty_duration,
+                    command_buffer_empty_at, planner_buffer_empty_at;
+
+    /**
+     * Report buffer statistics to the host to be able to detect buffer underruns
+     *
+     * Returns "D576 " followed by:
+     *  P<uint>   Planner space remaining
+     *  B<uint>   Command buffer space remaining
+     *  PU<uint>  Number of planner buffer underruns since last report
+     *  PD<uint>  Max time in ms the planner buffer was empty since last report
+     *  BU<uint>  Number of command buffer underruns since last report
+     *  BD<uint>  Max time in ms the command buffer was empty since last report
+     */
+    static void report_buffer_statistics();
+
+    static uint8_t auto_buffer_report_interval;
+    static millis_t next_buffer_report_ms;
+
+    public:
+
+    static void auto_report_buffer_statistics();
+
+    static inline void set_auto_report_interval(uint8_t v) {
+      NOMORE(v, 60);
+      auto_buffer_report_interval = v;
+      next_buffer_report_ms = millis() + 1000UL * v;
+    }
+
+  #endif // BUFFER_MONITORING
+
 private:
 
   static void get_serial_commands();

buildroot/tests/STM32F103RET6_creality

@@ -10,7 +10,7 @@ set -e
 # Build with configs included in the PR
 #
 use_example_configs "Creality/Ender-3 V2"
-opt_enable MARLIN_DEV_MODE
+opt_enable MARLIN_DEV_MODE BUFFER_MONITORING
 exec_test $1 $2 "Ender 3 v2" "$3"
 
 use_example_configs "Creality/Ender-3 V2"