Fixed assertion error when tick ISR tries to turn off all heaters

6 files changed, 22 insertions, 2 deletions

diff --git a/src/Heating/Heat.cpp b/src/Heating/Heat.cpp
index a4759bd2..0ddb64b0 100644
--- a/src/Heating/Heat.cpp
+++ b/src/Heating/Heat.cpp
@@ -732,6 +732,22 @@ void Heat::SwitchOffAll(bool includingChamberAndBed) noexcept
 	}
 }
 
+// Turn off all local heaters. Safe to call from an ISR. Called only from the tick ISR.
+void Heat::SwitchOffAllLocalFromISR() noexcept
+{
+	for (Heater* h : heaters)
+	{
+		if (h != nullptr
+#if SUPPORT_CAN_EXPANSION
+			&& h->IsLocal()
+#endif
+		   )
+		{
+			h->SwitchOff();
+		}
+	}
+}
+
 void Heat::Standby(int heater, const Tool *tool) noexcept
 {
 	const auto h = FindHeater(heater);
diff --git a/src/Heating/Heat.h b/src/Heating/Heat.h
index 12ef77ed..2338c136 100644
--- a/src/Heating/Heat.h
+++ b/src/Heating/Heat.h
@@ -73,7 +73,8 @@ public:
 
 	bool AllHeatersAtSetTemperatures(bool includingBed, float tolerance) const noexcept;	// Is everything at temperature within tolerance?
 
-	void SwitchOffAll(bool includingChamberAndBed) noexcept;			// Turn all heaters off
+	void SwitchOffAll(bool includingChamberAndBed) noexcept;			// Turn all heaters off. Not safe to call from an ISR.
+	void SwitchOffAllLocalFromISR() noexcept;							// Turn off all local heaters. Safe to call from an ISR.
 	void SuspendHeaters(bool sus) noexcept;								// Suspend the heaters to conserve power or while probing
 	GCodeResult ResetFault(int heater, const StringRef& reply) noexcept;	// Reset a heater fault for a specific heater or all heaters
 
diff --git a/src/Heating/Heater.h b/src/Heating/Heater.h
index c5b088b7..fea96985 100644
--- a/src/Heating/Heater.h
+++ b/src/Heating/Heater.h
@@ -50,6 +50,7 @@ public:
 	virtual void FeedForwardAdjustment(float fanPwmChange, float extrusionChange) noexcept = 0;
 
 #if SUPPORT_CAN_EXPANSION
+	virtual bool IsLocal() const noexcept = 0;
 	virtual void UpdateRemoteStatus(CanAddress src, const CanHeaterReport& report) noexcept = 0;
 	virtual void UpdateHeaterTuning(CanAddress src, const CanMessageHeaterTuningReport& msg) noexcept = 0;
 #endif
diff --git a/src/Heating/LocalHeater.h b/src/Heating/LocalHeater.h
index d6ef0c99..4c4193d6 100644
--- a/src/Heating/LocalHeater.h
+++ b/src/Heating/LocalHeater.h
@@ -41,6 +41,7 @@ public:
 	void FeedForwardAdjustment(float fanPwmChange, float extrusionChange) noexcept override;
 
 #if SUPPORT_CAN_EXPANSION
+	bool IsLocal() const noexcept override { return true; }
 	void UpdateRemoteStatus(CanAddress src, const CanHeaterReport& report) noexcept override { }
 	void UpdateHeaterTuning(CanAddress src, const CanMessageHeaterTuningReport& msg) noexcept override { }
 #endif
diff --git a/src/Heating/RemoteHeater.h b/src/Heating/RemoteHeater.h
index 0391426b..67bd8eb3 100644
--- a/src/Heating/RemoteHeater.h
+++ b/src/Heating/RemoteHeater.h
@@ -30,6 +30,7 @@ public:
 	float GetAccumulator() const noexcept override;							// Return the integral accumulator
 	void Suspend(bool sus) noexcept override;								// Suspend the heater to conserve power or while doing Z probing
 	void FeedForwardAdjustment(float fanPwmChange, float extrusionChange) noexcept override;
+	bool IsLocal() const noexcept override { return false; }
 	void UpdateRemoteStatus(CanAddress src, const CanHeaterReport& report) noexcept override;
 	void UpdateHeaterTuning(CanAddress src, const CanMessageHeaterTuningReport& msg) noexcept override;
 
diff --git a/src/Platform/RepRap.cpp b/src/Platform/RepRap.cpp
index 48ee430a..9137bb14 100644
--- a/src/Platform/RepRap.cpp
+++ b/src/Platform/RepRap.cpp
@@ -1287,7 +1287,7 @@ void RepRap::Tick() noexcept
 			if (heatTaskStuck || ticksInSpinState >= MaxTicksInSpinState)		// if we stall for 20 seconds, save diagnostic data and reset
 			{
 				stopped = true;
-				heat->SwitchOffAll(true);
+				heat->SwitchOffAllLocalFromISR();								// can't call SwitchOffAll because remote heaters can't be turned off from inside a ISR
 				platform->EmergencyDisableDrivers();
 
 				// We now save the stack when we get stuck in a spin loop