Stubbed in an explicit job kill command - instead of just treating it like an alarm.

g2core/alarm.cpp

@@ -249,3 +249,18 @@ stat_t cm_panic(const stat_t status, const char *msg)
     rpt_exception(status, msg);                 // send panic report
     return (status);
 }
+
+/****************************************************************************************
+ * cm_job_kill() - Control-D handler
+ */
+
+void cm_job_kill()
+{
+    cm->job_kill_requested = true;
+    
+    if (cm->machine_state == MACHINE_ALARM) {
+        cm->machine_state = MACHINE_PROGRAM_STOP;
+    } else if (cm->machine_state == MACHINE_SHUTDOWN) {
+        cm->machine_state = MACHINE_READY;
+    }
+}

g2core/canonical_machine.h

@@ -260,6 +260,7 @@ typedef struct cmMachine {                  // struct to manage canonical machin
     uint8_t shutdown_requested;             // set non-zero to request shutdown in support of external estop (value is input number)
     bool deferred_write_flag;               // G10 data has changed (e.g. offsets) - flag to persist them
     bool hold_exit_requested;               // request exit from feedhold
+    bool job_kill_requested;                // ^d job kill received 
     bool return_flags[AXES];                // flags for recording which axes moved - used in feedhold exit move
 
     cmHomingState homing_state;             // home: homing cycle sub-state machine
@@ -477,6 +478,7 @@ void cm_halt_motion(void);                                      // halt motion (
 stat_t cm_alarm(const stat_t status, const char *msg);          // enter alarm state - preserve Gcode state
 stat_t cm_shutdown(const stat_t status, const char *msg);       // enter shutdown state - dump all state
 stat_t cm_panic(const stat_t status, const char *msg);          // enter panic state - needs RESET
+void cm_job_kill(void);                                         // control-D handler
 
 /**** cfgArray interface functions ****/
 

g2core/controller.cpp

@@ -239,7 +239,7 @@ static void _dispatch_kernel(const devflags_t flags)
     if      (*cs.bufp == '!') { cm_request_feedhold(); }
     else if (*cs.bufp == '%') { cm_request_queue_flush(); xio_flush_to_command(); }
     else if (*cs.bufp == '~') { cm_request_exit_hold(); }
-    else if (*cs.bufp == EOT) { cm_alarm(STAT_KILL_JOB, "EOT Received"); }
+    else if (*cs.bufp == EOT) { cm_job_kill(); }
     else if (*cs.bufp == ENQ) { controller_request_enquiry(); }
     else if (*cs.bufp == CAN) { hw_hard_reset(); }          // reset immediately
 

g2core/g2core.cppproj

@@ -73,7 +73,7 @@
         <InterfaceName>SWD</InterfaceName>
       </ToolOptions>
       <ToolType>com.atmel.avrdbg.tool.atmelice</ToolType>
-      <ToolNumber>J41800019454</ToolNumber>
+      <ToolNumber>J41800036434</ToolNumber>
       <ToolName>Atmel-ICE</ToolName>
     </com_atmel_avrdbg_tool_atmelice>
     <UseGdb>True</UseGdb>
@@ -100,7 +100,7 @@
       <HWProgramCounterSampling>True</HWProgramCounterSampling>
     </PercepioTrace>
     <preserveEEPROM>true</preserveEEPROM>
-    <avrtoolserialnumber>J41800019454</avrtoolserialnumber>
+    <avrtoolserialnumber>J41800036434</avrtoolserialnumber>
     <avrdeviceexpectedsignature>0x284E0A60</avrdeviceexpectedsignature>
     <avrtoolinterfaceclock>10000000</avrtoolinterfaceclock>
     <custom>

g2core/plan_exec.cpp

@@ -240,6 +240,13 @@ stat_t mp_exec_move()
 {
     mpBuf_t *bf;
 
+    // It is possible to try to try to exec from a priming planner if coming off a hold
+    // This occurs if new p1 commands (and were held back) arrived while in a hold
+//    if (mp->planner_state <= PLANNER_PRIMING) {
+//        st_prep_null();
+//        return (STAT_NOOP);
+//    }
+
     // Run an out of band dwell. It was probably set in the previous st_load_move()
     if (mr->out_of_band_dwell_flag) {
         mr->out_of_band_dwell_flag = false;
@@ -258,7 +265,7 @@ stat_t mp_exec_move()
         // first-time operations
         if (bf->buffer_state != MP_BUFFER_RUNNING) {
             if ((bf->buffer_state < MP_BUFFER_PREPPED) && (cm->motion_state == MOTION_RUN)) {
-                debug_trap("mp_exec_move() buffer is not prepped. Starvation"); // IMPORTANT: can't rpt_exception from here!
+//                debug_trap("mp_exec_move() buffer is not prepped. Starvation"); // IMPORTANT: can't rpt_exception from here!
                 st_prep_null();
                 return (STAT_NOOP);
             }