From 272072fa208e6da3ad6ac80f36073b645be6da9e Mon Sep 17 00:00:00 2001
From: Dan Nixon <dan@dan-nixon.com>
Date: Fri, 14 Mar 2014 23:19:43 +0000
Subject: [PATCH 1/3] Added M112

---
 Marlin/Marlin_main.cpp | 3 +++
 README.md              | 1 +
 2 files changed, 4 insertions(+)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index d62447071..f9bb1c6e1 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1808,6 +1808,9 @@ void process_commands()
 #endif
       setWatch();
       break;
+    case 112: //  M112 -Emergency Stop
+      kill();
+      break;
     case 140: // M140 set bed temp
       if (code_seen('S')) setTargetBed(code_value());
       break;
diff --git a/README.md b/README.md
index 236c31277..443799e0c 100644
--- a/README.md
+++ b/README.md
@@ -193,6 +193,7 @@ M Codes
 *  M107 - Fan off
 *  M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
 *         Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
+*  M112 - Emergency stop
 *  M114 - Output current position to serial port
 *  M115 - Capabilities string
 *  M117 - display message

From a38c90ee84a1045320759708742942e10f873f64 Mon Sep 17 00:00:00 2001
From: Dan Nixon <dan@dan-nixon.com>
Date: Sat, 15 Mar 2014 15:56:15 +0000
Subject: [PATCH 2/3] Added estop handling

---
 Marlin/Marlin_main.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index f9bb1c6e1..f27add157 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -658,6 +658,12 @@ void get_command()
           }
 
         }
+
+        if(strcmp(cmdbuffer[bufindw], "M112") == 0)
+        {
+          kill();
+        }
+        
         bufindw = (bufindw + 1)%BUFSIZE;
         buflen += 1;
       }
@@ -3340,6 +3346,9 @@ void handle_status_leds(void) {
 
 void manage_inactivity()
 {
+  if(buflen < (BUFSIZE-1))
+    get_command();
+
   if( (millis() - previous_millis_cmd) >  max_inactive_time )
     if(max_inactive_time)
       kill();

From f643f4d67487e0d4ae190e579e9051e90985516f Mon Sep 17 00:00:00 2001
From: Dan Nixon <dan@dan-nixon.com>
Date: Fri, 21 Mar 2014 20:42:00 +0000
Subject: [PATCH 3/3] Test and refactor

---
 Marlin/Marlin_main.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index f27add157..669c7b81b 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -659,10 +659,9 @@ void get_command()
 
         }
 
+        //If command was e-stop process now
         if(strcmp(cmdbuffer[bufindw], "M112") == 0)
-        {
           kill();
-        }
         
         bufindw = (bufindw + 1)%BUFSIZE;
         buflen += 1;