Soft Reset via Serial or post-kill button click (#21652)

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>

Marlin/Configuration_adv.h

@@ -3976,3 +3976,9 @@
  * a crash from a remote location. Requires ~400 bytes of SRAM and 5Kb of flash.
  */
 //#define POSTMORTEM_DEBUGGING
+
+/**
+ * Software Reset options
+ */
+//#define SOFT_RESET_VIA_SERIAL         // 'KILL' and '^X' commands will soft-reset the controller
+//#define SOFT_RESET_ON_KILL            // Use a digital button to soft-reset the controller after KILL

Marlin/src/HAL/AVR/HAL.cpp

@@ -58,6 +58,15 @@ void HAL_init() {
   #endif
 }
 
+void HAL_reboot() {
+  #if ENABLED(USE_WATCHDOG)
+    while (1) { /* run out the watchdog */ }
+  #else
+    void (*resetFunc)() = 0;  // Declare resetFunc() at address 0
+    resetFunc();              // Jump to address 0
+  #endif
+}
+
 #if ENABLED(SDSUPPORT)
 
   #include "../../sd/SdFatUtil.h"

Marlin/src/HAL/AVR/HAL.h

@@ -135,7 +135,7 @@ void HAL_init();
 inline void HAL_clear_reset_source() { MCUSR = 0; }
 inline uint8_t HAL_get_reset_source() { return MCUSR; }
 
-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();
 
 #if GCC_VERSION <= 50000
   #pragma GCC diagnostic push

Marlin/src/HAL/DUE/HAL.cpp

@@ -77,6 +77,8 @@ uint8_t HAL_get_reset_source() {
   }
 }
 
+void HAL_reboot() { rstc_start_software_reset(RSTC); }
+
 void _delay_ms(const int delay_ms) {
   // Todo: port for Due?
   delay(delay_ms);

Marlin/src/HAL/DUE/HAL.h

@@ -113,7 +113,7 @@ void sei();                     // Enable interrupts
 void HAL_clear_reset_source();  // clear reset reason
 uint8_t HAL_get_reset_source(); // get reset reason
 
-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();
 
 //
 // ADC

Marlin/src/HAL/ESP32/HAL.cpp

@@ -141,6 +141,8 @@ void HAL_clear_reset_source() { }
 
 uint8_t HAL_get_reset_source() { return rtc_get_reset_reason(1); }
 
+void HAL_reboot() { ESP.restart(); }
+
 void _delay_ms(int delay_ms) { delay(delay_ms); }
 
 // return free memory between end of heap (or end bss) and whatever is current

Marlin/src/HAL/ESP32/HAL.h

@@ -101,7 +101,7 @@ void HAL_clear_reset_source();
 // reset reason
 uint8_t HAL_get_reset_source();
 
-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();
 
 void _delay_ms(int delay);
 

Marlin/src/HAL/LINUX/HAL.cpp

@@ -73,4 +73,6 @@ void HAL_pwm_init() {
 
 }
 
+void HAL_reboot() { /* Reset the application state and GPIO */ }
+
 #endif // __PLAT_LINUX__

Marlin/src/HAL/LINUX/HAL.h

@@ -107,7 +107,7 @@ uint16_t HAL_adc_get_result();
 inline void HAL_clear_reset_source(void) {}
 inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
 
-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot(); // Reset the application state and GPIO
 
 /* ---------------- Delay in cycles */
 FORCE_INLINE static void DELAY_CYCLES(uint64_t x) {

Marlin/src/HAL/LPC1768/HAL.cpp

@@ -67,7 +67,7 @@ void flashFirmware(const int16_t) {
   delay(500);          // Give OS time to disconnect
   USB_Connect(false);  // USB clear connection
   delay(1000);         // Give OS time to notice
-  NVIC_SystemReset();
+  HAL_reboot();
 }
 
 void HAL_clear_reset_source(void) {
@@ -81,4 +81,6 @@ uint8_t HAL_get_reset_source(void) {
   return RST_POWER_ON;
 }
 
+void HAL_reboot() { NVIC_SystemReset(); }
+
 #endif // TARGET_LPC1768

Marlin/src/HAL/LPC1768/HAL.h

@@ -218,4 +218,4 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255,
 void HAL_clear_reset_source(void);
 uint8_t HAL_get_reset_source(void);
 
-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();

Marlin/src/HAL/SAMD51/HAL.cpp

@@ -436,6 +436,8 @@ uint8_t HAL_get_reset_source() {
 }
 #pragma pop_macro("WDT")
 
+void HAL_reboot() { NVIC_SystemReset(); }
+
 extern "C" {
   void * _sbrk(int incr);
 

Marlin/src/HAL/SAMD51/HAL.h

@@ -109,7 +109,7 @@ typedef int8_t pin_t;
 void HAL_clear_reset_source();  // clear reset reason
 uint8_t HAL_get_reset_source(); // get reset reason
 
-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();
 
 //
 // ADC

Marlin/src/HAL/STM32/HAL.cpp

@@ -133,6 +133,8 @@ uint8_t HAL_get_reset_source() {
   ;
 }
 
+void HAL_reboot() { NVIC_SystemReset(); }
+
 void _delay_ms(const int delay_ms) { delay(delay_ms); }
 
 extern "C" {
@@ -147,8 +149,8 @@ extern "C" {
 void HAL_adc_start_conversion(const uint8_t adc_pin) { HAL_adc_result = analogRead(adc_pin); }
 uint16_t HAL_adc_get_result() { return HAL_adc_result; }
 
-// Reset the system (to initiate a firmware flash)
-void flashFirmware(const int16_t) { NVIC_SystemReset(); }
+// Reset the system to initiate a firmware flash
+void flashFirmware(const int16_t) { HAL_reboot(); }
 
 // Maple Compatibility
 volatile uint32_t systick_uptime_millis = 0;

Marlin/src/HAL/STM32/HAL.h

@@ -144,7 +144,7 @@ void HAL_clear_reset_source();
 // Reset reason
 uint8_t HAL_get_reset_source();
 
-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();
 
 void _delay_ms(const int delay);
 

Marlin/src/HAL/STM32F1/HAL.cpp

@@ -453,6 +453,8 @@ void analogWrite(pin_t pin, int pwm_val8) {
     analogWrite(uint8_t(pin), pwm_val8);
 }
 
-void flashFirmware(const int16_t) { nvic_sys_reset(); }
+void HAL_reboot() { nvic_sys_reset(); }
+
+void flashFirmware(const int16_t) { HAL_reboot(); }
 
 #endif // __STM32F1__

Marlin/src/HAL/STM32F1/HAL.h

@@ -207,7 +207,7 @@ void HAL_clear_reset_source();
 // Reset reason
 uint8_t HAL_get_reset_source();
 
-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();
 
 void _delay_ms(const int delay);
 

Marlin/src/HAL/TEENSY31_32/HAL.cpp

@@ -78,6 +78,8 @@ uint8_t HAL_get_reset_source() {
   return 0;
 }
 
+void HAL_reboot() { _reboot_Teensyduino_(); }
+
 extern "C" {
   extern char __bss_end;
   extern char __heap_start;

Marlin/src/HAL/TEENSY31_32/HAL.h

@@ -34,7 +34,6 @@
 #include "fastio.h"
 #include "watchdog.h"
 
-
 #include <stdint.h>
 
 #define ST7920_DELAY_1 DELAY_NS(600)
@@ -93,7 +92,7 @@ void HAL_clear_reset_source();
 // Get the reason for the reset
 uint8_t HAL_get_reset_source();
 
-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();
 
 FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
 

Marlin/src/HAL/TEENSY35_36/HAL.cpp

@@ -86,6 +86,8 @@ uint8_t HAL_get_reset_source() {
   return 0;
 }
 
+void HAL_reboot() { _reboot_Teensyduino_(); }
+
 extern "C" {
   extern char __bss_end;
   extern char __heap_start;

Marlin/src/HAL/TEENSY35_36/HAL.h

@@ -101,7 +101,7 @@ void HAL_clear_reset_source();
 // Reset reason
 uint8_t HAL_get_reset_source();
 
-inline void HAL_reboot() {}  // reboot the board or restart the bootloader
+void HAL_reboot();
 
 FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
 

Marlin/src/HAL/TEENSY40_41/HAL.cpp

@@ -120,6 +120,8 @@ uint8_t HAL_get_reset_source() {
   return 0;
 }
 
+void HAL_reboot() { _reboot_Teensyduino_(); }
+
 #define __bss_end _ebss
 
 extern "C" {

Marlin/src/HAL/TEENSY40_41/HAL.h

@@ -121,6 +121,8 @@ void HAL_clear_reset_source();
 // Reset reason
 uint8_t HAL_get_reset_source();
 
+void HAL_reboot();
+
 FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
 
 #if GCC_VERSION <= 50000

Marlin/src/MarlinCore.cpp

@@ -863,20 +863,22 @@ void minkill(const bool steppers_off/*=false*/) {
 
   TERN_(HAS_SUICIDE, suicide());
 
-  #if HAS_KILL
+  #if EITHER(HAS_KILL, SOFT_RESET_ON_KILL)
 
-    // Wait for kill to be released
-    while (kill_state()) watchdog_refresh();
+    // Wait for both KILL and ENC to be released
+    while (TERN0(HAS_KILL, !kill_state()) || TERN0(SOFT_RESET_ON_KILL, !ui.button_pressed()))
+      watchdog_refresh();
 
-    // Wait for kill to be pressed
-    while (!kill_state()) watchdog_refresh();
+    // Wait for either KILL or ENC press
+    while (TERN1(HAS_KILL, kill_state()) && TERN1(SOFT_RESET_ON_KILL, ui.button_pressed()))
+      watchdog_refresh();
 
-    void (*resetFunc)() = 0;      // Declare resetFunc() at address 0
-    resetFunc();                  // Jump to address 0
+    // Reboot the board
+    HAL_reboot();
 
   #else
 
-    for (;;) watchdog_refresh();  // Wait for reset
+    for (;;) watchdog_refresh();  // Wait for RESET button or power-cycle
 
   #endif
 }

Marlin/src/feature/e_parser.h

@@ -41,6 +41,8 @@ extern bool wait_for_user, wait_for_heatup;
   void quickresume_stepper();
 #endif
 
+void HAL_reboot();
+
 class EmergencyParser {
 
 public:
@@ -62,6 +64,10 @@ public:
       EP_R, EP_R0, EP_R00, EP_GRBL_RESUME,
       EP_P, EP_P0, EP_P00, EP_GRBL_PAUSE,
     #endif
+    #if ENABLED(SOFT_RESET_VIA_SERIAL)
+      EP_ctrl,
+      EP_K, EP_KI, EP_KIL, EP_KILL,
+    #endif
     EP_IGNORE // to '\n'
   };
 
@@ -89,6 +95,10 @@ public:
             case 'P': state = EP_P; break;
             case 'R': state = EP_R; break;
           #endif
+          #if ENABLED(SOFT_RESET_VIA_SERIAL)
+            case '^': state = EP_ctrl; break;
+            case 'K': state = EP_K; break;
+          #endif
           default: state = EP_IGNORE;
         }
         break;
@@ -121,6 +131,13 @@ public:
         case EP_P00: state = (c == '0') ? EP_GRBL_PAUSE  : EP_IGNORE; break;
       #endif
 
+      #if ENABLED(SOFT_RESET_VIA_SERIAL)
+        case EP_ctrl: state = (c == 'X') ? EP_KILL : EP_IGNORE; break;
+        case EP_K:    state = (c == 'I') ? EP_KI   : EP_IGNORE; break;
+        case EP_KI:   state = (c == 'L') ? EP_KIL  : EP_IGNORE; break;
+        case EP_KIL:  state = (c == 'L') ? EP_KILL : EP_IGNORE; break;
+      #endif
+
       case EP_M:
         switch (c) {
           case ' ': break;
@@ -189,6 +206,9 @@ public:
               case EP_GRBL_PAUSE: quickpause_stepper(); break;
               case EP_GRBL_RESUME: quickresume_stepper(); break;
             #endif
+            #if ENABLED(SOFT_RESET_VIA_SERIAL)
+              case EP_KILL: HAL_reboot(); break;
+            #endif
             default: break;
           }
           state = EP_RESET;

Marlin/src/gcode/gcode_d.cpp

@@ -30,6 +30,7 @@
   #include "../HAL/shared/eeprom_if.h"
   #include "../HAL/shared/Delay.h"
   #include "../sd/cardreader.h"
+  #include "../MarlinCore.h" // for kill
 
   extern void dump_delay_accuracy_check();
 
@@ -44,12 +45,16 @@
     switch (dcode) {
 
       case -1:
-        for (;;); // forever
+        for (;;) { /* loop forever (watchdog reset) */ }
 
       case 0:
         HAL_reboot();
         break;
 
+      case 10:
+        kill(PSTR("D10"), PSTR("KILL TEST"), parser.seen('P'));
+        break;
+
       case 1: {
         // Zero or pattern-fill the EEPROM data
         #if ENABLED(EEPROM_SETTINGS)

Marlin/src/inc/SanityCheck.h

@@ -2208,13 +2208,20 @@ static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal
 #endif
 
 /**
- * emergency-command parser
+ * Emergency Command Parser
  */
 #if ENABLED(EMERGENCY_PARSER) && defined(__AVR__) && defined(USBCON)
   #error "EMERGENCY_PARSER does not work on boards with AT90USB processors (USBCON)."
 #endif
 
 /**
+ * Software Reset on Kill option
+ */
+#if ENABLED(SOFT_RESET_ON_KILL) && !BUTTON_EXISTS(ENC)
+  #error "An encoder button is required or SOFT_RESET_ON_KILL will reset the printer without notice!"
+#endif
+
+/**
  * I2C bus
  */
 #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0

Marlin/src/lcd/marlinui.h

@@ -39,7 +39,7 @@
   #include "tft_io/touch_calibration.h"
 #endif
 
-#if EITHER(HAS_LCD_MENU, ULTIPANEL_FEEDMULTIPLY)
+#if ANY(HAS_LCD_MENU, ULTIPANEL_FEEDMULTIPLY, SOFT_RESET_ON_KILL)
   #define HAS_ENCODER_ACTION 1
 #endif
 

buildroot/tests/LPC1768

@@ -45,7 +45,7 @@ opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER ADAPTIVE_FAN_SLOWING NO
            Z_SAFE_HOMING ADVANCED_PAUSE_FEATURE PARK_HEAD_ON_PAUSE \
            HOST_KEEPALIVE_FEATURE HOST_ACTION_COMMANDS HOST_PROMPT_SUPPORT \
            LCD_INFO_MENU ARC_SUPPORT BEZIER_CURVE_SUPPORT EXTENDED_CAPABILITIES_REPORT AUTO_REPORT_TEMPERATURES \
-           SDSUPPORT SDCARD_SORT_ALPHA AUTO_REPORT_SD_STATUS EMERGENCY_PARSER
+           SDSUPPORT SDCARD_SORT_ALPHA AUTO_REPORT_SD_STATUS EMERGENCY_PARSER SOFT_RESET_ON_KILL SOFT_RESET_VIA_SERIAL
 exec_test $1 $2 "Re-ARM with NOZZLE_AS_PROBE and many features." "$3"
 
 # clean up