Discard all CONTINUED blocks on interrupted move

Marlin/planner.cpp

@@ -778,7 +778,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
   block_t* block = &block_buffer[block_buffer_head];
 
   // Clear all flags, including the "busy" bit
-  block->flag = 0;
+  block->flag = 0x00;
 
   // Set direction bits
   block->direction_bits = dm;
@@ -1139,6 +1139,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
 
   float safe_speed = block->nominal_speed * min_axis_accel_ratio;
   static float previous_safe_speed;
+
   // Compute and limit the acceleration rate for the trapezoid generator.
   const float steps_per_mm = block->step_event_count * inverse_millimeters;
   uint32_t accel;
@@ -1423,7 +1424,9 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
     const int32_t between[XYZE] = { _BETWEEN(X), _BETWEEN(Y), _BETWEEN(Z), _BETWEEN(E) };
     DISABLE_STEPPER_DRIVER_INTERRUPT();
     _buffer_steps(between, fr_mm_s, extruder);
+    const uint8_t next = block_buffer_head;
     _buffer_steps(target, fr_mm_s, extruder);
+    SBI(block_buffer[next].flag, BLOCK_BIT_CONTINUED);
     ENABLE_STEPPER_DRIVER_INTERRUPT();
   }
   else

Marlin/planner.h

@@ -53,14 +53,18 @@ enum BlockFlagBit {
   BLOCK_BIT_START_FROM_FULL_HALT,
 
   // The block is busy
-  BLOCK_BIT_BUSY
+  BLOCK_BIT_BUSY,
+
+  // The block is segment 2+ of a longer move
+  BLOCK_BIT_CONTINUED
 };
 
 enum BlockFlag {
   BLOCK_FLAG_RECALCULATE          = _BV(BLOCK_BIT_RECALCULATE),
   BLOCK_FLAG_NOMINAL_LENGTH       = _BV(BLOCK_BIT_NOMINAL_LENGTH),
   BLOCK_FLAG_START_FROM_FULL_HALT = _BV(BLOCK_BIT_START_FROM_FULL_HALT),
-  BLOCK_FLAG_BUSY                 = _BV(BLOCK_BIT_BUSY)
+  BLOCK_FLAG_BUSY                 = _BV(BLOCK_BIT_BUSY),
+  BLOCK_FLAG_CONTINUED            = _BV(BLOCK_BIT_CONTINUED)
 };
 
 /**
@@ -450,14 +454,24 @@ class Planner {
     static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
 
     /**
-     * "Discards" the block and "releases" the memory.
+     * "Discard" the block and "release" the memory.
      * Called when the current block is no longer needed.
      */
-    static void discard_current_block() {
+    FORCE_INLINE static void discard_current_block() {
       if (blocks_queued())
         block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
     }
 
+    /**
+     * "Discard" the next block if it's continued.
+     * Called after an interrupted move to throw away the rest of the move.
+     */
+    FORCE_INLINE static bool discard_continued_block() {
+      const bool discard = blocks_queued() && TEST(block_buffer[block_buffer_tail].flag, BLOCK_BIT_CONTINUED);
+      if (discard) discard_current_block();
+      return discard;
+    }
+
     /**
      * The current block. NULL if the buffer is empty.
      * This also marks the block as busy.
@@ -465,7 +479,7 @@ class Planner {
      */
     static block_t* get_current_block() {
       if (blocks_queued()) {
-        block_t* block = &block_buffer[block_buffer_tail];
+        block_t * const block = &block_buffer[block_buffer_tail];
         #if ENABLED(ULTRA_LCD)
           block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
         #endif

Marlin/stepper.cpp

@@ -427,16 +427,19 @@ void Stepper::isr() {
   // When cleaning, discard the current block and run fast
   //
   if (cleaning_buffer_counter) {
-    current_block = NULL;
+    if (cleaning_buffer_counter < 0) {          // Count up for endstop hit
-    planner.discard_current_block();
+      if (current_block) planner.discard_current_block(); // Discard the active block that led to the trigger
-    if (cleaning_buffer_counter < 0)
+      if (!planner.discard_continued_block())   // Discard next CONTINUED block
-      ++cleaning_buffer_counter;            // Count up for endstop hit
+        cleaning_buffer_counter = 0;            // Keep discarding until non-CONTINUED
+    }
     else {
+      planner.discard_current_block();
       --cleaning_buffer_counter;                // Count down for abort print
       #ifdef SD_FINISHED_RELEASECOMMAND
         if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
       #endif
     }
+    current_block = NULL;                       // Prep to get a new block after cleaning
     _NEXT_ISR(200);                             // Run at max speed - 10 KHz
     _ENABLE_ISRs();
     return;
@@ -1124,9 +1127,9 @@ void Stepper::init() {
 
 
 /**
- * Block until all buffered steps are executed
+ * Block until all buffered steps are executed / cleaned
  */
-void Stepper::synchronize() { while (planner.blocks_queued()) idle(); }
+void Stepper::synchronize() { while (planner.blocks_queued() || cleaning_buffer_counter) idle(); }
 
 /**
  * Set the stepper positions directly in steps
@@ -1250,7 +1253,7 @@ void Stepper::endstop_triggered(AxisEnum axis) {
   #endif // !COREXY && !COREXZ && !COREYZ
 
   kill_current_block();
-  cleaning_buffer_counter = -(BLOCK_BUFFER_SIZE - 1); // Ignore remaining blocks
+  cleaning_buffer_counter = -1; // Discard the rest of the move
 }
 
 void Stepper::report_positions() {