Implemented remote reset and remote firmware update (needs CAN IAP)

7 files changed, 119 insertions, 28 deletions

diff --git a/src/CAN/CommandProcessor.cpp b/src/CAN/CommandProcessor.cpp
index f7c5ed0a..9b5b61b5 100644
--- a/src/CAN/CommandProcessor.cpp
+++ b/src/CAN/CommandProcessor.cpp
@@ -382,7 +382,30 @@ static GCodeResult EutGetInfo(const CanMessageReturnInfo& msg, const StringRef&
 	return GCodeResult::ok;
 }
 
-#endif
+static GCodeResult InitiateFirmwareUpdate(const CanMessageUpdateYourFirmware& msg, const StringRef& reply)
+{
+	if (msg.boardId != CanInterface::GetCanAddress() || msg.invertedBoardId != (uint8_t)~CanInterface::GetCanAddress() || (msg.module != 0 && msg.module != 3))
+	{
+		reply.printf("Invalid firmware update command received");
+		return GCodeResult::error;
+	}
+
+	if (msg.module == 0)
+	{
+		if (!reprap.GetPlatform().FileExists(FIRMWARE_DIRECTORY, IAP_CAN_LOADER_FILE))
+		{
+			reply.printf("In-application programming binary \"%s\" not found on board %u", FIRMWARE_DIRECTORY IAP_CAN_LOADER_FILE, CanInterface::GetCanAddress());
+			return GCodeResult::error;
+		}
+		reply.printf("Board %u starting firmware update", CanInterface::GetCanAddress());
+		reprap.ScheduleFirmwareUpdateOverCan();
+		return GCodeResult::ok;
+	}
+	reply.copy("unknown firmware module number");
+	return GCodeResult::error;
+}
+
+#endif	// SUPPORT_REMOTE_COMMANDS
 
 // Process a received broadcast or request message. Don't free the message buffer
 void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
@@ -410,6 +433,11 @@ void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
 				StepTimer::ProcessTimeSyncMessage(buf->msg.sync, buf->dataLength, buf->timeStamp);
 				return;							// no reply needed
 
+			case CanMessageType::emergencyStop:
+				reprap.EmergencyStop();
+				reprap.ScheduleReset();
+				return;							// no reply needed
+
 			case CanMessageType::movementLinear:
 				reprap.GetMove().AddMoveFromRemote(buf->msg.moveLinear);
 				return;							// no reply needed
@@ -432,6 +460,19 @@ void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
 				CanInterface::MainBoardAcknowledgedAnnounce();
 				return;
 
+			case CanMessageType::updateFirmware:
+				requestId = buf->msg.updateYourFirmware.requestId;
+				rslt = InitiateFirmwareUpdate(buf->msg.updateYourFirmware, replyRef);
+				break;
+
+			case CanMessageType::reset:
+				requestId = buf->msg.reset.requestId;
+				reply.printf("Board %u resetting", CanInterface::GetCanAddress());
+				reprap.EmergencyStop();
+				reprap.ScheduleReset();
+				rslt = GCodeResult::ok;
+				break;
+
 			case CanMessageType::returnInfo:
 				requestId = buf->msg.getInfo.requestId;
 				rslt = EutGetInfo(buf->msg.getInfo, replyRef, extra);
diff --git a/src/Config/Pins_Duet3Mini.h b/src/Config/Pins_Duet3Mini.h
index 188c7f79..42612f96 100644
--- a/src/Config/Pins_Duet3Mini.h
+++ b/src/Config/Pins_Duet3Mini.h
@@ -23,6 +23,7 @@
 #define IAP_FIRMWARE_FILE		"Duet3Firmware_" BOARD_SHORT_NAME ".uf2"
 #define IAP_UPDATE_FILE			"Duet3_SDiap32_" BOARD_SHORT_NAME ".bin"
 #define IAP_UPDATE_FILE_SBC		"Duet3_SBCiap32_" BOARD_SHORT_NAME ".bin"
+#define IAP_CAN_LOADER_FILE		"Duet3_CANiap32" BOARD_SHORT_NAME ".bin"
 constexpr uint32_t IAP_IMAGE_START = 0x20038000;
 
 #define WIFI_FIRMWARE_FILE		"DuetWiFiServer.bin"
diff --git a/src/Config/Pins_Duet3_MB6HC.h b/src/Config/Pins_Duet3_MB6HC.h
index 5574ff1e..6d7ea386 100644
--- a/src/Config/Pins_Duet3_MB6HC.h
+++ b/src/Config/Pins_Duet3_MB6HC.h
@@ -11,6 +11,7 @@
 
 #define IAP_UPDATE_FILE			"Duet3_SDiap32_" BOARD_SHORT_NAME ".bin"
 #define IAP_UPDATE_FILE_SBC		"Duet3_SBCiap32_" BOARD_SHORT_NAME ".bin"
+#define IAP_CAN_LOADER_FILE		"Duet3_CANiap32" BOARD_SHORT_NAME ".bin"
 constexpr uint32_t IAP_IMAGE_START = 0x20458000;		// last 32kb of RAM
 
 // Features definition
diff --git a/src/Config/Pins_Duet3_MB6XD.h b/src/Config/Pins_Duet3_MB6XD.h
index 514cb4ed..c1df8adf 100644
--- a/src/Config/Pins_Duet3_MB6XD.h
+++ b/src/Config/Pins_Duet3_MB6XD.h
@@ -11,6 +11,7 @@
 
 #define IAP_UPDATE_FILE			"Duet3_SDiap32_" BOARD_SHORT_NAME ".bin"
 #define IAP_UPDATE_FILE_SBC		"Duet3_SBCiap32_" BOARD_SHORT_NAME ".bin"
+#define IAP_CAN_LOADER_FILE		"Duet3_CANiap32" BOARD_SHORT_NAME ".bin"
 constexpr uint32_t IAP_IMAGE_START = 0x20458000;		// last 32kb of RAM
 
 // Features definition
diff --git a/src/GCodes/GCodes4.cpp b/src/GCodes/GCodes4.cpp
index 48256718..5c0a6cf5 100644
--- a/src/GCodes/GCodes4.cpp
+++ b/src/GCodes/GCodes4.cpp
@@ -591,12 +591,12 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) noexcept
 		{
 			// Update main firmware
 			firmwareUpdateModuleMap.Clear();
-			String<MaxFilenameLength> filenameString;
 			try
 			{
+				String<MaxFilenameLength> filenameString;
 				bool dummy;
 				gb.TryGetQuotedString('P', filenameString.GetRef(), dummy);
-				reprap.UpdateFirmware(filenameString.GetRef());
+				reprap.UpdateFirmware(IAP_UPDATE_FILE, filenameString.c_str());
 				// The above call does not return unless an error occurred
 			}
 			catch (const GCodeException&) { }
diff --git a/src/Platform/RepRap.cpp b/src/Platform/RepRap.cpp
index ae951908..43dafec1 100644
--- a/src/Platform/RepRap.cpp
+++ b/src/Platform/RepRap.cpp
@@ -792,8 +792,30 @@ void RepRap::Spin() noexcept
 		diagnosticsDestination = MessageType::NoDestinationMessage;
 	}
 
-	// Check if we need to display a cold extrusion warning
 	const uint32_t now = millis();
+
+#if SUPPORT_REMOTE_COMMANDS
+	const DeferredCommand defCom = deferredCommand;			// capture volatile variable
+	if (defCom != DeferredCommand::none && now - whenDeferredCommandScheduled >= 250)
+	{
+		switch (defCom)
+		{
+		case DeferredCommand::reboot:
+			SoftwareReset(SoftwareResetReason::user);
+			break;
+
+		case DeferredCommand::updateFirmware:
+			UpdateFirmware(IAP_CAN_LOADER_FILE, "");
+			break;
+
+		default:
+			deferredCommand = DeferredCommand::none;
+			break;
+		}
+	}
+#endif
+
+	// Check if we need to display a cold extrusion warning
 	if (now - lastWarningMillis >= MinimumWarningInterval)
 	{
 		ReadLocker lock(toolListLock);
@@ -958,44 +980,58 @@ void RepRap::Diagnostics(MessageType mtype) noexcept
 	justSentDiagnostics = true;
 }
 
-// Turn off the heaters, disable the motors, and deactivate the Heat and Move classes. Leave everything else working.
+// Turn off the heaters, disable the motors, and deactivate the Heat, Move and GCodes classes. Leave everything else working.
 void RepRap::EmergencyStop() noexcept
 {
 #ifdef DUET3_ATE
 	Duet3Ate::PowerOffEUT();
 #endif
 
-	stopped = true;								// a useful side effect of setting this is that it prevents Platform::Tick being called, which is needed when loading IAP into RAM
+	stopped = true;									// a useful side effect of setting this is that it prevents Platform::Tick being called, which is needed when loading IAP into RAM
 
 	// Do not turn off ATX power here. If the nozzles are still hot, don't risk melting any surrounding parts by turning fans off.
 	//platform->SetAtxPower(false);
 
-	platform->DisableAllDrivers();				// need to do this to ensure that any motor brakes are re-engaged
-
-	switch (gCodes->GetMachineType())
+#if SUPPORT_REMOTE_COMMANDS
+	if (CanInterface::InExpansionMode())
 	{
-	case MachineType::cnc:
-		for (size_t i = 0; i < MaxSpindles; i++)
+		platform->EmergencyDisableDrivers();		// disable all local drivers - need to do this to ensure that any motor brakes are re-engaged
+	}
+	else
+#endif
+	{
+		platform->DisableAllDrivers();				// disable all local and remote drivers - need to do this to ensure that any motor brakes are re-engaged
+
+		switch (gCodes->GetMachineType())
 		{
-			platform->AccessSpindle(i).SetState(SpindleState::stopped);
-		}
-		break;
+		case MachineType::cnc:
+			for (size_t i = 0; i < MaxSpindles; i++)
+			{
+				platform->AccessSpindle(i).SetState(SpindleState::stopped);
+			}
+			break;
 
 #if SUPPORT_LASER
-	case MachineType::laser:
-		platform->SetLaserPwm(0);
-		break;
+		case MachineType::laser:
+			platform->SetLaserPwm(0);
+			break;
 #endif
 
-	default:
-		break;
+		default:
+			break;
+		}
 	}
 
-	heat->Exit();								// this also turns off all heaters
-	move->Exit();								// this stops the motors stepping
+	heat->Exit();									// this also turns off all heaters
+	move->Exit();									// this stops the motors stepping
 
 #if SUPPORT_CAN_EXPANSION
-	expansion->EmergencyStop();
+# if SUPPORT_REMOTE_COMMANDS
+	if (!CanInterface::InExpansionMode())
+# endif
+	{
+		expansion->EmergencyStop();
+	}
 #endif
 
 	gCodes->EmergencyStop();
@@ -2916,13 +2952,13 @@ bool RepRap::CheckFirmwareUpdatePrerequisites(const StringRef& reply, const Stri
 }
 
 // Update the firmware. Prerequisites should be checked before calling this.
-void RepRap::UpdateFirmware(const StringRef& filenameRef) noexcept
+void RepRap::UpdateFirmware(const char *iapFilename, const char *iapParam) noexcept
 {
 #if HAS_MASS_STORAGE
-	FileStore * iapFile = platform->OpenFile(FIRMWARE_DIRECTORY, IAP_UPDATE_FILE, OpenMode::read);
+	FileStore * iapFile = platform->OpenFile(FIRMWARE_DIRECTORY, iapFilename, OpenMode::read);
 	if (iapFile == nullptr)
 	{
-		iapFile = platform->OpenFile(DEFAULT_SYS_DIR, IAP_UPDATE_FILE, OpenMode::read);
+		iapFile = platform->OpenFile(DEFAULT_SYS_DIR, iapFilename, OpenMode::read);
 		if (iapFile == nullptr)
 		{
 			// This should not happen because we already checked that the file exists, so use a simplified error message
@@ -2936,7 +2972,7 @@ void RepRap::UpdateFirmware(const StringRef& filenameRef) noexcept
 	// Use RAM-based IAP
 	iapFile->Read(reinterpret_cast<char *>(IAP_IMAGE_START), iapFile->Length());
 	iapFile->Close();
-	StartIap(filenameRef.c_str());
+	StartIap(iapParam);
 #endif
 }
 
diff --git a/src/Platform/RepRap.h b/src/Platform/RepRap.h
index b380bb51..49c6dfd6 100644
--- a/src/Platform/RepRap.h
+++ b/src/Platform/RepRap.h
@@ -61,7 +61,7 @@ public:
 	RepRap(const RepRap&) = delete;
 
 	void EmergencyStop() noexcept;
-	void Init() noexcept;
+ 	void Init() noexcept;
 	void Spin() noexcept;
 	void Exit() noexcept;
 	void Diagnostics(MessageType mtype) noexcept;
@@ -134,6 +134,11 @@ public:
  	ExpansionManager& GetExpansion() const noexcept { return *expansion; }
 #endif
 
+#if SUPPORT_REMOTE_COMMANDS
+ 	void ScheduleReset() noexcept { whenDeferredCommandScheduled = millis(); deferredCommand = DeferredCommand::reboot; }
+ 	void ScheduleFirmwareUpdateOverCan() noexcept { whenDeferredCommandScheduled = millis(); deferredCommand = DeferredCommand::updateFirmware; }
+#endif
+
 	void Tick() noexcept;
 	bool SpinTimeoutImminent() const noexcept;
 	bool IsStopped() const noexcept;
@@ -171,7 +176,7 @@ public:
 
 	// Firmware update operations
 	bool CheckFirmwareUpdatePrerequisites(const StringRef& reply, const StringRef& filenameRef) noexcept;
-	void UpdateFirmware(const StringRef& filenameRef) noexcept;
+	void UpdateFirmware(const char *iapFilename, const char *iapParam) noexcept;
 	void PrepareToLoadIap() noexcept;
 	[[noreturn]] void StartIap(const char *filename) noexcept;
 
@@ -280,6 +285,12 @@ private:
 	uint16_t heatTaskIdleTicks;
 	uint32_t fastLoop, slowLoop;
 
+#if SUPPORT_REMOTE_COMMANDS
+	enum class DeferredCommand : uint8_t { none, reboot, updateFirmware };
+	volatile uint32_t whenDeferredCommandScheduled;
+	volatile DeferredCommand deferredCommand;
+#endif
+
 	DebugFlags debugMaps[Module::numModules];
 
 	String<RepRapPasswordLength> password;