diff options
| author | David Crocker <dcrocker@eschertech.com> | 2018-02-28 19:37:07 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2018-02-28 19:45:25 +0300 |
| commit | fa55cdada75c00cac180e26a31e151ed18093abd (patch) | |
| tree | 282a59f5bdc524a8e3a8214b64b77cbb440a14b9 | |
| parent | 3b2c5340e1b8a399335c0e2b0dbe68aff55ec168 (diff) | |
Version 1.21RC3
Upgrade notes:
- On Cartesian and CoreXY printers, normal G0 and G1 moves are no longer
allowed before the corresponding axes have been homed. In particular, if
your homex.g, homey.g and homeall.g files raise Z a little at the start
and lower it at the end, you will need to add the S2 parameter to those
G1 Z moves. Otherwise the G1 Z move will be refused unless Z has already
been homed and the homing macro will be terminated.
New features:
- On Cartesian and CoreXY printers, normal movement commands are no
longer permitted until the corresponding axes have been homed
- Illegal movement commands in a print file or macro file cause the file
to be terminated and heaters/spindle motors/lasers to be turned off;
except that when the printer is in FDM mode, G0 and G1 moves outside the
movement limits are just truncated as before
- The M39 command reports the SD card cluster size
- If GCode attempts to set the temperature of a non-existent bed or
chamber heater to zero (to turn it off), the error message that would
normally be generated is suppressed
- G60 command to set a restore point is implemented
- M671 command now supports the F (fudge factor) parameter
- The standstill current fraction can now be set on the Duet Maestro
build
- M118 support added (thanks chrishamm)
- When using external stepper drivers the DIR signal is no longer
changed before the step pulse has ended
- The M452, M453 and M573 commands now support the I1 parameter to
invert the laser, spindle or extrusion signal polarity
Bug fixes
- Duet Ethernet only: fixed bugs in the DHCP client code that could
cause the printer to become very slow
- G2 and G3 arc moves are terminated if the attempt to exceed the axis
limits
- When multi-touch Z probe mode is enabled, the recovery time is applied
before all probing movements, not just the first one
- Z probe mode 9 (for BLTouch) ow works in multi-touch mode
- During simulation the status is set to "Simulating" instead of
"Printing"
- M556 with a zero S parameter no longer messes up the coordinate
calculations
- When large files were uploaded or copied to the SD card and the
cluster size was small, HTTP requests could time out while DWC attempted
to get the information for those files
- The Duet3D rotating magnet filament monitor is supported again
- FTP didn't work reliable in 1.21RC2
- Endstops 5 thru 9 on a DueX2/DueX5 board can now be used for simple
filament sensors
- When resuming a paused print the first move executed was sometimes
incorrect
72 files changed, 1162 insertions, 1234 deletions
@@ -4,7 +4,7 @@ <cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850"> <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850" moduleId="org.eclipse.cdt.core.settings" name="Duet085"> <macros> - <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm -gcc"/> + <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm"/> <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> <stringMacro name="GccPath" type="VALUE_TEXT" value="C:\Program Files (x86)\GNU Tools ARM Embedded\6 2017-q2-update\bin"/> @@ -117,9 +117,9 @@ <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/> </cconfiguration> <cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451"> - <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451" moduleId="org.eclipse.cdt.core.settings" name="DuetWiFi"> + <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451" moduleId="org.eclipse.cdt.core.settings" name="Duet2"> <macros> - <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm -gcc"/> + <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm"/> <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> <stringMacro name="GccPath" type="VALUE_TEXT" value="C:\Program Files (x86)\GNU Tools ARM Embedded\6 2017-q2-update\bin"/> @@ -135,7 +135,7 @@ </extensions> </storageModule> <storageModule moduleId="cdtBuildSystem" version="4.0.0"> - <configuration artifactExtension="elf" artifactName="DuetWiFiFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451" name="DuetWiFi" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/DuetWiFiFirmware.elf ${workspace_loc:/${ProjName}/${ConfigName}}/DuetWiFiFirmware.bin"> + <configuration artifactExtension="elf" artifactName="Duet2CombinedFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451" name="Duet2" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/Duet2CombinedFirmware.elf ${workspace_loc:/${ProjName}/${ConfigName}}/Duet2CombinedFirmware.bin"> <folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451." name="/" resourcePath=""> <toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.1362047835" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release"> <option id="cdt.managedbuild.option.gnu.cross.path.1491883811" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/> @@ -234,7 +234,7 @@ <cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1027429289"> <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1027429289" moduleId="org.eclipse.cdt.core.settings" name="RADDS"> <macros> - <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm -gcc"/> + <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm"/> <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> <stringMacro name="GccPath" type="VALUE_TEXT" value="C:\Program Files (x86)\GNU Tools ARM Embedded\6 2017-q2-update\bin"/> @@ -341,132 +341,10 @@ </storageModule> <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/> </cconfiguration> - <cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290"> - <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290" moduleId="org.eclipse.cdt.core.settings" name="DuetEthernet"> - <macros> - <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm -gcc"/> - <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> - <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> - <stringMacro name="GccPath" type="VALUE_TEXT" value="C:\Program Files (x86)\GNU Tools ARM Embedded\6 2017-q2-update\bin"/> - </macros> - <externalSettings/> - <extensions> - <extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/> - <extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> - <extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/> - <extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> - <extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/> - 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<listOptionValue builtIn="false" value=""${workspace_loc:/DuetWiFiSocketServer/src/include}""/> - </option> - <option id="gnu.cpp.compiler.option.preprocessor.def.1120095540" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" useByScannerDiscovery="false" valueType="definedSymbols"> - <listOptionValue builtIn="false" value="__SAM4E8E__"/> - <listOptionValue builtIn="false" value="DUET_NG"/> - <listOptionValue builtIn="false" value="DUET_ETHERNET"/> - <listOptionValue builtIn="false" value="_XOPEN_SOURCE"/> - </option> - <inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.2135034744" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/> - </tool> - </toolChain> - </folderInfo> - <sourceEntries> - <entry excluding="src/Networking/ESP8266WiFi|src/Networking/LwipEthernet|src/Alligator|src/SAME70_TEST|src/Display|src/Duet|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/> - </sourceEntries> - </configuration> - </storageModule> - <storageModule moduleId="org.eclipse.cdt.core.externalSettings"/> - </cconfiguration> <cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887"> <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887" moduleId="org.eclipse.cdt.core.settings" name="Alligator"> <macros> - <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm -gcc"/> + <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm"/> <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> <stringMacro name="GccPath" type="VALUE_TEXT" value="C:\Program Files (x86)\GNU Tools ARM Embedded\6 2017-q2-update\bin"/> @@ -587,7 +465,7 @@ <cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.1979117592"> <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.1979117592" moduleId="org.eclipse.cdt.core.settings" name="DuetM"> <macros> - <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm -gcc"/> + <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm"/> <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> <stringMacro name="GccPath" type="VALUE_TEXT" value="C:\Program Files (x86)\GNU Tools ARM Embedded\6 2017-q2-update\bin"/> @@ -706,7 +584,7 @@ <cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116"> <storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290.274082366.1645191116" moduleId="org.eclipse.cdt.core.settings" name="SAME70"> <macros> - <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm -gcc"/> + <stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm"/> <stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/> <stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/> <stringMacro name="GccPath" type="VALUE_TEXT" value="C:\Program Files (x86)\GNU Tools ARM Embedded\6 2017-q2-update\bin"/> @@ -838,11 +716,10 @@ <storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/> <storageModule moduleId="refreshScope" versionNumber="2"> <configuration configurationName="Alligator"/> - <configuration configurationName="DuetEthernet"/> <configuration configurationName="SAME70"/> <configuration configurationName="RADDS"/> + <configuration configurationName="Duet2"/> <configuration configurationName="DuetM"/> - <configuration configurationName="DuetWiFi"/> <configuration configurationName="Duet085"/> </storageModule> <storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/> diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml index 978b6f42..a8f44d89 100644 --- a/.settings/language.settings.xml +++ b/.settings/language.settings.xml @@ -5,18 +5,18 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1419419586637520295" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="1189573167678144698" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> </extension> </configuration> - <configuration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451" name="DuetWiFi"> + <configuration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451" name="Duet2"> <extension point="org.eclipse.cdt.core.LanguageSettingsProvider"> <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1419419586637520295" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="1189573167678144698" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> @@ -27,18 +27,7 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1419419586637520295" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> - <language-scope id="org.eclipse.cdt.core.gcc"/> - <language-scope id="org.eclipse.cdt.core.g++"/> - </provider> - </extension> - </configuration> - <configuration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.1275216290" name="DuetEthernet"> - <extension point="org.eclipse.cdt.core.LanguageSettingsProvider"> - <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> - <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> - <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1419419586637520295" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="1189573167678144698" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> @@ -49,7 +38,7 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1419419586637520295" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="1189573167678144698" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> @@ -60,7 +49,7 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1419419586637520295" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="1189573167678144698" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> @@ -71,7 +60,7 @@ <provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/> <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/> <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/> - <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1419419586637520295" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> + <provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="1189573167678144698" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true"> <language-scope id="org.eclipse.cdt.core.gcc"/> <language-scope id="org.eclipse.cdt.core.g++"/> </provider> diff --git a/EdgeRelease/1.21RC3/Duet2CombinedFirmware.bin b/EdgeRelease/1.21RC3/Duet2CombinedFirmware.bin Binary files differnew file mode 100644 index 00000000..17187665 --- /dev/null +++ b/EdgeRelease/1.21RC3/Duet2CombinedFirmware.bin diff --git a/EdgeRelease/1.21RC3/DuetMaestroFirmware.bin b/EdgeRelease/1.21RC3/DuetMaestroFirmware.bin Binary files differnew file mode 100644 index 00000000..b4cf1a8d --- /dev/null +++ b/EdgeRelease/1.21RC3/DuetMaestroFirmware.bin diff --git a/EdgeRelease/1.21RC3/DuetWebControl-1.21-RC4.zip b/EdgeRelease/1.21RC3/DuetWebControl-1.21-RC4.zip Binary files differnew file mode 100644 index 00000000..076a95b0 --- /dev/null +++ b/EdgeRelease/1.21RC3/DuetWebControl-1.21-RC4.zip diff --git a/EdgeRelease/1.21RC3/DuetWiFiServer.bin b/EdgeRelease/1.21RC3/DuetWiFiServer.bin Binary files differnew file mode 100644 index 00000000..ebe60d3a --- /dev/null +++ b/EdgeRelease/1.21RC3/DuetWiFiServer.bin diff --git a/EdgeRelease/1.21RC3/RepRapFirmware-Alligator.bin b/EdgeRelease/1.21RC3/RepRapFirmware-Alligator.bin Binary files differnew file mode 100644 index 00000000..7b305013 --- /dev/null +++ b/EdgeRelease/1.21RC3/RepRapFirmware-Alligator.bin diff --git a/EdgeRelease/1.21RC3/RepRapFirmware-RADDS.bin b/EdgeRelease/1.21RC3/RepRapFirmware-RADDS.bin Binary files differnew file mode 100644 index 00000000..8db5a611 --- /dev/null +++ b/EdgeRelease/1.21RC3/RepRapFirmware-RADDS.bin diff --git a/EdgeRelease/1.21RC3/RepRapFirmware.bin b/EdgeRelease/1.21RC3/RepRapFirmware.bin Binary files differnew file mode 100644 index 00000000..2876c7fe --- /dev/null +++ b/EdgeRelease/1.21RC3/RepRapFirmware.bin diff --git a/src/Configuration.h b/src/Configuration.h index 0391aa2d..dd62b566 100644 --- a/src/Configuration.h +++ b/src/Configuration.h @@ -25,18 +25,6 @@ Licence: GPL #include <cstddef> // for size_t -// Other firmware that we might switch to be compatible with. - -enum Compatibility -{ - me = 0, - reprapFirmware = 1, - marlin = 2, - teacup = 3, - sprinter = 4, - repetier = 5 -}; - // Generic constants constexpr float ABS_ZERO = -273.15; // Celsius constexpr float NEARLY_ABS_ZERO = -273.0; // Celsius @@ -220,6 +208,7 @@ constexpr size_t RESERVED_OUTPUT_BUFFERS = 2; // Number of reserved output buf constexpr float DefaultFeedrate = 3000.0; // The initial requested feed rate after resetting the printer, in mm/min constexpr float DefaultRetractSpeed = 1000.0; // The default firmware retraction and un-retraction speed, in mm constexpr float DefaultRetractLength = 2.0; +constexpr float MinimumMovementSpeed = 0.5; // The minimum movement speed (extruding moves will go slower than this if the extrusion rate demands it) constexpr float DefaultArcSegmentLength = 0.2; // G2 and G3 arc movement commands get split into segments this long @@ -227,6 +216,7 @@ constexpr uint32_t DefaultIdleTimeout = 30000; // Milliseconds constexpr float DefaultIdleCurrentFactor = 0.3; // Proportion of normal motor current that we use for idle hold constexpr float DefaultNonlinearExtrusionLimit = 0.2; // Maximum additional commanded extrusion to compensate for nonlinearity +constexpr size_t NumRestorePoints = 3; // Number of restore points, must be at least 3 // Triggers constexpr unsigned int MaxTriggers = 10; // Must be <= 32 because we store a bitmap of pending triggers in a uint32_t diff --git a/src/DuetM/TMC22xx.cpp b/src/DuetM/TMC22xx.cpp index aa6df647..b9ab6f4f 100644 --- a/src/DuetM/TMC22xx.cpp +++ b/src/DuetM/TMC22xx.cpp @@ -22,7 +22,7 @@ const bool DefaultInterpolation = true; // interpolation enabled // So at 500kbaud it takes about 128us to write a register, and 192us+ to read a register. // In testing I found that 500kbaud was not reliable, so now using 200kbaud. const uint32_t DriversBaudRate = 200000; -const uint32_t TransferTimeout = 10; // any transfer should complete within 10 ticks +const uint32_t TransferTimeout = 10; // any transfer should complete within 10 ticks @ 1ms/tick static size_t numTmc22xxDrivers; @@ -225,20 +225,6 @@ static inline constexpr uint8_t CRCAddByte(uint8_t crc, uint8_t currentByte) return crc; } -#if 0 // unused -// Calculate the CRC of a message -static uint8_t CalcCRC(const uint8_t *datagram, uint8_t length) -{ - uint8_t crc = 0; - do - { - crc = CRCAddByte(crc, *datagram++); - } - while (--length != 0); - return crc; -} -#endif - // CRC of the first 2 bytes we send in any request static constexpr uint8_t InitialSendCRC = CRCAddByte(CRCAddByte(0, 0x05), 0x00); @@ -278,6 +264,9 @@ public: uint8_t GetDriverNumber() const { return driverNumber; } bool UpdatePending() const { return registersToUpdate != 0; } + float GetStandstillCurrentPercent() const; + void SetStandstillCurrentPercent(float percent); + void TransferDone() __attribute__ ((hot)); // called by the ISR when the SPI transfer has completed void StartTransfer() __attribute__ ((hot)); // called to start a transfer void TransferTimedOut() { ++numTimeouts; } @@ -289,7 +278,8 @@ public: private: void UpdateRegister(size_t regIndex, uint32_t regVal); - void UpdateChopConfRegister(); // calculate the copper control register and flag it for sending + void UpdateChopConfRegister(); // calculate the chopper control register and flag it for sending + void UpdateCurrent(); void SetUartMux(); static constexpr unsigned int NumWriteRegisters = 5; // the number of registers that we write to @@ -312,16 +302,17 @@ private: static void SetupDMASend(uint8_t regnum, uint32_t outVal, uint8_t crc) __attribute__ ((hot)); // set up the PDC to send a register static void SetupDMAReceive(uint8_t regnum, uint8_t crc) __attribute__ ((hot)); // set up the PDC to receive a register - uint32_t writeRegisters[NumWriteRegisters]; // the values we want the TMC22xx writable registers to have + volatile uint32_t writeRegisters[NumWriteRegisters]; // the values we want the TMC22xx writable registers to have volatile uint32_t readRegisters[NumReadRegisters]; // the last values read from the TMC22xx readable registers volatile uint32_t accumulatedReadRegisters[NumReadRegisters]; uint32_t configuredChopConfReg; // the configured chopper control register, in the Enabled state, without the microstepping bits - uint32_t registersToUpdate; // bitmap of register indices whose values need to be sent to the driver chip - uint32_t registerBeingUpdated; // which register we are sending + volatile uint32_t registersToUpdate; // bitmap of register indices whose values need to be sent to the driver chip + volatile uint32_t registerBeingUpdated; // which register we are sending uint32_t axisNumber; // the axis number of this driver as used to index the DriveMovements in the DDA uint32_t microstepShiftFactor; // how much we need to shift 1 left by to get the current microstepping + uint32_t motorCurrent; // the configured motor current uint16_t readErrors; // how many read errors we had uint16_t writeErrors; // how many write errors we had @@ -330,9 +321,10 @@ private: Pin enablePin; // the enable pin of this driver, if it has its own uint8_t driverNumber; // the number of this driver as addressed by the UART multiplexer - uint8_t writeRegCRCs[NumWriteRegisters]; // CRCs of the messages needed to update the registers + uint8_t standstillCurrentFraction; // divide this by 256 to get the motor current standstill fraction uint8_t registerToRead; // the next register we need to read uint8_t lastIfCount; // the value of the IFCNT register last time we read it + volatile uint8_t writeRegCRCs[NumWriteRegisters]; // CRCs of the messages needed to update the registers static const uint8_t ReadRegCRCs[NumReadRegisters]; // CRCs of the messages needed to read the registers bool enabled; // true if driver is enabled }; @@ -436,18 +428,20 @@ void TmcDriverState::Init(uint32_t p_driverNumber, Pin p_pin) pre(!driversPowered) { driverNumber = p_driverNumber; - axisNumber = p_driverNumber; // assume straight-through axis mapping initially - enablePin = p_pin; // this is NoPin for the built-in drivers + axisNumber = p_driverNumber; // assume straight-through axis mapping initially + enablePin = p_pin; // this is NoPin for the built-in drivers if (p_pin != NoPin) { pinMode(p_pin, OUTPUT_HIGH); } enabled = false; registersToUpdate = 0; + motorCurrent = 0; + standstillCurrentFraction = (256 * 3)/4; // default to 75% UpdateRegister(WriteGConf, DefaultGConfReg); UpdateRegister(WriteSlaveConf, DefaultSlaveConfReg); configuredChopConfReg = DefaultChopConfReg; - SetMicrostepping(DefaultMicrosteppingShift, DefaultInterpolation); // this also updates the chopper control register + SetMicrostepping(DefaultMicrosteppingShift, DefaultInterpolation); // this also updates the chopper control register UpdateRegister(WriteIholdIrun, DefaultIholdIrunReg); UpdateRegister(WritePwmConf, DefaultPwmConfReg); for (size_t i = 0; i < NumReadRegisters; ++i) @@ -471,6 +465,17 @@ inline void TmcDriverState::WriteAll() registersToUpdate = (1u << NumWriteRegisters) - 1; } +float TmcDriverState::GetStandstillCurrentPercent() const +{ + return (float)(standstillCurrentFraction * 100)/256; +} + +void TmcDriverState::SetStandstillCurrentPercent(float percent) +{ + standstillCurrentFraction = (uint8_t)constrain<long>(lrintf((percent * 256)/100), 0, 255); + UpdateCurrent(); +} + // Set the chopper control register to the settings provided by the user void TmcDriverState::SetChopConf(uint32_t newVal) { @@ -493,12 +498,17 @@ void TmcDriverState::SetMicrostepping(uint32_t shift, bool interpolate) // Set the motor current void TmcDriverState::SetCurrent(float current) { - // The current sense resistor on the Duet M is 0.091 ohms, to which we must add 0.02 ohms internal resistance. - // Full scale peak motor current in the high sensitivity range is give by I = 0.18/(R+0.02) = 0.18/0.111 ~= 1.6A + motorCurrent = static_cast<uint32_t>(constrain<float>(current, 50.0, MaximumMotorCurrent)); + UpdateCurrent(); +} + +void TmcDriverState::UpdateCurrent() +{ + // The current sense resistor on the Duet M is 0.075 ohms, to which we must add 0.03 ohms internal resistance. + // Full scale peak motor current in the high sensitivity range is give by I = 0.18/(R+0.03) = 0.18/0.105 ~= 1.6A // This gives us a range of 50mA to 1.6A in 50mA steps in the high sensitivity range (VSENSE = 1) - const uint32_t iRunCurrent = static_cast<uint32_t>(constrain<float>(current, 50.0, MaximumMotorCurrent)); - const uint32_t iRunCsBits = (32 * iRunCurrent - 800)/1615; // formula checked by simulation on a spreadsheet - const uint32_t iHoldCurrent = (iRunCurrent * 3)/4; // set standstill current to 3/4 of run current + const uint32_t iRunCsBits = (32 * motorCurrent - 800)/1615; // formula checked by simulation on a spreadsheet + const uint32_t iHoldCurrent = (motorCurrent * standstillCurrentFraction)/256; // set standstill current const uint32_t iHoldCsBits = (32 * iHoldCurrent - 800)/1615; // formula checked by simulation on a spreadsheet UpdateRegister(WriteIholdIrun, (writeRegisters[WriteIholdIrun] & ~(IHOLDIRUN_IRUN_MASK | IHOLDIRUN_IHOLD_MASK)) | (iRunCsBits << IHOLDIRUN_IRUN_SHIFT) | (iHoldCsBits << IHOLDIRUN_IHOLD_SHIFT)); @@ -931,6 +941,20 @@ namespace SmartDrivers } } + float GetStandstillCurrentPercent(size_t drive) + { + return (drive < numTmc22xxDrivers) ? driverStates[drive].GetStandstillCurrentPercent() : 0.0; + } + + void SetStandstillCurrentPercent(size_t drive, float percent) + { + if (drive < numTmc22xxDrivers) + { + driverStates[drive].SetStandstillCurrentPercent(percent); + } + + } + }; // end namespace // End diff --git a/src/DuetM/TMC22xx.h b/src/DuetM/TMC22xx.h index 2894e7fd..69a8f976 100644 --- a/src/DuetM/TMC22xx.h +++ b/src/DuetM/TMC22xx.h @@ -47,6 +47,8 @@ namespace SmartDrivers void TurnDriversOff(); void SetCoolStep(size_t drive, uint16_t coolStepConfig); void AppendDriverStatus(size_t drive, const StringRef& reply); + float GetStandstillCurrentPercent(size_t drive); + void SetStandstillCurrentPercent(size_t drive, float percent); }; #endif /* TMC2660_H_ */ diff --git a/src/DuetNG/DueXn.cpp b/src/DuetNG/DueXn.cpp index ac41382b..25e8969b 100644 --- a/src/DuetNG/DueXn.cpp +++ b/src/DuetNG/DueXn.cpp @@ -88,7 +88,7 @@ namespace DuetExpansion // Set up the interrupt on any input change dueXnInputMask = stopBits | AllGpioBits; - dueXnExpander.enableInterruptMultiple(dueXnInputMask, CHANGE); + dueXnExpander.enableInterruptMultiple(dueXnInputMask, INTERRUPT_MODE_CHANGE); // Clear any initial interrupts (void)dueXnExpander.interruptSource(true); diff --git a/src/DuetNG/Pins_DuetNG.h b/src/DuetNG/Pins_DuetNG.h index 62fbcdec..249a3c1e 100644 --- a/src/DuetNG/Pins_DuetNG.h +++ b/src/DuetNG/Pins_DuetNG.h @@ -1,10 +1,10 @@ #ifndef PINS_DUETNG_H__ #define PINS_DUETNG_H__ -# define FIRMWARE_NAME "RepRapFirmware for Duet WiFi and Duet Ethernet" +# define FIRMWARE_NAME "RepRapFirmware for Duet 2 WiFi/Ethernet" # define DEFAULT_BOARD_TYPE BoardType::DuetWiFi_10 constexpr size_t NumFirmwareUpdateModules = 4; // 3 modules, plus one for manual upload to WiFi module (module 2 is now unused) -# define IAP_FIRMWARE_FILE "DuetWiFiFirmware.bin" +# define IAP_FIRMWARE_FILE "Duet2CombinedFirmware.bin" # define WIFI_FIRMWARE_FILE "DuetWiFiServer.bin" // Features definition diff --git a/src/DuetNG/SX1509.cpp b/src/DuetNG/SX1509.cpp index 1f8ea75d..9b7a54d7 100644 --- a/src/DuetNG/SX1509.cpp +++ b/src/DuetNG/SX1509.cpp @@ -531,13 +531,13 @@ void SX1509::enableInterruptMultiple(uint16_t pins, uint8_t riseFall) uint8_t sensitivity; switch (riseFall) { - case CHANGE: + case INTERRUPT_MODE_CHANGE: sensitivity = 0b11; break; - case FALLING: + case INTERRUPT_MODE_FALLING: sensitivity = 0b10; break; - case RISING: + case INTERRUPT_MODE_RISING: sensitivity = 0b01; break; default: diff --git a/src/DuetNG/TMC2660.cpp b/src/DuetNG/TMC2660.cpp index c077954d..c5b0414a 100644 --- a/src/DuetNG/TMC2660.cpp +++ b/src/DuetNG/TMC2660.cpp @@ -731,6 +731,16 @@ namespace SmartDrivers } } + float GetStandstillCurrentPercent(size_t drive) + { + return 100.0; // not supported + } + + void SetStandstillCurrentPercent(size_t drive, float percent) + { + // not supported so nothing to see here + } + }; // end namespace // End diff --git a/src/DuetNG/TMC2660.h b/src/DuetNG/TMC2660.h index 6734d84a..8e07f75a 100644 --- a/src/DuetNG/TMC2660.h +++ b/src/DuetNG/TMC2660.h @@ -48,6 +48,8 @@ namespace SmartDrivers void SetCoolStep(size_t drive, uint16_t coolStepConfig); void AppendStallConfig(size_t drive, const StringRef& reply); void AppendDriverStatus(size_t drive, const StringRef& reply); + float GetStandstillCurrentPercent(size_t drive); + void SetStandstillCurrentPercent(size_t drive, float percent); }; #endif /* TMC2660_H_ */ diff --git a/src/FilamentMonitors/FilamentMonitor.cpp b/src/FilamentMonitors/FilamentMonitor.cpp index a3b3d44a..64458396 100644 --- a/src/FilamentMonitors/FilamentMonitor.cpp +++ b/src/FilamentMonitors/FilamentMonitor.cpp @@ -30,7 +30,7 @@ FilamentMonitor::~FilamentMonitor() // Try to get the pin number from the GCode command in the buffer, setting Seen if a pin number was provided and returning true if error. // Also attaches the ISR. -bool FilamentMonitor::ConfigurePin(GCodeBuffer& gb, const StringRef& reply, uint32_t interruptMode, bool& seen) +bool FilamentMonitor::ConfigurePin(GCodeBuffer& gb, const StringRef& reply, InterruptMode interruptMode, bool& seen) { if (gb.Seen('C')) { @@ -46,7 +46,7 @@ bool FilamentMonitor::ConfigurePin(GCodeBuffer& gb, const StringRef& reply, uint endstopNumber = endstop; pin = p; haveIsrStepsCommanded = false; - if (!attachInterrupt(pin, InterruptEntry, interruptMode, this)) + if (interruptMode != INTERRUPT_MODE_NONE && !attachInterrupt(pin, InterruptEntry, interruptMode, this)) { reply.copy("unsuitable endstop number"); return true; diff --git a/src/FilamentMonitors/FilamentMonitor.h b/src/FilamentMonitors/FilamentMonitor.h index 9429910a..1fa4416f 100644 --- a/src/FilamentMonitors/FilamentMonitor.h +++ b/src/FilamentMonitors/FilamentMonitor.h @@ -63,7 +63,7 @@ public: protected: FilamentMonitor(unsigned int extruder, int t) : extruderNumber(extruder), type(t), pin(NoPin) { } - bool ConfigurePin(GCodeBuffer& gb, const StringRef& reply, uint32_t interruptMode, bool& seen); + bool ConfigurePin(GCodeBuffer& gb, const StringRef& reply, InterruptMode interruptMode, bool& seen); int GetEndstopNumber() const { return endstopNumber; } diff --git a/src/FilamentMonitors/LaserFilamentMonitor.cpp b/src/FilamentMonitors/LaserFilamentMonitor.cpp index ac5c2552..cdf544f2 100644 --- a/src/FilamentMonitors/LaserFilamentMonitor.cpp +++ b/src/FilamentMonitors/LaserFilamentMonitor.cpp @@ -40,7 +40,7 @@ void LaserFilamentMonitor::Reset() // Configure this sensor, returning true if error and setting 'seen' if we processed any configuration parameters bool LaserFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) { - if (ConfigurePin(gb, reply, CHANGE, seen)) + if (ConfigurePin(gb, reply, INTERRUPT_MODE_CHANGE, seen)) { return true; } diff --git a/src/FilamentMonitors/PulsedFilamentMonitor.cpp b/src/FilamentMonitors/PulsedFilamentMonitor.cpp index 9bb049a4..fb9f440e 100644 --- a/src/FilamentMonitors/PulsedFilamentMonitor.cpp +++ b/src/FilamentMonitors/PulsedFilamentMonitor.cpp @@ -34,7 +34,7 @@ void PulsedFilamentMonitor::Reset() // Configure this sensor, returning true if error and setting 'seen' if we processed any configuration parameters bool PulsedFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) { - if (ConfigurePin(gb, reply, RISING, seen)) + if (ConfigurePin(gb, reply, INTERRUPT_MODE_RISING, seen)) { return true; } diff --git a/src/FilamentMonitors/RotatingMagnetFilamentMonitor.cpp b/src/FilamentMonitors/RotatingMagnetFilamentMonitor.cpp index 58d6466d..bed228e6 100644 --- a/src/FilamentMonitors/RotatingMagnetFilamentMonitor.cpp +++ b/src/FilamentMonitors/RotatingMagnetFilamentMonitor.cpp @@ -39,7 +39,7 @@ void RotatingMagnetFilamentMonitor::Reset() // Configure this sensor, returning true if error and setting 'seen' if we processed any configuration parameters bool RotatingMagnetFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) { - if (ConfigurePin(gb, reply, CHANGE, seen)) + if (ConfigurePin(gb, reply, INTERRUPT_MODE_CHANGE, seen)) { return true; } @@ -165,7 +165,7 @@ float RotatingMagnetFilamentMonitor::GetCurrentPosition() const } // Call the following at intervals to check the status. This is only called when extrusion is in progress or imminent. -// 'filamentConsumed' is the net amount of extrusion since the last call to this function. +// 'filamentConsumed' is the net amount of extrusion commanded since the last call to this function. // 'hadNonPrintingMove' is called if filamentConsumed includes extruder movement form non-printing moves. FilamentSensorStatus RotatingMagnetFilamentMonitor::Check(bool full, bool hadNonPrintingMove, bool fromIsr, float filamentConsumed) { @@ -230,6 +230,8 @@ FilamentSensorStatus RotatingMagnetFilamentMonitor::CheckFilament(float amountCo } FilamentSensorStatus ret = FilamentSensorStatus::ok; + const float extrusionMeasured = amountMeasured * mmPerRev; + if (!comparisonStarted) { // The first measurement after we start extruding is often a long way out, so discard it @@ -241,7 +243,6 @@ FilamentSensorStatus RotatingMagnetFilamentMonitor::CheckFilament(float amountCo const float minExtrusionExpected = (amountCommanded >= 0.0) ? amountCommanded * minMovementAllowed : amountCommanded * maxMovementAllowed; - const float extrusionMeasured = amountMeasured * mmPerRev; if (extrusionMeasured < minExtrusionExpected) { ret = FilamentSensorStatus::tooLittleMovement; @@ -259,7 +260,7 @@ FilamentSensorStatus RotatingMagnetFilamentMonitor::CheckFilament(float amountCo } // Update the calibration accumulators, even if the user hasn't asked to do calibration - const float ratio = amountMeasured/amountCommanded; + const float ratio = extrusionMeasured/amountCommanded; if (calibrationStarted) { if (ratio < minMovementRatio) diff --git a/src/FilamentMonitors/RotatingMagnetFilamentMonitor.h b/src/FilamentMonitors/RotatingMagnetFilamentMonitor.h index fd660b2a..88e0cbe1 100644 --- a/src/FilamentMonitors/RotatingMagnetFilamentMonitor.h +++ b/src/FilamentMonitors/RotatingMagnetFilamentMonitor.h @@ -49,15 +49,15 @@ private: uint16_t switchOpenMask; // mask to isolate the switch open bit(s) from the sensor value uint32_t framingErrorCount; // the number of framing errors we received - float extrusionCommandedAtStartBit; // the amount of extrusion commanded since the previous comparison when we received the start bit - float extrusionCommandedSinceLastSync; - float movementMeasuredSinceLastSync; + float extrusionCommandedAtStartBit; // the amount of extrusion commanded (mm) when we received the start bit since the last sync + float extrusionCommandedSinceLastSync; // the amount of extrusion commanded (mm) since the last sync + float movementMeasuredSinceLastSync; // the amount of movement in complete rotations of the wheel since the last sync bool hadNonPrintingMoveAtStartBit; bool hadNonPrintingMoveSinceLastSync; bool haveStartBitData; - float extrusionCommandedThisSegment; // the amount of extrusion commanded since we last did a comparison - float movementMeasuredThisSegment; // the accumulated movement since the previous comparison + float extrusionCommandedThisSegment; // the amount of extrusion commanded (mm) since we last did a comparison + float movementMeasuredThisSegment; // the accumulated movement in complete rotations since the previous comparison // Values measured for calibration float minMovementRatio, maxMovementRatio; diff --git a/src/FilamentMonitors/SimpleFilamentMonitor.cpp b/src/FilamentMonitors/SimpleFilamentMonitor.cpp index 6a623e8e..5956fa71 100644 --- a/src/FilamentMonitors/SimpleFilamentMonitor.cpp +++ b/src/FilamentMonitors/SimpleFilamentMonitor.cpp @@ -17,7 +17,7 @@ SimpleFilamentMonitor::SimpleFilamentMonitor(unsigned int extruder, int type) // Configure this sensor, returning true if error and setting 'seen' if we processed any configuration parameters bool SimpleFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) { - if (ConfigurePin(gb, reply, CHANGE, seen)) + if (ConfigurePin(gb, reply, INTERRUPT_MODE_NONE, seen)) { return true; } diff --git a/src/GCodes/GCodeBuffer.cpp b/src/GCodes/GCodeBuffer.cpp index d65512a2..36fe9e95 100644 --- a/src/GCodes/GCodeBuffer.cpp +++ b/src/GCodes/GCodeBuffer.cpp @@ -950,6 +950,13 @@ bool GCodeBuffer::PopState() return true; } +// Abort execution of any files or macros being executed +void GCodeBuffer::AbortFile() +{ + while (PopState()) { } // abandon any macros + machineState->fileState.Close(); // if we are executing a file, abandon it +} + // Return true if this source is executing a file macro bool GCodeBuffer::IsDoingFileMacro() const { diff --git a/src/GCodes/GCodeBuffer.h b/src/GCodes/GCodeBuffer.h index 8620632f..fb64ff6f 100644 --- a/src/GCodes/GCodeBuffer.h +++ b/src/GCodes/GCodeBuffer.h @@ -67,9 +67,12 @@ public: GCodeMachineState& OriginalMachineState() const; bool PushState(); // Push state returning true if successful (i.e. stack not overflowed) bool PopState(); // Pop state returning true if successful (i.e. no stack underrun) + void AbortFile(); // Abort execution of any files or macros being executed + bool IsDoingFileMacro() const; // Return true if this source is executing a file macro GCodeState GetState() const; void SetState(GCodeState newState); + void SetState(GCodeState newState, const char *err); void AdvanceState(); const char *GetIdentity() const { return identity; } bool CanQueueCodes() const; @@ -204,6 +207,12 @@ inline void GCodeBuffer::SetState(GCodeState newState) machineState->state = newState; } +inline void GCodeBuffer::SetState(GCodeState newState, const char *err) +{ + machineState->state = newState; + machineState->err = err; +} + inline void GCodeBuffer::AdvanceState() { machineState->state = static_cast<GCodeState>(static_cast<uint8_t>(machineState->state) + 1); diff --git a/src/GCodes/GCodeMachineState.cpp b/src/GCodes/GCodeMachineState.cpp index d4a600eb..a0f49eaf 100644 --- a/src/GCodes/GCodeMachineState.cpp +++ b/src/GCodes/GCodeMachineState.cpp @@ -12,7 +12,7 @@ unsigned int GCodeMachineState::numAllocated = 0; // Create a default initialised GCodeMachineState GCodeMachineState::GCodeMachineState() - : previous(nullptr), feedrate(DefaultFeedrate * SecondsToMinutes), fileState(), lockedResources(0), state(GCodeState::normal), + : previous(nullptr), feedrate(DefaultFeedrate * SecondsToMinutes), fileState(), lockedResources(0), err(nullptr), state(GCodeState::normal), drivesRelative(false), axesRelative(false), doingFileMacro(false), runningM501(false), runningM502(false), volumetricExtrusion(false), waitingForAcknowledgement(false), messageAcknowledged(false) { } @@ -25,6 +25,7 @@ GCodeMachineState::GCodeMachineState() { freeList = ms->previous; ms->lockedResources = 0; + ms->err = nullptr; ms->state = GCodeState::normal; } else diff --git a/src/GCodes/GCodeMachineState.h b/src/GCodes/GCodeMachineState.h index 6736415c..bacd9aac 100644 --- a/src/GCodes/GCodeMachineState.h +++ b/src/GCodes/GCodeMachineState.h @@ -17,6 +17,7 @@ enum class GCodeState : uint8_t normal, // not doing anything and ready to process a new GCode waitingForSpecialMoveToComplete, // doing a special move, so we must wait for it to finish before processing another GCode + waitingForArcMoveToComplete, // doing an arc move, so we must check whether it completes normally probingToolOffset, @@ -91,6 +92,7 @@ public: float feedrate; FileData fileState; ResourceBitmap lockedResources; + const char *err; GCodeState state; uint8_t toolChangeParam; int16_t newToolNumber; diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp index a3783016..cb1e5a29 100644 --- a/src/GCodes/GCodes.cpp +++ b/src/GCodes/GCodes.cpp @@ -191,12 +191,14 @@ void GCodes::Reset() reprap.GetMove().GetKinematics().GetAssumedInitialPosition(numVisibleAxes, moveBuffer.coords); ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); - pauseRestorePoint.Init(); - toolChangeRestorePoint.Init(); + for (RestorePoint& rp : numberedRestorePoints) + { + rp.Init(); + } - for (size_t i = 0; i < MaxTriggers; ++i) + for (Trigger& tr : triggers) { - triggers[i].Init(); + tr.Init(); } triggersPending = 0; @@ -217,7 +219,7 @@ void GCodes::Reset() lastFilamentError = FilamentSensorStatus::ok; codeQueue->Clear(); - cancelWait = isWaiting = displayNoToolWarning = displayDeltaNotHomedWarning = false; + cancelWait = isWaiting = displayNoToolWarning = false; for (size_t i = 0; i < NumResources; ++i) { @@ -344,12 +346,6 @@ void GCodes::Spin() displayNoToolWarning = false; lastWarningMillis = now; } - if (displayDeltaNotHomedWarning) - { - platform.Message(ErrorMessage, "Attempt to move the head of a Delta or SCARA printer before homing it\n"); - displayDeltaNotHomedWarning = false; - lastWarningMillis = now; - } } platform.ClassReport(longWait); } @@ -387,6 +383,27 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) } break; + case GCodeState::waitingForArcMoveToComplete: + // Wait for all segments of the arc move to go and check whether an error occurred + if (!doingArcMove || segmentsLeft == 0) + { + if (abortedArcMove) + { + if (!LockMovementAndWaitForStandstill(gb)) // update the the user position from the machine position at which we stop + { + break; + } + reply.copy("G2/G3: outside machine limits"); + error = true; + if (machineType != MachineType::fff) + { + AbortPrint(gb); + } + } + gb.SetState(GCodeState::normal); + } + break; + case GCodeState::probingToolOffset: if (LockMovementAndWaitForStandstill(gb)) { @@ -716,6 +733,11 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) moveBuffer.yAxes = DefaultYAxisMapping; totalSegments = 1; segmentsLeft = 1; + + tapsDone = 0; + g30zHeightErrorSum = 0.0; + g30zHeightErrorLowestDiff = 1000.0; + gb.AdvanceState(); } else @@ -731,7 +753,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) } break; - case GCodeState::gridProbing2a: // ready to probe the current grid probe point + case GCodeState::gridProbing2a: // ready to probe the current grid probe point (we return to this state when doing the second and subsequent taps) if (LockMovementAndWaitForStandstill(gb)) { gb.AdvanceState(); @@ -746,9 +768,6 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) if (LockMovementAndWaitForStandstill(gb)) { lastProbedTime = millis(); - tapsDone = 0; - g30zHeightErrorSum = 0.0; - g30zHeightErrorLowestDiff = 1000.0; if (platform.GetZProbeType() != ZProbeType::none && platform.GetCurrentZProbeParameters().turnHeatersOff) { reprap.GetHeat().SuspendHeaters(true); @@ -871,7 +890,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) // Tap again lastProbedTime = millis(); g30PrevHeightError = g30zHeightError; - gb.SetState(GCodeState::gridProbing3); + gb.SetState(GCodeState::gridProbing2a); } else { @@ -985,11 +1004,15 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) totalSegments = 1; segmentsLeft = 1; + tapsDone = 0; + g30zHeightErrorSum = 0.0; + g30zHeightErrorLowestDiff = 1000.0; + gb.AdvanceState(); } break; - case GCodeState::probingAtPoint2a: + case GCodeState::probingAtPoint2a: // note we return to this state when doing the second and subsequent taps if (LockMovementAndWaitForStandstill(gb)) { gb.AdvanceState(); @@ -1007,9 +1030,6 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) { // Head has finished moving to the correct XY position lastProbedTime = millis(); // start the probe recovery timer - tapsDone = 0; - g30zHeightErrorSum = 0.0; - g30zHeightErrorLowestDiff = 1000.0; if (platform.GetZProbeType() != ZProbeType::none && platform.GetCurrentZProbeParameters().turnHeatersOff) { reprap.GetHeat().SuspendHeaters(true); @@ -1172,7 +1192,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) // Tap again g30PrevHeightError = g30zHeightError; lastProbedTime = millis(); - gb.SetState(GCodeState::probingAtPoint3); + gb.SetState(GCodeState::probingAtPoint2a); } else { @@ -1360,6 +1380,16 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply) // We completed a command, so unlock resources and tell the host about it gb.timerRunning = false; UnlockAll(gb); + if (error) + { + gb.MachineState().err = nullptr; // we can't report more than one error here, so clear the original one + } + else if (gb.MachineState().err != nullptr) + { + reply.copy(gb.MachineState().err); + gb.MachineState().err = nullptr; + error = true; + } HandleReply(gb, error, reply.Pointer()); } } @@ -1638,6 +1668,8 @@ void GCodes::DoPause(GCodeBuffer& gb, PauseReason reason, const char *msg) { fdata.Seek(pauseRestorePoint.filePos); // replay the abandoned instructions when we resume fileInput->Reset(); // clear the buffered data + fileGCode->Init(); // clear the next move + UnlockAll(*fileGCode); // release any locks it had } codeQueue->PurgeEntries(); @@ -2191,9 +2223,65 @@ bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb, int moveType) return true; } +// Check that enough axes have been homed +bool GCodes::CheckEnoughAxesHomed(AxesBitmap axesMoved) +{ + // Regular move. If it's a delta or SCARA printer, the XYZ axes must be homed first. + constexpr AxesBitmap xyAxes = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS); + constexpr AxesBitmap xyzAxes = xyAxes | MakeBitmap<AxesBitmap>(Z_AXIS); + constexpr AxesBitmap xzAxes = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Z_AXIS); + constexpr AxesBitmap uvAxes = MakeBitmap<AxesBitmap>(U_AXIS) | MakeBitmap<AxesBitmap>(V_AXIS); + + switch (reprap.GetMove().GetKinematics().GetKinematicsType()) + { + case KinematicsType::cartesian: + break; + + case KinematicsType::coreXY: + case KinematicsType::coreXYU: + if ((axesMoved & xyAxes) != 0) + { + axesMoved |= xyAxes; + } + break; + + case KinematicsType::coreXZ: + if ((axesMoved & xzAxes) != 0) + { + axesMoved |= xzAxes; + } + break; + + case KinematicsType::coreXYUV: + if ((axesMoved & xyAxes) != 0) + { + axesMoved |= xyAxes; + } + if ((axesMoved & uvAxes) != 0) + { + axesMoved |= uvAxes; + } + break; + + case KinematicsType::linearDelta: + case KinematicsType::polar: + case KinematicsType::scara: + case KinematicsType::hangprinter: + default: + // For these printers we require all of XYZ to be homed before any normal movements are made + if ((axesMoved & xyzAxes) != 0) + { + axesMoved |= xyzAxes; + } + break; + } + + return (axesMoved & ~axesHomed) != 0; +} + // Execute a straight move returning true if an error was written to 'reply' // We have already acquired the movement lock and waited for the previous move to be taken. -bool GCodes::DoStraightMove(GCodeBuffer& gb, const StringRef& reply, bool isCoordinated) +const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated) { // Set up default move parameters moveBuffer.isCoordinated = isCoordinated; @@ -2215,63 +2303,27 @@ bool GCodes::DoStraightMove(GCodeBuffer& gb, const StringRef& reply, bool isCoor moveBuffer.xAxes = DefaultXAxisMapping; moveBuffer.yAxes = DefaultYAxisMapping; } - - if (ival == 1 || ival == 3) - { - for (size_t i = 0; i < numTotalAxes; ++i) - { - if (gb.Seen(axisLetters[i])) - { - SetBit(moveBuffer.endStopsToCheck, i); - } - } - - if (ival == 1) - { - moveBuffer.endStopsToCheck |= HomeAxes; - } - else - { - axesToSenseLength = moveBuffer.endStopsToCheck; - } - } else if (ival == 99) // temporary code to log Z probe change positions { moveBuffer.endStopsToCheck |= LogProbeChanges; } } - // Check for damaging moves on a delta or SCARA printer - const KinematicsType kinType = reprap.GetMove().GetKinematics().GetKinematicsType(); - if (moveBuffer.moveType == 0) + // Check for 'R' parameter to move relative to a restore point + const RestorePoint * rp = nullptr; + if (moveBuffer.moveType == 0 && gb.Seen('R')) { - // Regular move. If it's a delta or SCARA printer, the XYZ axes must be homed first. - constexpr AxesBitmap xyzAxes = LowestNBits<AxesBitmap>(Z_AXIS); - if ((axesHomed & xyzAxes) != xyzAxes && (kinType == KinematicsType::linearDelta || kinType == KinematicsType::scara) && simulationMode == 0) + const uint32_t rParam = gb.GetUIValue(); + if (rParam < ARRAY_SIZE(numberedRestorePoints)) { - // The user may be attempting to move a delta printer to an XYZ position before homing the axes - // This may be damaging and is almost certainly a user mistake, so ignore the move. But allow extruder-only moves. - if (gb.Seen(axisLetters[X_AXIS]) || gb.Seen(axisLetters[Y_AXIS]) || gb.Seen(axisLetters[Z_AXIS])) - { - displayDeltaNotHomedWarning = true; - return false; - } + rp = &numberedRestorePoints[rParam]; } - } - else - { - // Special move. If on a delta, movement must be relative. - if (!gb.MachineState().axesRelative && kinType == KinematicsType::linearDelta) + else { - reply.copy("Attempt to move the motors of a Delta printer to absolute positions"); - return true; + return "G0/G1: bad restore point number"; } } - // Check for 'R' parameter to move relative to a restore point - int rParam = (moveBuffer.moveType == 0 && gb.Seen('R')) ? gb.GetIValue() : 0; - const RestorePoint * const rp = (rParam == 1) ? &pauseRestorePoint : (rParam == 2) ? &toolChangeRestorePoint : nullptr; - #if SUPPORT_IOBITS // Update the iobits parameter if (rp != nullptr) @@ -2290,8 +2342,14 @@ bool GCodes::DoStraightMove(GCodeBuffer& gb, const StringRef& reply, bool isCoor if (moveBuffer.moveType != 0) { + // Special move. If on a delta, movement must be relative. + if (!gb.MachineState().axesRelative && reprap.GetMove().GetKinematics().GetKinematicsType() == KinematicsType::linearDelta) + { + return "G0/G1: attempt to move delta motors to absolute positions"; + } + // This may be a raw motor move, in which case we need the current raw motor positions in moveBuffer.coords. - // If it isn't a raw motor move, it will still be applied without axis or bed transform applies, + // If it isn't a raw motor move, it will still be applied without axis or bed transform applied, // so make sure the initial coordinates don't have those either to avoid unwanted Z movement. reprap.GetMove().GetCurrentUserPosition(moveBuffer.coords, moveBuffer.moveType, reprap.GetCurrentXAxes(), reprap.GetCurrentYAxes()); } @@ -2338,6 +2396,27 @@ bool GCodes::DoStraightMove(GCodeBuffer& gb, const StringRef& reply, bool isCoor // So we no longer do that, and the user must mention any axes that he wants restored e.g. G1 R2 X0 Y0. } + // Check enough axes have been homed + if (moveBuffer.moveType == 0) + { + if (CheckEnoughAxesHomed(axesMentioned)) + { + return "G0/G1: insufficient axes homed"; + } + } + else if (moveBuffer.moveType == 1 || moveBuffer.moveType == 3) + { + moveBuffer.endStopsToCheck |= (axesMentioned & LowestNBits<AxesBitmap>(numTotalAxes)); + if (moveBuffer.moveType == 1) + { + moveBuffer.endStopsToCheck |= HomeAxes; + } + else + { + axesToSenseLength = moveBuffer.endStopsToCheck; + } + } + // Deal with extrusion and feed rate LoadExtrusionAndFeedrateFromGCode(gb, moveBuffer.moveType); @@ -2363,6 +2442,10 @@ bool GCodes::DoStraightMove(GCodeBuffer& gb, const StringRef& reply, bool isCoor } if (limitAxes && reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, effectiveAxesHomed, moveBuffer.isCoordinated)) { + if (machineType != MachineType::fff) + { + return "G0/G1: outside machine limits"; // it's a laser or CNC, so this is a definite error + } ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); // make sure the limits are reflected in the user position } @@ -2399,22 +2482,23 @@ bool GCodes::DoStraightMove(GCodeBuffer& gb, const StringRef& reply, bool isCoor doingArcMove = false; FinaliseMove(gb); - return false; + return nullptr; } // Execute an arc move, returning true if it was badly-formed // We already have the movement lock and the last move has gone // Currently, we do not process new babystepping when executing an arc move -bool GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise) +const char* GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise) { // Get the axis parameters. X Y I J are compulsory, Z is optional. - if (!gb.Seen('X')) return true; + const char* const missingParameter = "G2/G3: missing parameter"; + if (!gb.Seen('X')) return missingParameter; const float xParam = gb.GetFValue() * distanceScale; - if (!gb.Seen('Y')) return true; + if (!gb.Seen('Y')) return missingParameter; const float yParam = gb.GetFValue() * distanceScale; - if (!gb.Seen('I')) return true; + if (!gb.Seen('I')) return missingParameter; const float iParam = gb.GetFValue() * distanceScale; - if (!gb.Seen('J')) return true; + if (!gb.Seen('J')) return missingParameter; const float jParam = gb.GetFValue() * distanceScale; memcpy(moveBuffer.initialCoords, moveBuffer.coords, numVisibleAxes * sizeof(moveBuffer.initialCoords[0])); @@ -2436,6 +2520,8 @@ bool GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise) currentUserPosition[Y_AXIS] = yParam; } + AxesBitmap axesMentioned = MakeBitmap<AxesBitmap>(X_AXIS) | MakeBitmap<AxesBitmap>(Y_AXIS); + // Get the optional Z parameter if (gb.Seen('Z')) { @@ -2448,12 +2534,21 @@ bool GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise) { currentUserPosition[Z_AXIS] = zParam; } + axesMentioned |= MakeBitmap<AxesBitmap>(Z_AXIS); + } + + // Check enough axes have been homed + if (CheckEnoughAxesHomed(axesMentioned)) + { + return "G2/G3: insufficient axes homed"; } + // Transform to machine coordinates and check that it is within limits ToolOffsetTransform(currentUserPosition, moveBuffer.coords); // set the final position if (limitAxes && reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, axesHomed, true)) { - ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition); // make sure the limits are reflected in the user position + // Abandon the move + return "G2/G3: outside machine limits"; } // Compute the angle at which we stop @@ -2491,7 +2586,7 @@ bool GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise) float totalArc = (clockwise) ? arcCurrentAngle - finalTheta : finalTheta - arcCurrentAngle; if (totalArc < 0) { - totalArc += 2 * PI; + totalArc += TwoPi; } // Compute how many segments we need to move, but don't store it yet @@ -2502,11 +2597,13 @@ bool GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise) arcAngleIncrement = -arcAngleIncrement; } + abortedArcMove = false; doingArcMove = true; + gb.SetState(GCodeState::waitingForArcMoveToComplete); FinaliseMove(gb); // debugPrintf("Radius %.2f, initial angle %.1f, increment %.1f, segments %u\n", // arcRadius, arcCurrentAngle * RadiansToDegrees, arcAngleIncrement * RadiansToDegrees, segmentsLeft); - return false; + return nullptr; } // Adjust the move parameters to account for segmentation and/or part of the move having been done already @@ -2602,6 +2699,17 @@ bool GCodes::ReadMove(RawMove& m) --segmentsLeft; return false; } + + // If this is an arc move, we need to limit the end position at each segment. + // This is expensive on a SCARA printer, so we really ought to store theta and phi in the move object for later use. But for now we don't. + if (doingArcMove && limitAxes && reprap.GetMove().GetKinematics().LimitPosition(m.coords, numVisibleAxes, axesHomed, true)) + { + segmentsLeft = 0; + abortedArcMove = true; + doingArcMove = false; + return false; + } + if (segmentsLeftToStartAt == segmentsLeft && firstSegmentFractionToSkip != 0.0) // if this is the segment we are starting at and we need to skip some of it { // Reduce the extrusion by the amount to be skipped @@ -2628,6 +2736,29 @@ void GCodes::ClearMove() moveFractionToSkip = 0.0; } +// Cancel any macro or print in progress +void GCodes::AbortPrint(GCodeBuffer& gb) +{ + gb.AbortFile(); // stop executing any files that this GCodeBuffer is running + if (&gb == fileGCode) // if the current command came from a file being printed + { + reprap.GetHeat().SwitchOffAll(true); // turn all heaters off + switch (machineType) + { + case MachineType::cnc: + platform.SetSpindlePwm(0); + break; + + case MachineType::laser: + platform.SetLaserPwm(0); + break; + + default: + break; + } + } +} + // Run a file macro. Prior to calling this, 'state' must be set to the state we want to enter when the macro has been completed. // Return true if the file was found or it wasn't and we were asked to report that fact. bool GCodes::DoFileMacro(GCodeBuffer& gb, const char* fileName, bool reportMissing, int codeRunning) @@ -3007,7 +3138,7 @@ void GCodes::FinishWrite(GCodeBuffer& gb) } else { - r = (platform.Emulating() == marlin) ? "Done saving file." : ""; + r = (platform.Emulating() == Compatibility::marlin) ? "Done saving file." : ""; } fileBeingWritten = nullptr; gb.SetBinaryWriting(false); @@ -3031,7 +3162,7 @@ void GCodes::WriteGCodeToFile(GCodeBuffer& gb) fileBeingWritten->Close(); fileBeingWritten = nullptr; gb.SetWritingFileDirectory(nullptr); - const char* r = (platform.Emulating() == marlin) ? "Done saving file." : ""; + const char* r = (platform.Emulating() == Compatibility::marlin) ? "Done saving file." : ""; HandleReply(gb, false, r); return; } @@ -3454,23 +3585,23 @@ void GCodes::HandleReply(GCodeBuffer& gb, bool error, const char* reply) // Second UART device, e.g. PanelDue. Do NOT use emulation for this one! if (&gb == auxGCode) { - platform.AppendAuxReply(reply); + platform.AppendAuxReply(reply, reply[0] == '{'); return; } - const Compatibility c = (&gb == serialGCode || &gb == telnetGCode) ? platform.Emulating() : me; + const Compatibility c = (&gb == serialGCode || &gb == telnetGCode) ? platform.Emulating() : Compatibility::me; const MessageType type = gb.GetResponseMessageType(); const char* const response = (gb.GetCommandLetter() == 'M' && gb.GetCommandNumber() == 998) ? "rs " : "ok"; const char* emulationType = nullptr; switch (c) { - case me: - case reprapFirmware: + case Compatibility::me: + case Compatibility::reprapFirmware: platform.MessageF((error) ? (MessageType)(type | ErrorMessageFlag) : type, "%s\n", reply); break; - case marlin: + case Compatibility::marlin: // We don't need to handle M20 here because we always allocate an output buffer for that one if (gb.GetCommandLetter() == 'M' && gb.GetCommandNumber() == 28) { @@ -3494,13 +3625,13 @@ void GCodes::HandleReply(GCodeBuffer& gb, bool error, const char* reply) } break; - case teacup: + case Compatibility::teacup: emulationType = "teacup"; break; - case sprinter: + case Compatibility::sprinter: emulationType = "sprinter"; break; - case repetier: + case Compatibility::repetier: emulationType = "repetier"; break; default: @@ -3524,19 +3655,19 @@ void GCodes::HandleReply(GCodeBuffer& gb, bool error, OutputBuffer *reply) // Second UART device, e.g. dc42's PanelDue. Do NOT use emulation for this one! if (&gb == auxGCode) { - platform.AppendAuxReply(reply); + platform.AppendAuxReply(reply, (*reply)[0] == '{'); return; } - const Compatibility c = (&gb == serialGCode || &gb == telnetGCode) ? platform.Emulating() : me; + const Compatibility c = (&gb == serialGCode || &gb == telnetGCode) ? platform.Emulating() : Compatibility::me; const MessageType type = gb.GetResponseMessageType(); const char* const response = (gb.GetCommandLetter() == 'M' && gb.GetCommandNumber() == 998) ? "rs " : "ok"; const char* emulationType = nullptr; switch (c) { - case me: - case reprapFirmware: + case Compatibility::me: + case Compatibility::reprapFirmware: if (error) { platform.Message(type, "Error: "); @@ -3544,7 +3675,7 @@ void GCodes::HandleReply(GCodeBuffer& gb, bool error, OutputBuffer *reply) platform.Message(type, reply); return; - case marlin: + case Compatibility::marlin: if (gb.GetCommandLetter() =='M' && gb.GetCommandNumber() == 20) { platform.Message(type, "Begin file list\n"); @@ -3590,13 +3721,13 @@ void GCodes::HandleReply(GCodeBuffer& gb, bool error, OutputBuffer *reply) } return; - case teacup: + case Compatibility::teacup: emulationType = "teacup"; break; - case sprinter: + case Compatibility::sprinter: emulationType = "sprinter"; break; - case repetier: + case Compatibility::repetier: emulationType = "repetier"; break; default: @@ -4082,7 +4213,7 @@ void GCodes::StopPrint(bool normalCompletion) } else if (reprap.GetPrintMonitor().IsPrinting()) { - if (platform.Emulating() == marlin) + if (platform.Emulating() == Compatibility::marlin) { // Pronterface expects a "Done printing" message platform.Message(UsbMessage, "Done printing file\n"); @@ -4461,7 +4592,7 @@ void GCodes::CheckReportDue(GCodeBuffer& gb, const StringRef& reply) const { if (now - gb.whenTimerStarted >= 1000) { - if (platform.Emulating() == marlin && (&gb == serialGCode || &gb == telnetGCode)) + if (platform.Emulating() == Compatibility::marlin && (&gb == serialGCode || &gb == telnetGCode)) { // In Marlin emulation mode we should return a standard temperature report every second GenerateTemperatureReport(reply); @@ -4474,7 +4605,7 @@ void GCodes::CheckReportDue(GCodeBuffer& gb, const StringRef& reply) const OutputBuffer * const statusBuf = GenerateJsonStatusResponse(0, -1, ResponseSource::AUX); if (statusBuf != nullptr) { - platform.AppendAuxReply(statusBuf); + platform.AppendAuxReply(statusBuf, true); } } gb.whenTimerStarted = now; diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h index a7616cd6..be3074f6 100644 --- a/src/GCodes/GCodes.h +++ b/src/GCodes/GCodes.h @@ -240,10 +240,12 @@ private: void HandleReply(GCodeBuffer& gb, bool error, const char *reply); // Handle G-Code replies void HandleReply(GCodeBuffer& gb, bool error, OutputBuffer *reply); - bool DoStraightMove(GCodeBuffer& gb, const StringRef& reply, bool isCoordinated) __attribute__((hot)); // Execute a straight move returning true if an error was written to 'reply' - bool DoArcMove(GCodeBuffer& gb, bool clockwise) // Execute an arc move returning true if it was badly-formed + const char* DoStraightMove(GCodeBuffer& gb, bool isCoordinated) __attribute__((hot)); // Execute a straight move returning any error message + const char* DoArcMove(GCodeBuffer& gb, bool clockwise) // Execute an arc move returning any error message pre(segmentsLeft == 0; resourceOwners[MoveResource] == &gb); void FinaliseMove(const GCodeBuffer& gb); // Adjust the move parameters to account for segmentation and/or part of the move having been done already + bool CheckEnoughAxesHomed(AxesBitmap axesMoved); // Check that enough axes have been homed + void AbortPrint(GCodeBuffer& gb); // Cancel any print in progress GCodeResult DoDwell(GCodeBuffer& gb); // Wait for a bit GCodeResult DoDwellTime(GCodeBuffer& gb, uint32_t dwellMillis); // Really wait for a bit @@ -256,6 +258,7 @@ private: GCodeResult DoDriveMapping(GCodeBuffer& gb, const StringRef& reply); // Deal with a M584 GCodeResult ProbeTool(GCodeBuffer& gb, const StringRef& reply); // Deal with a M585 GCodeResult SetDateTime(GCodeBuffer& gb,const StringRef& reply); // Deal with a M905 + GCodeResult SavePosition(GCodeBuffer& gb,const StringRef& reply); // Deal with G60 bool LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb, int moveType); // Set up the extrusion and feed rate of a move for the Move class @@ -401,10 +404,14 @@ private: float arcCurrentAngle; float arcAngleIncrement; bool doingArcMove; + bool abortedArcMove; RestorePoint simulationRestorePoint; // The position and feed rate when we started a simulation - RestorePoint pauseRestorePoint; // The position and feed rate when we paused the print - RestorePoint toolChangeRestorePoint; // The position and feed rate when we freed a tool + + RestorePoint numberedRestorePoints[NumRestorePoints]; // Restore points accessible using the R parameter in the G0/G1 command + RestorePoint& pauseRestorePoint = numberedRestorePoints[1]; // The position and feed rate when we paused the print + RestorePoint& toolChangeRestorePoint = numberedRestorePoints[2]; // The position and feed rate when we freed a tool + size_t numTotalAxes; // How many axes we have size_t numVisibleAxes; // How many axes are visible size_t numExtruders; // How many extruders we have, or may have @@ -514,7 +521,6 @@ private: bool isWaiting; // True if waiting to reach temperature bool cancelWait; // Set true to cancel waiting bool displayNoToolWarning; // True if we need to display a 'no tool selected' warning - bool displayDeltaNotHomedWarning; // True if we need to display a 'attempt to move before homing on a delta printer' message char filamentToLoad[FilamentNameLength]; // Name of the filament being loaded // Standard macro filenames diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp index a6e1b8ed..c1226920 100644 --- a/src/GCodes/GCodes2.cpp +++ b/src/GCodes/GCodes2.cpp @@ -110,9 +110,16 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, const StringRef& reply) { return false; } - if (DoStraightMove(gb, reply, code == 1)) { - result = GCodeResult::error; + const char* err = DoStraightMove(gb, code == 1); + if (err != nullptr) + { + gb.SetState(GCodeState::waitingForSpecialMoveToComplete, err); // force the user position to be restored + if (&gb == fileGCode) + { + AbortPrint(gb); + } + } } break; @@ -127,10 +134,16 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, const StringRef& reply) { return false; } - if (DoArcMove(gb, code == 2)) { - reply.copy("Invalid arc parameters"); - result = GCodeResult::error; + const char* err = DoArcMove(gb, code == 2); + if (err != nullptr) + { + gb.SetState(GCodeState::waitingForSpecialMoveToComplete, err); // force the user position to be restored + if (&gb == fileGCode) + { + AbortPrint(gb); + } + } } break; @@ -283,6 +296,10 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, const StringRef& reply) break; #endif + case 60: // Save position + result = SavePosition(gb, reply); + break; + case 90: // Absolute coordinates gb.MachineState().axesRelative = false; break; @@ -518,12 +535,12 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) // If we are emulating RepRap then we print "GCode files:\n" at the start, otherwise we don't. // If we are emulating Marlin and the code came via the serial/USB interface, then we don't put quotes around the names and we separate them with newline; // otherwise we put quotes around them and separate them with comma. - if (platform.Emulating() == me || platform.Emulating() == reprapFirmware) + if (platform.Emulating() == Compatibility::me || platform.Emulating() == Compatibility::reprapFirmware) { fileResponse->copy("GCode files:\n"); } - bool encapsulateList = ((&gb != serialGCode && &gb != telnetGCode) || platform.Emulating() != marlin); + bool encapsulateList = ((&gb != serialGCode && &gb != telnetGCode) || platform.Emulating() != Compatibility::marlin); FileInfo fileInfo; if (platform.GetMassStorage()->FindFirst(dir.Pointer(), fileInfo)) { @@ -599,7 +616,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) if (QueueFileToPrint(filename.Pointer(), reply)) { reprap.GetPrintMonitor().StartingPrint(filename.Pointer()); - if (platform.Emulating() == marlin && (&gb == serialGCode || &gb == telnetGCode)) + if (platform.Emulating() == Compatibility::marlin && (&gb == serialGCode || &gb == telnetGCode)) { reply.copy("File opened\nFile selected"); } @@ -699,7 +716,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) } else { - if (!LockMovement(gb)) // lock movement before calling DoPause + if (!LockMovement(gb)) // lock movement before calling DoPause { return false; } @@ -945,13 +962,14 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) gb.TryGetIValue('S', format, dummy); uint64_t capacity, freeSpace; uint32_t speed; - const MassStorage::InfoResult res = platform.GetMassStorage()->GetCardInfo(slot, capacity, freeSpace, speed); + uint32_t clSize; + const MassStorage::InfoResult res = platform.GetMassStorage()->GetCardInfo(slot, capacity, freeSpace, speed, clSize); if (format == 2) { reply.printf("{\"SDinfo\":{\"slot\":%" PRIu32 ",\"present\":", slot); if (res == MassStorage::InfoResult::ok) { - reply.catf("1,\"capacity\":%" PRIu64 ",\"free\":%" PRIu64 ",\"speed\":%" PRIu32 "}}", capacity, freeSpace, speed); + reply.catf("1,\"capacity\":%" PRIu64 ",\"free\":%" PRIu64 ",\"speed\":%" PRIu32 ",\"clsize\":%" PRIu32 "}}", capacity, freeSpace, speed, clSize); } else { @@ -974,8 +992,16 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) break; case MassStorage::InfoResult::ok: - reply.printf("SD card in slot %" PRIu32 ": capacity %.2fGb, free space %.2fGb, speed %.2fMBytes/sec", + reply.printf("SD card in slot %" PRIu32 ": capacity %.2fGb, free space %.2fGb, speed %.2fMBytes/sec, cluster size ", slot, (double)capacity/(1000*1000*1000), (double)freeSpace/(1000*1000*1000), (double)speed/(1000*1000)); + if (clSize < 1024) + { + reply.catf("%" PRIu32 " bytes", clSize); + } + else + { + reply.catf("%" PRIu32 "kb", clSize/1024); + } break; } } @@ -1357,9 +1383,10 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) break; case 116: // Wait for set temperatures + if (!cancelWait) { bool seen = false; - if (!cancelWait && gb.Seen('P')) + if (gb.Seen('P')) { // Wait for the heaters associated with the specified tool to be ready int toolNumber = gb.GetIValue(); @@ -1373,7 +1400,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) seen = true; } - if (!cancelWait && gb.Seen('H')) + if (gb.Seen('H')) { // Wait for specified heaters to be ready uint32_t heaters[Heaters]; @@ -1392,7 +1419,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) seen = true; } - if (!cancelWait && gb.Seen('C')) + if (gb.Seen('C')) { // Wait for specified chamber(s) to be ready uint32_t chamberIndices[NumChamberHeaters]; @@ -1434,16 +1461,16 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) } // Wait for all heaters except chamber(s) to be ready - if (!seen && !cancelWait && !reprap.GetHeat().AllHeatersAtSetTemperatures(true)) + if (!seen && !reprap.GetHeat().AllHeatersAtSetTemperatures(true)) { CheckReportDue(gb, reply); // check whether we need to send a temperature or status report isWaiting = true; return false; } - - // If we get here, there is nothing more to wait for - cancelWait = isWaiting = false; } + + // If we get here, there is nothing more to wait for + cancelWait = isWaiting = false; break; case 117: // Display message @@ -1454,6 +1481,47 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) } break; + case 118: // Echo message on host + { + MessageType type = GenericMessage; + if (gb.Seen('P')) + { + switch (gb.GetIValue()) + { + case 0: // Generic (default) + // no need to set it twice + break; + case 1: // USB + type = UsbMessage; + break; + case 2: // UART port + type = DirectLcdMessage; + break; + case 3: // HTTP + type = HttpMessage; + break; + case 4: // Telnet + type = TelnetMessage; + break; + default: + reply.printf("Invalid message type: %d", type); + result = GCodeResult::error; + break; + } + } + + if (result != GCodeResult::error) + { + String<GCODE_LENGTH> message; + if (gb.Seen(('S'))) + { + gb.GetQuotedString(message.GetRef()); + platform.Message(type, message.c_str()); + } + } + } + break; + case 119: reply.copy("Endstops - "); for (size_t axis = 0; axis < numTotalAxes; axis++) @@ -1539,20 +1607,23 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) } const int8_t currentHeater = (code == 141) ? heat.GetChamberHeater(index) : heat.GetBedHeater(index); - const char* heaterName = (code == 141) ? "chamber" : "bed"; + const char* const heaterName = (code == 141) ? "chamber" : "bed"; // Active temperature if (gb.Seen('S')) { seen = true; + const float temperature = gb.GetFValue(); if (currentHeater < 0) { - reply.printf("No %s heater has been configured for slot %d", heaterName, index); - result = GCodeResult::error; + if (temperature > 0.0) // turning off a non-existent bed or chamber heater is not an error + { + reply.printf("No %s heater has been configured for slot %d", heaterName, index); + result = GCodeResult::error; + } } else { - const float temperature = gb.GetFValue(); if (temperature < NEARLY_ABS_ZERO) { heat.SwitchOff(currentHeater); @@ -1583,7 +1654,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) { if (currentHeater < 0) { - reply.printf("No %s heater has been configuredt for slot %d", heaterName, index); + reply.printf("No %s heater has been configured for slot %d", heaterName, index); } else { @@ -1672,7 +1743,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) for (size_t i = 0; i < len; ++i) { const float d = diameters[i]; - volumetricExtrusionFactors[i] = (d <= 0.0) ? 1.0 : 4.0/(fsquare(d) * PI); + volumetricExtrusionFactors[i] = (d <= 0.0) ? 1.0 : 4.0/(fsquare(d) * Pi); } gb.MachineState().volumetricExtrusion = (diameters[0] > 0.0); } @@ -1692,7 +1763,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) } else { - reply.catf(" %.03f", (double)(2.0/sqrtf(vef * PI))); + reply.catf(" %.03f", (double)(2.0/sqrtf(vef * Pi))); } } } @@ -1785,7 +1856,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) case 204: // Set max travel and printing accelerations { bool seen = false; - if (gb.Seen('S') && platform.Emulating() == marlin) + if (gb.Seen('S') && platform.Emulating() == Compatibility::marlin) { // For backwards compatibility e.g. with Cura, set both accelerations as Marlin does. const float acc = gb.GetFValue(); @@ -2434,7 +2505,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) { lp = NoLogicalPin; } - if (platform.SetLaserPin((LogicalPin)lp)) + const bool invert = (gb.Seen('I') && gb.GetIValue() > 0); + if (platform.SetLaserPin((LogicalPin)lp, invert)) { reply.copy("Laser mode selected"); } @@ -2469,7 +2541,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) { pins[1] = NoLogicalPin; } - if (platform.SetSpindlePins(pins[0], pins[1])) + const bool invert = (gb.Seen('I') && gb.GetIValue() > 0); + if (platform.SetSpindlePins(pins[0], pins[1], invert)) { reply.copy("CNC mode selected"); } @@ -2717,29 +2790,29 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) reply.copy("Emulating "); switch (platform.Emulating()) { - case me: - case reprapFirmware: + case Compatibility::me: + case Compatibility::reprapFirmware: reply.cat("RepRap Firmware (i.e. in native mode)"); break; - case marlin: + case Compatibility::marlin: reply.cat("Marlin"); break; - case teacup: + case Compatibility::teacup: reply.cat("Teacup"); break; - case sprinter: + case Compatibility::sprinter: reply.cat("Sprinter"); break; - case repetier: + case Compatibility::repetier: reply.cat("Repetier"); break; default: - reply.catf("Unknown: (%d)", platform.Emulating()); + reply.catf("Unknown: (%u)", (unsigned int)platform.Emulating()); } } break; @@ -2748,11 +2821,14 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) if (gb.Seen('S')) { const float value = gb.GetFValue(); - for (size_t axis = 0; axis <= Z_AXIS; axis++) + if (value >= 10.0) // avoid divide by zero and silly results { - if (gb.Seen(axisLetters[axis])) + for (size_t axis = 0; axis <= Z_AXIS; axis++) { - reprap.GetMove().SetAxisCompensation(axis, gb.GetFValue() / value); + if (gb.Seen(axisLetters[axis])) + { + reprap.GetMove().SetAxisCompensation(axis, gb.GetFValue() / value); + } } } } @@ -3028,7 +3104,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) if (gb.Seen('P')) { const int pwmPin = gb.GetIValue(); - if (!platform.SetExtrusionAncilliaryPwmPin(pwmPin)) + const bool invert = (gb.Seen('I') && gb.GetIValue() > 0); + if (!platform.SetExtrusionAncilliaryPwmPin(pwmPin, invert)) { reply.printf("Logical pin %d is already in use or not available for use by M571", pwmPin); break; // don't process 'S' parameter if the pin was wrong @@ -3046,10 +3123,13 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) } if (!seen) { - reply.printf("Extrusion ancillary PWM %.3f at %.1fHz on pin %u", + bool invert; + const LogicalPin pin = platform.GetExtrusionAncilliaryPwmPin(invert); + reply.printf("Extrusion ancillary PWM %.3f at %.1fHz on pin %u, %s", (double)platform.GetExtrusionAncilliaryPwmValue(), (double)platform.GetExtrusionAncilliaryPwmFrequency(), - platform.GetExtrusionAncilliaryPwmPin()); + (unsigned int)pin, + (invert) ? "inverted" : "not inverted"); } } break; @@ -3168,6 +3248,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) break; case 1: auxGCode->SetCommsProperties(val); + platform.SetAuxDetected(); break; default: break; @@ -3949,7 +4030,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) break; #endif - // 917 set standstill current reduction not yet supported + // For case 917, see 906 #if SUPPORT_12864_LCD case 918: // Configure direct-connect display diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp index 6251341c..4fee02ae 100644 --- a/src/GCodes/GCodes3.cpp +++ b/src/GCodes/GCodes3.cpp @@ -99,6 +99,20 @@ GCodeResult GCodes::SetPrintZProbe(GCodeBuffer& gb, const StringRef& reply) return GCodeResult::ok; } +// Deal with G60 +GCodeResult GCodes::SavePosition(GCodeBuffer& gb,const StringRef& reply) +{ + const uint32_t sParam = (gb.Seen('S')) ? gb.GetUIValue() : 0; + if (sParam < ARRAY_SIZE(numberedRestorePoints)) + { + SavePosition(numberedRestorePoints[sParam], gb); + return GCodeResult::ok; + } + + reply.copy("Bad restore point number"); + return GCodeResult::error; +} + // This handles G92. Return true if completed, false if it needs to be called again. GCodeResult GCodes::SetPositions(GCodeBuffer& gb) { diff --git a/src/Heating/Sensors/DhtSensor.cpp b/src/Heating/Sensors/DhtSensor.cpp index 2349969b..49e99d65 100644 --- a/src/Heating/Sensors/DhtSensor.cpp +++ b/src/Heating/Sensors/DhtSensor.cpp @@ -188,7 +188,7 @@ void DhtDataTransition(CallbackParameter) // due to the fact that this messes with the stepping ISR numPulses = 0; lastPulseTime = 0; - attachInterrupt(DhtDataPin, DhtDataTransition, CHANGE, nullptr); + attachInterrupt(DhtDataPin, DhtDataTransition, INTERRUPT_MODE_CHANGE, nullptr); // Wait for the next operation to complete lastOperationTime = millis(); diff --git a/src/IoPorts.cpp b/src/IoPorts.cpp index 097cdc7c..5ec57499 100644 --- a/src/IoPorts.cpp +++ b/src/IoPorts.cpp @@ -27,8 +27,9 @@ void IoPort::Clear() invert = false; } -bool IoPort::Set(LogicalPin lp, PinAccess access) +bool IoPort::Set(LogicalPin lp, PinAccess access, bool pInvert) { + invert = pInvert; const bool ret = reprap.GetPlatform().GetFirmwarePin(lp, access, pin, invert); if (!ret) { diff --git a/src/IoPorts.h b/src/IoPorts.h index c6f3a69f..f4e5eb20 100644 --- a/src/IoPorts.h +++ b/src/IoPorts.h @@ -29,9 +29,10 @@ class IoPort public: IoPort(); void Clear(); - bool Set(LogicalPin lp, PinAccess access); + bool Set(LogicalPin lp, PinAccess access, bool pInvert); LogicalPin GetLogicalPin() const { return logicalPort; } + LogicalPin GetLogicalPin(bool& pInvert) const { pInvert = invert; return logicalPort; } void WriteDigital(bool high) const { if (pin != NoPin) { WriteDigital(pin, (invert) ? !high : high); } } // Low level port access diff --git a/src/Libraries/Fatfs/conf_fatfs.h b/src/Libraries/Fatfs/conf_fatfs.h index ec780a03..a41065fe 100644 --- a/src/Libraries/Fatfs/conf_fatfs.h +++ b/src/Libraries/Fatfs/conf_fatfs.h @@ -94,7 +94,7 @@ /* To enable f_forward function, set _USE_FORWARD to 1 and set _FS_TINY to 1. */ -#define _USE_FASTSEEK 0 /* 0:Disable or 1:Enable */ +#define _USE_FASTSEEK 1 /* 0:Disable or 1:Enable */ /* To enable fast seek feature, set _USE_FASTSEEK to 1. */ diff --git a/src/Libraries/Fatfs/ff.c b/src/Libraries/Fatfs/ff.c index 881f546b..67a70915 100644 --- a/src/Libraries/Fatfs/ff.c +++ b/src/Libraries/Fatfs/ff.c @@ -1070,7 +1070,7 @@ DWORD clmt_clust ( /* <2:Error, >=2:Cluster number */ tbl = fp->cltbl + 1; /* Top of CLMT */ cl = ofs / SS(fp->fs) / fp->fs->csize; /* Cluster order from top of the file */ for (;;) { - ncl = *tbl++; /* Number of cluters in the fragment */ + ncl = *tbl++; /* Number of clusters in the fragment */ if (!ncl) return 0; /* End of table? (error) */ if (cl < ncl) break; /* In this fragment? */ cl -= ncl; tbl++; /* Next fragment */ diff --git a/src/MessageType.h b/src/MessageType.h index cd20f104..0f6a4d29 100644 --- a/src/MessageType.h +++ b/src/MessageType.h @@ -15,7 +15,7 @@ enum MessageType : uint16_t { // Destinations UsbMessage = 0x01, // A message that is to be sent in non-blocking mode to the host via USB - BlockingUsbMessage = 0x02, // A message to be sent ot USB in blocking mode + BlockingUsbMessage = 0x02, // A message to be sent to USB in blocking mode LcdMessage = 0x04, // A message that is to be sent to the panel ImmediateLcdMessage = 0x08, // A message to be sent to LCD in immediate mode HttpMessage = 0x10, // A message that is to be sent to the web (HTTP) @@ -23,23 +23,21 @@ enum MessageType : uint16_t AuxMessage = 0x40, // A message that is to be sent to the second auxiliary device LogMessage = 0x80, // A message to be written to the log file - // Special indicators. These are not processed when calling the version of Platform::Message that takes an OutputBuffer. + // Special indicators. The first two are not processed when calling the version of Platform::Message that takes an OutputBuffer. ErrorMessageFlag = 0x100, // This is an error message WarningMessageFlag = 0x200, // This is a warning message + RawMessageFlag = 0x400, // Do not encapsulate this message // Common combinations DebugMessage = BlockingUsbMessage, // A debug message to send in blocking mode to USB GenericMessage = UsbMessage | LcdMessage | HttpMessage | TelnetMessage, // A message that is to be sent to the web, Telnet, USB and panel LoggedGenericMessage = GenericMessage | LogMessage, // A GenericMessage that is also logged - ErrorMessage = GenericMessage | LogMessage | ErrorMessageFlag, // An error message + DirectLcdMessage = LcdMessage | RawMessageFlag, // Direct message to LCD + ErrorMessage = GenericMessage | LogMessage | ErrorMessageFlag, // An error message WarningMessage = GenericMessage | LogMessage | WarningMessageFlag, // A warning message FirmwareUpdateMessage = UsbMessage | ImmediateLcdMessage, // A message that conveys progress of a firmware update FirmwareUpdateErrorMessage = FirmwareUpdateMessage | ErrorMessageFlag, // A message that reports an error during a firmware update NetworkInfoMessage = UsbMessage | LcdMessage | LogMessage, // A message that conveys information about the state of the network interface - - // Masks - MessageDestinationMask = 0x00FF, - MessageFlagsMask = 0x00F0 }; inline MessageType AddError(MessageType mt) diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp index 54fe9e95..a0bf5aab 100644 --- a/src/Movement/DDA.cpp +++ b/src/Movement/DDA.cpp @@ -460,8 +460,8 @@ bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping) } // Don't use the constrain function in the following, because if we have a very small XY movement and a lot of extrusion, we may have to make the - // speed lower than the 0.5mm/sec minimum. We must apply the minimum speed first and then limit it if necessary after that. - requestedSpeed = min<float>(max<float>(reqSpeed, 0.5), VectorBoxIntersection(normalisedDirectionVector, reprap.GetPlatform().MaxFeedrates(), DRIVES)); + // speed lower than MinimumMovementSpeed. We must apply the minimum speed first and then limit it if necessary after that. + requestedSpeed = min<float>(max<float>(reqSpeed, MinimumMovementSpeed), VectorBoxIntersection(normalisedDirectionVector, reprap.GetPlatform().MaxFeedrates(), DRIVES)); // On a Cartesian printer, it is OK to limit the X and Y speeds and accelerations independently, and in consequence to allow greater values // for diagonal moves. On a delta, this is not OK and any movement in the XY plane should be limited to the X/Y axis values, which we assume to be equal. @@ -471,7 +471,7 @@ bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping) } // 7. Calculate the provisional accelerate and decelerate distances and the top speed - endSpeed = 0.0; // until the next move asks us to adjust it + endSpeed = 0.0; // until the next move asks us to adjust it if (prev->state != provisional || isPrintingMove != prev->isPrintingMove || xyMoving != prev->xyMoving) { @@ -1386,7 +1386,7 @@ pre(state == frozen) { const size_t drive = pdm->drive; reprap.GetPlatform().SetDirection(drive, pdm->direction); - if (drive >= numAxes && drive < DRIVES) + if (drive >= numAxes) { if (pdm->direction == FORWARDS) { @@ -1481,24 +1481,30 @@ bool DDA::Step() //if (t3 < minCalcTime) minCalcTime = t3; } - // 3. Step the drivers - if ((driversStepping & platform.GetSlowDrivers()) != 0) + if ((driversStepping & platform.GetSlowDrivers()) == 0) // if not using any external drivers { - while (Platform::GetInterruptClocks() - lastStepPulseTime < platform.GetSlowDriverClocks()) {} + // 3. Step the drivers Platform::StepDriversHigh(driversStepping); // generate the steps - lastStepPulseTime = Platform::GetInterruptClocks(); } else { + // 3. Step the drivers + while (Platform::GetInterruptClocks() - lastStepPulseTime < platform.GetSlowDriverClocks()) {} Platform::StepDriversHigh(driversStepping); // generate the steps + lastStepPulseTime = Platform::GetInterruptClocks(); + + // 3a. Reset all step pins low. Do this now because some external drivers don't like the direction pins being changed before the end of the step pulse. + while (Platform::GetInterruptClocks() - lastStepPulseTime < platform.GetSlowDriverClocks()) {} + Platform::StepDriversLow(); // set all step pins low + lastStepPulseTime = Platform::GetInterruptClocks(); } // 4. Remove those drives from the list, calculate the next step times, update the direction pins where necessary, - // and re-insert them so as to keep the list in step-time order. We assume that meeting the direction pin hold time - // is not a problem for any driver type. This is not necessarily true. - DriveMovement *dmToInsert = firstDM; // head of the chain we need to re-insert - firstDM = dm; // remove the chain from the list - while (dmToInsert != dm) // note that both of these may be nullptr + // and re-insert them so as to keep the list in step-time order. + // Note that the call to CalcNextStepTime may change the state of Direction pin. + DriveMovement *dmToInsert = firstDM; // head of the chain we need to re-insert + firstDM = dm; // remove the chain from the list + while (dmToInsert != dm) // note that both of these may be nullptr { const bool hasMoreSteps = (isDeltaMovement && dmToInsert->drive < DELTA_AXES) ? dmToInsert->CalcNextStepTimeDelta(*this, true) @@ -1511,17 +1517,8 @@ bool DDA::Step() dmToInsert = nextToInsert; } - // 5. Reset all step pins low - if ((driversStepping & platform.GetSlowDrivers()) != 0) - { - while (Platform::GetInterruptClocks() - lastStepPulseTime < platform.GetSlowDriverClocks()) {} - Platform::StepDriversLow(); // set all step pins low - lastStepPulseTime = Platform::GetInterruptClocks(); - } - else - { - Platform::StepDriversLow(); // set all step pins low - } + // 5. Reset all step pins low. We already did this if we are using any external drivers, but doing it again does no harm. + Platform::StepDriversLow(); // set all step pins low // 6. Check for move completed if (firstDM == nullptr) diff --git a/src/Movement/Kinematics/ZLeadscrewKinematics.cpp b/src/Movement/Kinematics/ZLeadscrewKinematics.cpp index 1e263e8b..9be14ec1 100644 --- a/src/Movement/Kinematics/ZLeadscrewKinematics.cpp +++ b/src/Movement/Kinematics/ZLeadscrewKinematics.cpp @@ -13,12 +13,12 @@ const float M3ScrewPitch = 0.5; ZLeadscrewKinematics::ZLeadscrewKinematics(KinematicsType k) - : Kinematics(k, -1.0, 0.0, true), numLeadscrews(0), maxCorrection(1.0), screwPitch(M3ScrewPitch) + : Kinematics(k, -1.0, 0.0, true), numLeadscrews(0), correctionFactor(1.0), maxCorrection(1.0), screwPitch(M3ScrewPitch) { } ZLeadscrewKinematics::ZLeadscrewKinematics(KinematicsType k, float segsPerSecond, float minSegLength, bool doUseRawG0) - : Kinematics(k, segsPerSecond, minSegLength, doUseRawG0), numLeadscrews(0), maxCorrection(1.0), screwPitch(M3ScrewPitch) + : Kinematics(k, segsPerSecond, minSegLength, doUseRawG0), numLeadscrews(0), correctionFactor(1.0), maxCorrection(1.0), screwPitch(M3ScrewPitch) { } @@ -43,11 +43,10 @@ bool ZLeadscrewKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const seenY = true; } - bool seenS = false; - gb.TryGetFValue('S', maxCorrection, seenS); - - bool seenP = false; - gb.TryGetFValue('P', screwPitch, seenP); + bool seenPFS = false; + gb.TryGetFValue('S', maxCorrection, seenPFS); + gb.TryGetFValue('P', screwPitch, seenPFS); + gb.TryGetFValue('F', correctionFactor, seenPFS); if (seenX && seenY && xSize == ySize) { @@ -62,7 +61,7 @@ bool ZLeadscrewKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const } // If no parameters provided so just report the existing setup - if (seenS || seenP) + if (seenPFS) { return true; // just changed the maximum correction or screw pitch } @@ -77,7 +76,7 @@ bool ZLeadscrewKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, const { reply.catf(" (%.1f,%.1f)", (double)leadscrewX[i], (double)leadscrewY[i]); } - reply.catf(", maximum correction %.02fmm, manual adjusting screw pitch %.02fmm", (double)maxCorrection, (double)screwPitch); + reply.catf(", factor %.02f, maximum correction %.02fmm, manual adjusting screw pitch %.02fmm", (double)correctionFactor, (double)maxCorrection, (double)screwPitch); } return false; } @@ -262,9 +261,13 @@ bool ZLeadscrewKinematics::DoAutoCalibration(size_t numFactors, const RandomProb { haveNaN = true; } - else if (fabsf(solution[i]) > maxCorrection) + else { - haveLargeCorrection = true; + solution[i] *= (floatc_t)correctionFactor; + if (fabsf(solution[i]) > maxCorrection) + { + haveLargeCorrection = true; + } } } diff --git a/src/Movement/Kinematics/ZLeadscrewKinematics.h b/src/Movement/Kinematics/ZLeadscrewKinematics.h index 206a95a5..21e82041 100644 --- a/src/Movement/Kinematics/ZLeadscrewKinematics.h +++ b/src/Movement/Kinematics/ZLeadscrewKinematics.h @@ -30,6 +30,7 @@ private: unsigned int numLeadscrews; float leadscrewX[MaxLeadscrews], leadscrewY[MaxLeadscrews]; + float correctionFactor; float maxCorrection; float screwPitch; }; diff --git a/src/Networking/ESP8266WiFi/WiFiInterface.cpp b/src/Networking/ESP8266WiFi/WiFiInterface.cpp index 564637d2..3b8bfaa1 100644 --- a/src/Networking/ESP8266WiFi/WiFiInterface.cpp +++ b/src/Networking/ESP8266WiFi/WiFiInterface.cpp @@ -121,7 +121,7 @@ static void EspTransferRequestIsr(CallbackParameter) static inline void EnableEspInterrupt() { - attachInterrupt(EspDataReadyPin, EspTransferRequestIsr, RISING, nullptr); + attachInterrupt(EspDataReadyPin, EspTransferRequestIsr, INTERRUPT_MODE_RISING, nullptr); } static inline void DisableEspInterrupt() @@ -673,12 +673,10 @@ void WiFiInterface::Spin(bool full) // Check for debug info received from the WiFi module if (debugPrintPending) { -#if 0 if (reprap.Debug(moduleWiFi)) { debugPrintf("WiFi: %s\n", debugMessageBuffer.Pointer()); } -#endif debugMessageBuffer.Clear(); debugPrintPending = false; } @@ -1197,11 +1195,6 @@ void WiFiInterface::TerminateDataPort() } } -void WiFiInterface::DataPortClosing() -{ - StopListening(ftpDataPort); -} - #if USE_PDC static Pdc *spi_pdc; #endif diff --git a/src/Networking/ESP8266WiFi/WiFiInterface.h b/src/Networking/ESP8266WiFi/WiFiInterface.h index 35561f7c..a77573a2 100644 --- a/src/Networking/ESP8266WiFi/WiFiInterface.h +++ b/src/Networking/ESP8266WiFi/WiFiInterface.h @@ -44,8 +44,8 @@ public: void Exit() override; void Spin(bool full) override; void Diagnostics(MessageType mtype) override; - void Start() override; - void Stop() override; + void Start(); + void Stop(); GCodeResult EnableInterface(int mode, const StringRef& ssid, const StringRef& reply) override; // enable or disable the network GCodeResult EnableProtocol(NetworkProtocol protocol, int port, int secure, const StringRef& reply) override; @@ -65,7 +65,6 @@ public: void OpenDataPort(Port port) override; void TerminateDataPort() override; - void DataPortClosing() override; // The remaining functions are specific to the WiFi version GCodeResult HandleWiFiCode(int mcode, GCodeBuffer &gb, const StringRef& reply, OutputBuffer*& longReply); diff --git a/src/Networking/FtpResponder.cpp b/src/Networking/FtpResponder.cpp index 42086913..635bf362 100644 --- a/src/Networking/FtpResponder.cpp +++ b/src/Networking/FtpResponder.cpp @@ -128,8 +128,6 @@ bool FtpResponder::Spin() outBuf->copy("226 Transfer complete.\r\n"); } Commit(ResponderState::reading); - - // Close the data port again CloseDataPort(); } else @@ -891,7 +889,6 @@ void FtpResponder::CloseDataPort() if (dataSocket != nullptr) { - dataSocket->GetInterface()->DataPortClosing(); dataSocket->Close(); // close it gracefully dataSocket = nullptr; } diff --git a/src/Networking/LwipEthernet/LwipEthernetInterface.cpp b/src/Networking/LwipEthernet/LwipEthernetInterface.cpp index 9d129ecd..c203cf28 100644 --- a/src/Networking/LwipEthernet/LwipEthernetInterface.cpp +++ b/src/Networking/LwipEthernet/LwipEthernetInterface.cpp @@ -657,17 +657,6 @@ void LwipEthernetInterface::TerminateDataPort() } } -// Stop listening on a port -void LwipEthernetInterface::DataPortClosing() -{ - // This is currently called only for the FTP data port - if (listeningPcbs[NumProtocols] != nullptr) - { - tcp_close(listeningPcbs[NumProtocols]); - listeningPcbs[NumProtocols] = nullptr; - } -} - void LwipEthernetInterface::InitSockets() { for (size_t i = 0; i < NumProtocols; ++i) diff --git a/src/Networking/LwipEthernet/LwipEthernetInterface.h b/src/Networking/LwipEthernet/LwipEthernetInterface.h index c816e573..6acdfae1 100644 --- a/src/Networking/LwipEthernet/LwipEthernetInterface.h +++ b/src/Networking/LwipEthernet/LwipEthernetInterface.h @@ -36,8 +36,6 @@ public: void Spin(bool full) override; void Interrupt() override; void Diagnostics(MessageType mtype) override; - void Start() override; - void Stop() override; GCodeResult EnableInterface(int mode, const StringRef& ssid, const StringRef& reply) override; // enable or disable the network GCodeResult EnableProtocol(NetworkProtocol protocol, int port, int secure, const StringRef& reply) override; @@ -60,7 +58,6 @@ public: void OpenDataPort(Port port) override; void TerminateDataPort() override; - void DataPortClosing() override; private: enum class NetworkState @@ -73,6 +70,8 @@ private: active // network running }; + void Start(); + void Stop(); void InitSockets(); void TerminateSockets(); diff --git a/src/Networking/Network.cpp b/src/Networking/Network.cpp index 3dd42c52..18586b72 100644 --- a/src/Networking/Network.cpp +++ b/src/Networking/Network.cpp @@ -228,31 +228,6 @@ GCodeResult Network::GetNetworkState(unsigned int interface, const StringRef& re return GCodeResult::error; } -// Start up the network -void Network::Start(unsigned int interface) -{ - if (interface < NumNetworkInterfaces) - { - interfaces[interface]->Start(); - } -} - -// Stop the network -void Network::Stop(unsigned int interface) -{ -#if 0 // chrishamm: I wonder if this is actually needed - when sockets are disabled their state changes anyway - for (NetworkResponder *r = responders; r != nullptr; r = r->GetNext()) - { - r->Terminate(AnyProtocol); - } -#endif - - if (interface < NumNetworkInterfaces && interfaces[interface] != nullptr) - { - interfaces[interface]->Stop(); - } -} - bool Network::IsWiFiInterface(unsigned int interface) const { return interface < NumNetworkInterfaces && interfaces[interface]->IsWiFiInterface(); diff --git a/src/Networking/Network.h b/src/Networking/Network.h index 6cd2d268..308ec272 100644 --- a/src/Networking/Network.h +++ b/src/Networking/Network.h @@ -45,9 +45,6 @@ public: void Interrupt(); void Diagnostics(MessageType mtype); bool InNetworkStack() const; - - void Start(unsigned int interface); - void Stop(unsigned int interface); bool IsWiFiInterface(unsigned int interface) const; GCodeResult EnableInterface(unsigned int interface, int mode, const StringRef& ssid, const StringRef& reply); diff --git a/src/Networking/NetworkInterface.h b/src/Networking/NetworkInterface.h index a292d34b..6e10ea4f 100644 --- a/src/Networking/NetworkInterface.h +++ b/src/Networking/NetworkInterface.h @@ -20,8 +20,6 @@ public: virtual void Spin(bool full) = 0; virtual void Interrupt() { }; virtual void Diagnostics(MessageType mtype) = 0; - virtual void Start() = 0; - virtual void Stop() = 0; virtual GCodeResult EnableInterface(int mode, const StringRef& ssid, const StringRef& reply) = 0; virtual GCodeResult GetNetworkState(const StringRef& reply) = 0; @@ -42,7 +40,6 @@ public: virtual void OpenDataPort(Port port) = 0; virtual void TerminateDataPort() = 0; - virtual void DataPortClosing() = 0; protected: Port portNumbers[NumProtocols]; // port number used for each protocol diff --git a/src/Networking/Socket.h b/src/Networking/Socket.h index aa0aa324..d7525e8e 100644 --- a/src/Networking/Socket.h +++ b/src/Networking/Socket.h @@ -21,14 +21,15 @@ class NetworkInterface; class Socket { public: - Socket(NetworkInterface *iface) : interface(iface), localPort(0), remotePort(0), remoteIPAddress(0) { } + Socket(NetworkInterface *iface) : interface(iface), localPort(0), remotePort(0), remoteIPAddress(0), state(SocketState::disabled) { } NetworkInterface *GetInterface() const { return interface; } - virtual void Poll(bool full) = 0; Port GetLocalPort() const { return localPort; } uint32_t GetRemoteIP() const { return remoteIPAddress; } Port GetRemotePort() const { return remotePort; } NetworkProtocol GetProtocol() const { return protocol; } + + virtual void Poll(bool full) = 0; virtual void Close() = 0; virtual void Terminate() = 0; virtual void TerminateAndDisable() = 0; @@ -52,9 +53,9 @@ protected: aborted }; - NetworkInterface *interface; + NetworkInterface * const interface; Port localPort, remotePort; // The local and remote ports - NetworkProtocol protocol; // What protocol this socket is for + NetworkProtocol protocol; // What protocol this socket is for uint32_t remoteIPAddress; // The remote IP address SocketState state; }; diff --git a/src/Networking/W5500Ethernet/W5500Interface.cpp b/src/Networking/W5500Ethernet/W5500Interface.cpp index 27cf6185..7cb191b0 100644 --- a/src/Networking/W5500Ethernet/W5500Interface.cpp +++ b/src/Networking/W5500Ethernet/W5500Interface.cpp @@ -277,7 +277,7 @@ void W5500Interface::Spin(bool full) { // IP address is all zeros, so use DHCP // debugPrintf("Link established, getting IP address\n"); - DHCP_init(DhcpSocketNumber, reprap.GetNetwork().GetHostname()); + DHCP_init(DhcpSocketNumber, platform.Random(), reprap.GetNetwork().GetHostname()); lastTickMillis = millis(); state = NetworkState::obtainingIP; } @@ -344,7 +344,7 @@ void W5500Interface::Spin(bool full) DHCP_time_handler(); } const DhcpRunResult ret = DHCP_run(); - if (ret == DhcpRunResult::DHCP_IP_CHANGED) + if (ret == DhcpRunResult::DHCP_IP_CHANGED || ret == DhcpRunResult::DHCP_IP_ASSIGN) { // debugPrintf("IP address changed\n"); getSIPR(ipAddress); @@ -440,13 +440,6 @@ void W5500Interface::InitSockets() nextSocketToPoll = 0; } -// The following is called by the FTP responder to stop listening on the FTP data port -// For the W5500 listening stop automatically when the port is terminated, so we don't need anything here -void W5500Interface::DataPortClosing() -{ - // nothing needed here -} - void W5500Interface::TerminateSockets() { for (SocketNumber skt = 0; skt < NumW5500TcpSockets; ++skt) diff --git a/src/Networking/W5500Ethernet/W5500Interface.h b/src/Networking/W5500Ethernet/W5500Interface.h index 69fa1433..3f20b7ab 100644 --- a/src/Networking/W5500Ethernet/W5500Interface.h +++ b/src/Networking/W5500Ethernet/W5500Interface.h @@ -40,8 +40,6 @@ public: void Exit() override; void Spin(bool full) override; void Diagnostics(MessageType mtype) override; - void Start() override; - void Stop() override; GCodeResult EnableInterface(int mode, const StringRef& ssid, const StringRef& reply) override; // enable or disable the network GCodeResult EnableProtocol(NetworkProtocol protocol, int port, int secure, const StringRef& reply) override; @@ -60,7 +58,6 @@ public: void OpenDataPort(Port port) override; void TerminateDataPort() override; - void DataPortClosing() override; private: enum class NetworkState @@ -73,6 +70,8 @@ private: active // network running }; + void Start(); + void Stop(); void InitSockets(); void TerminateSockets(); diff --git a/src/Networking/W5500Ethernet/W5500Socket.cpp b/src/Networking/W5500Ethernet/W5500Socket.cpp index 03340d58..8e200352 100644 --- a/src/Networking/W5500Ethernet/W5500Socket.cpp +++ b/src/Networking/W5500Ethernet/W5500Socket.cpp @@ -17,7 +17,7 @@ const unsigned int MaxBuffersPerSocket = 4; W5500Socket::W5500Socket(NetworkInterface *iface) - : Socket(iface), receivedData(nullptr), state(SocketState::disabled) + : Socket(iface), receivedData(nullptr) { } @@ -171,12 +171,13 @@ void W5500Socket::Poll(bool full) state = SocketState::connected; sendOutstanding = false; } - else + else if (millis() - whenConnected >= FindResponderTimeout) { - if (millis() - whenConnected >= FindResponderTimeout) + if (reprap.Debug(moduleNetwork)) { - Terminate(); + debugPrintf("Timed out waiting for resonder for port %u\n", localPort); } + Terminate(); } } @@ -213,14 +214,16 @@ void W5500Socket::ReceiveData() { // debugPrintf("%u available\n", len); NetworkBuffer * const lastBuffer = NetworkBuffer::FindLast(receivedData); - if (lastBuffer != nullptr && (lastBuffer->SpaceLeft() >= len || (lastBuffer->SpaceLeft() != 0 && NetworkBuffer::Count(receivedData) >= MaxBuffersPerSocket))) + // NOTE: reading only part of the received data doesn't work because the wizchip doesn't track the buffer pointer properly. + // We could probably make it work by tracking the buffer pointer ourselves, just as we do when sending data, and using wiz_recv_data_at. + if (lastBuffer != nullptr && lastBuffer->SpaceLeft() >= len) { - const size_t lengthToRead = min<size_t>((size_t)len, lastBuffer->SpaceLeft()); - wiz_recv_data(socketNum, lastBuffer->UnwrittenData(), (uint16_t)lengthToRead); - lastBuffer->dataLength += lengthToRead; + wiz_recv_data(socketNum, lastBuffer->UnwrittenData(), len); + ExecCommand(socketNum, Sn_CR_RECV); + lastBuffer->dataLength += len; if (reprap.Debug(moduleNetwork)) { - debugPrintf("Received %u bytes\n", (unsigned int)lengthToRead); + debugPrintf("Appended %u bytes\n", (unsigned int)len); } } else if (NetworkBuffer::Count(receivedData) < MaxBuffersPerSocket) diff --git a/src/Networking/W5500Ethernet/W5500Socket.h b/src/Networking/W5500Ethernet/W5500Socket.h index d9799e4f..bc00827f 100644 --- a/src/Networking/W5500Ethernet/W5500Socket.h +++ b/src/Networking/W5500Ethernet/W5500Socket.h @@ -18,47 +18,29 @@ class W5500Socket : public Socket public: W5500Socket(NetworkInterface *iface); void Init(SocketNumber s, Port serverPort, NetworkProtocol p); - void TerminateAndDisable(); - void Poll(bool full); - Port GetLocalPort() const { return localPort; } - uint32_t GetRemoteIP() const { return remoteIPAddress; } - Port GetRemotePort() const { return remotePort; } - void Close(); - void Terminate(); - bool ReadChar(char& c); - bool ReadBuffer(const uint8_t *&buffer, size_t &len); - void Taken(size_t len); - bool CanRead() const; - bool CanSend() const; - size_t Send(const uint8_t *data, size_t length); - void Send(); -private: - enum class SocketState : uint8_t - { - disabled, - inactive, - listening, - connected, - clientDisconnecting, - closing, - aborted - }; + void Poll(bool full) override; + void Close() override; + void Terminate() override; + void TerminateAndDisable() override; + bool ReadChar(char& c) override; + bool ReadBuffer(const uint8_t *&buffer, size_t &len) override; + void Taken(size_t len) override; + bool CanRead() const override; + bool CanSend() const override; + size_t Send(const uint8_t *data, size_t length) override; + void Send() override; +private: void ReInit(); void ReceiveData(); void DiscardReceivedData(); - Port localPort, remotePort; // The local and remote ports - NetworkProtocol protocol; // What protocol this socket is for - uint32_t remoteIPAddress; // The remote IP address NetworkBuffer *receivedData; // List of buffers holding received data - //invariant(!receivedData->IsEmpty()) uint32_t whenConnected; bool persistConnection; // Do we expect this connection to stay alive? bool isTerminated; // Will be true if the connection has gone down unexpectedly (TCP RST) SocketNumber socketNum; // The W5500 socket number we are using - SocketState state; bool sendOutstanding; // True if we have written data to the socket but not flushed it bool isSending; // True if we have written data to the W5500 to send and have not yet seen success or timeout uint16_t wizTxBufferPtr; // Current offset into the Wizchip send buffer, if sendOutstanding is true diff --git a/src/Networking/W5500Ethernet/Wiznet/Ethernet/W5500/w5500.cpp b/src/Networking/W5500Ethernet/Wiznet/Ethernet/W5500/w5500.cpp index b077e76e..364133f5 100644 --- a/src/Networking/W5500Ethernet/Wiznet/Ethernet/W5500/w5500.cpp +++ b/src/Networking/W5500Ethernet/Wiznet/Ethernet/W5500/w5500.cpp @@ -161,11 +161,20 @@ void wiz_recv_data(uint8_t sn, uint8_t *wizdata, uint16_t len) const uint32_t addrsel = ((uint32_t)ptr << 8) + (WIZCHIP_RXBUF_BLOCK(sn) << 3); WIZCHIP_READ_BUF(addrsel, wizdata, len); ptr += len; - - setSn_RX_RD(sn,ptr); + setSn_RX_RD(sn, ptr); } } +// Function wiz_recv_data only works if we read the entire received data. +// This function should get round that, but the caller will have to track the received buffer pointer. +void wiz_recv_data_at(uint8_t sn, uint8_t *wizdata, uint16_t len, uint16_t ptr) +{ + if (len != 0) + { + const uint32_t addrsel = ((uint32_t)ptr << 8) + (WIZCHIP_RXBUF_BLOCK(sn) << 3); + WIZCHIP_READ_BUF(addrsel, wizdata, len); + } +} void wiz_recv_ignore(uint8_t sn, uint16_t len) { diff --git a/src/Networking/W5500Ethernet/Wiznet/Ethernet/W5500/w5500.h b/src/Networking/W5500Ethernet/Wiznet/Ethernet/W5500/w5500.h index 022419a3..e14c71ab 100644 --- a/src/Networking/W5500Ethernet/Wiznet/Ethernet/W5500/w5500.h +++ b/src/Networking/W5500Ethernet/Wiznet/Ethernet/W5500/w5500.h @@ -2287,6 +2287,9 @@ void wiz_send_data_at(uint8_t sn, const uint8_t *wizdata, uint16_t len, uint16_t */ void wiz_recv_data(uint8_t sn, uint8_t *wizdata, uint16_t len); +// Alternative to wiz_recv_data to work around an apparent bug +void wiz_recv_data_at(uint8_t sn, uint8_t *wizdata, uint16_t len, uint16_t ptr); + /** * @ingroup Basic_IO_function * @brief It discard the received data in RX memory. diff --git a/src/Networking/W5500Ethernet/Wiznet/Ethernet/socketlib.cpp b/src/Networking/W5500Ethernet/Wiznet/Ethernet/socketlib.cpp index bfaa9694..01320fa8 100644 --- a/src/Networking/W5500Ethernet/Wiznet/Ethernet/socketlib.cpp +++ b/src/Networking/W5500Ethernet/Wiznet/Ethernet/socketlib.cpp @@ -90,6 +90,11 @@ uint8_t sock_pack_info[_WIZCHIP_SOCK_NUM_] = {0,}; if(len == 0) return SOCKERR_DATALEN; \ }while(0); \ +bool IsSending(uint8_t sn) +{ + return (sock_is_sending & (1u << sn)) != 0; +} + void ExecCommand(uint8_t sn, uint8_t cmd) { setSn_CR(sn, cmd); @@ -248,146 +253,11 @@ int8_t connect(uint8_t sn, uint8_t * addr, uint16_t port) return SOCK_OK; } -int8_t disconnect(uint8_t sn) -{ - CHECK_SOCKMODE(Sn_MR_TCP); - ExecCommand(sn, Sn_CR_DISCON); - - sock_is_sending &= ~(1<<sn); - if (sock_io_mode & (1<<sn)) - { - return SOCK_BUSY; - } - while(getSn_SR(sn) != SOCK_CLOSED) - { - if (getSn_IR(sn) & Sn_IR_TIMEOUT) - { - close(sn); - return SOCKERR_TIMEOUT; - } - } - return SOCK_OK; -} - void disconnectNoWait(uint8_t sn) { ExecCommand(sn, Sn_CR_DISCON); } -int32_t send(uint8_t sn, uint8_t * buf, uint16_t len) -{ - CHECK_SOCKMODE(Sn_MR_TCP); - CHECK_SOCKDATA(); - uint8_t tmp = getSn_SR(sn); - if (tmp != SOCK_ESTABLISHED && tmp != SOCK_CLOSE_WAIT) - { - return SOCKERR_SOCKSTATUS; - } - if ( sock_is_sending & (1<<sn) ) - { - tmp = getSn_IR(sn); - if (tmp & Sn_IR_SENDOK) - { - setSn_IR(sn, Sn_IR_SENDOK); - sock_is_sending &= ~(1<<sn); - } - else if(tmp & Sn_IR_TIMEOUT) - { - close(sn); - return SOCKERR_TIMEOUT; - } - else - { - return SOCK_BUSY; - } - } - uint16_t freesize = getSn_TxMAX(sn); - if (len > freesize) - { - len = freesize; // check size not to exceed MAX size. - } - while(1) - { - freesize = getSn_TX_FSR(sn); - tmp = getSn_SR(sn); - if ((tmp != SOCK_ESTABLISHED) && (tmp != SOCK_CLOSE_WAIT)) - { - close(sn); - return SOCKERR_SOCKSTATUS; - } - if ( (sock_io_mode & (1<<sn)) && (len > freesize) ) - { - return SOCK_BUSY; - } - if (len <= freesize) - { - break; - } - DEBUG_PRINTF("Socket %u need %u free %u\n", sn, len, freesize); - } - wiz_send_data(sn, buf, len); - - ExecCommand(sn, Sn_CR_SEND); - sock_is_sending |= (1 << sn); - return (int32_t)len; -} - - -int32_t recv(uint8_t sn, uint8_t * buf, uint16_t len) -{ - CHECK_SOCKMODE(Sn_MR_TCP); - CHECK_SOCKDATA(); - - uint16_t recvsize = getSn_RxMAX(sn); - if (recvsize < len) - { - len = recvsize; - } - - while(1) - { - recvsize = getSn_RX_RSR(sn); - const uint8_t tmp = getSn_SR(sn); - if (tmp != SOCK_ESTABLISHED) - { - if (tmp == SOCK_CLOSE_WAIT) - { - if (recvsize != 0) - { - break; - } - else if(getSn_TX_FSR(sn) == getSn_TxMAX(sn)) - { - close(sn); - return SOCKERR_SOCKSTATUS; - } - } - else - { - close(sn); - return SOCKERR_SOCKSTATUS; - } - } - if ((sock_io_mode & (1<<sn)) && (recvsize == 0)) - { - return SOCK_BUSY; - } - if (recvsize != 0) - { - break; - } - }; - - if (recvsize < len) - { - len = recvsize; - } - wiz_recv_data(sn, buf, len); - ExecCommand(sn, Sn_CR_RECV); - - return (int32_t)len; -} - int32_t sendto(uint8_t sn, const uint8_t * buf, uint16_t len, const uint8_t * addr, uint16_t port) { switch(getSn_MR(sn) & 0x0F) @@ -426,49 +296,41 @@ int32_t sendto(uint8_t sn, const uint8_t * buf, uint16_t len, const uint8_t * ad len = freesize; // check size not to exceed MAX size. } - while(1) + freesize = getSn_TX_FSR(sn); + if (getSn_SR(sn) == SOCK_CLOSED) { - freesize = getSn_TX_FSR(sn); - if (getSn_SR(sn) == SOCK_CLOSED) - { - return SOCKERR_SOCKCLOSED; - } - if ( (sock_io_mode & (1<<sn)) && (len > freesize) ) - { - return SOCK_BUSY; - } - if (len <= freesize) - { - break; - } - DEBUG_PRINTF("Socket %u need %u free %u\n", sn, len, freesize); - }; + return SOCKERR_SOCKCLOSED; + } + if (len > freesize) + { + return SOCK_BUSY; + } wiz_send_data(sn, buf, len); ExecCommand(sn, Sn_CR_SEND); + sock_is_sending |= 1u << sn; + return (int32_t)len; +} - while(1) +int32_t CheckSendComplete(uint8_t sn) +{ + const uint8_t tmp = getSn_IR(sn); + if (tmp & Sn_IR_SENDOK) { - const uint8_t tmp = getSn_IR(sn); - if (tmp & Sn_IR_SENDOK) - { - setSn_IR(sn, Sn_IR_SENDOK); - break; - } - else if(tmp & Sn_IR_TIMEOUT) - { - setSn_IR(sn, Sn_IR_TIMEOUT); - return SOCKERR_TIMEOUT; - } - DEBUG_PRINTF("Socket %u waiting for send to complete, IR=%02x\n", sn, tmp); -#ifdef _SOCKET_DEBUG_ - delay(10); // to avoid too many messages -#endif + setSn_IR(sn, Sn_IR_SENDOK); + sock_is_sending &= ~(1u << sn); + return SOCK_OK; } - return (int32_t)len; + else if(tmp & Sn_IR_TIMEOUT) + { + setSn_IR(sn, Sn_IR_TIMEOUT); + sock_is_sending &= ~(1u << sn); + return SOCKERR_TIMEOUT; + } + DEBUG_PRINTF("Socket %u waiting for send to complete, IR=%02x\n", sn, tmp); + return SOCK_BUSY; } - int32_t recvfrom(uint8_t sn, uint8_t * buf, uint16_t len, uint8_t * addr, uint16_t *port) { const uint8_t mr = getSn_MR(sn); diff --git a/src/Networking/W5500Ethernet/Wiznet/Ethernet/socketlib.h b/src/Networking/W5500Ethernet/Wiznet/Ethernet/socketlib.h index f85c645e..167711de 100644 --- a/src/Networking/W5500Ethernet/Wiznet/Ethernet/socketlib.h +++ b/src/Networking/W5500Ethernet/Wiznet/Ethernet/socketlib.h @@ -209,75 +209,15 @@ int8_t listen(uint8_t sn); */ int8_t connect(uint8_t sn, uint8_t * addr, uint16_t port); -/** - * @ingroup WIZnet_socket_APIs - * @brief Try to disconnect a connection socket. - * @details It sends request message to disconnect the TCP socket 'sn' passed as parameter to the server or client. - * @note It is valid only in TCP server or client mode. \n - * In block io mode, it does not return until disconnection is completed. \n - * In Non-block io mode, it return @ref SOCK_BUSY immediately. \n - - * @param sn Socket number. It should be <b>0 ~ @ref \_WIZCHIP_SOCK_NUM_</b>. - * @return @b Success : @ref SOCK_OK \n - * @b Fail :\n @ref SOCKERR_SOCKNUM - Invalid socket number \n - * @ref SOCKERR_SOCKMODE - Invalid operation in the socket \n - * @ref SOCKERR_TIMEOUT - Timeout occurred \n - * @ref SOCK_BUSY - Socket is busy. - */ -int8_t disconnect(uint8_t sn); - void disconnectNoWait(uint8_t sn); /** * @ingroup WIZnet_socket_APIs - * @brief Send data to the connected peer in TCP socket. - * @details It is used to send outgoing data to the connected socket. - * @note It is valid only in TCP server or client mode. It can't send data greater than socket buffer size. \n - * In block io mode, It doesn't return until data send is completed - socket buffer size is greater than data. \n - * In non-block io mode, It return @ref SOCK_BUSY immediately when socket buffer is not enough. \n - * @param sn Socket number. It should be <b>0 ~ @ref \_WIZCHIP_SOCK_NUM_</b>. - * @param buf Pointer buffer containing data to be sent. - * @param len The byte length of data in buf. - * @return @b Success : The sent data size \n - * @b Fail : \n @ref SOCKERR_SOCKSTATUS - Invalid socket status for socket operation \n - * @ref SOCKERR_TIMEOUT - Timeout occurred \n - * @ref SOCKERR_SOCKMODE - Invalid operation in the socket \n - * @ref SOCKERR_SOCKNUM - Invalid socket number \n - * @ref SOCKERR_DATALEN - zero data length \n - * @ref SOCK_BUSY - Socket is busy. - */ -int32_t send(uint8_t sn, uint8_t * buf, uint16_t len); - -/** - * @ingroup WIZnet_socket_APIs - * @brief Receive data from the connected peer. - * @details It is used to read incoming data from the connected socket.\n - * It waits for data as much as the application wants to receive. - * @note It is valid only in TCP server or client mode. It can't receive data greater than socket buffer size. \n - * In block io mode, it doesn't return until data reception is completed - data is filled as <I>len</I> in socket buffer. \n - * In non-block io mode, it return @ref SOCK_BUSY immediately when <I>len</I> is greater than data size in socket buffer. \n - * - * @param sn Socket number. It should be <b>0 ~ @ref \_WIZCHIP_SOCK_NUM_</b>. - * @param buf Pointer buffer to read incoming data. - * @param len The max data length of data in buf. - * @return @b Success : The real received data size \n - * @b Fail :\n - * @ref SOCKERR_SOCKSTATUS - Invalid socket status for socket operation \n - * @ref SOCKERR_SOCKMODE - Invalid operation in the socket \n - * @ref SOCKERR_SOCKNUM - Invalid socket number \n - * @ref SOCKERR_DATALEN - zero data length \n - * @ref SOCK_BUSY - Socket is busy. - */ -int32_t recv(uint8_t sn, uint8_t * buf, uint16_t len); - -/** - * @ingroup WIZnet_socket_APIs * @brief Sends datagram to the peer with destination IP address and port number passed as parameter. * @details It sends datagram of UDP or MACRAW to the peer with destination IP address and port number passed as parameter.\n * Even if the connectionless socket has been previously connected to a specific address, * the address and port number parameters override the destination address for that particular datagram only. - * @note In block io mode, It doesn't return until data send is completed - socket buffer size is greater than <I>len</I>. - * In non-block io mode, It return @ref SOCK_BUSY immediately when socket buffer is not enough. + * @note In non-block io mode, It return @ref SOCK_BUSY immediately when socket buffer is not enough. * * @param sn Socket number. It should be <b>0 ~ @ref \_WIZCHIP_SOCK_NUM_</b>. * @param buf Pointer buffer to send outgoing data. @@ -285,7 +225,7 @@ int32_t recv(uint8_t sn, uint8_t * buf, uint16_t len); * @param addr Pointer variable of destination IP address. It should be allocated 4 bytes. * @param port Destination port number. * - * @return @b Success : The sent data size \n + * @return @b Success : The queued sent data size \n * @b Fail :\n @ref SOCKERR_SOCKNUM - Invalid socket number \n * @ref SOCKERR_SOCKMODE - Invalid operation in the socket \n * @ref SOCKERR_SOCKSTATUS - Invalid socket status for socket operation \n @@ -419,67 +359,11 @@ typedef enum */ int8_t ctlsocket(uint8_t sn, ctlsock_type cstype, void* arg); -/** - * @ingroup WIZnet_socket_APIs - * @brief set socket options - * @details Set socket option like as TTL, MSS, TOS, and so on. Refer to @ref sockopt_type. - * - * @param sn socket number - * @param sotype socket option type. refer to @ref sockopt_type - * @param arg Data type and value is determined according to <I>sotype</I>. \n - * <table> - * <tr> <td> @b sotype </td> <td> @b data type</td><td>@b value</td></tr> - * <tr> <td> @ref SO_TTL </td> <td> uint8_t </td><td> 0 ~ 255 </td> </tr> - * <tr> <td> @ref SO_TOS </td> <td> uint8_t </td><td> 0 ~ 255 </td> </tr> - * <tr> <td> @ref SO_MSS </td> <td> uint16_t </td><td> 0 ~ 65535 </td> </tr> - * <tr> <td> @ref SO_DESTIP </td> <td> uint8_t[4] </td><td> </td></tr> - * <tr> <td> @ref SO_DESTPORT </td> <td> uint16_t </td><td> 0 ~ 65535 </td></tr> - * <tr> <td> @ref SO_KEEPALIVESEND </td> <td> null </td><td> null </td></tr> - * <tr> <td> @ref SO_KEEPALIVEAUTO </td> <td> uint8_t </td><td> 0 ~ 255 </td></tr> - * </table> - * @return - * - @b Success : @ref SOCK_OK \n - * - @b Fail - * - @ref SOCKERR_SOCKNUM - Invalid Socket number \n - * - @ref SOCKERR_SOCKMODE - Invalid socket mode \n - * - @ref SOCKERR_SOCKOPT - Invalid socket option or its value \n - * - @ref SOCKERR_TIMEOUT - Timeout occurred when sending keep-alive packet \n - */ -int8_t setsockopt(uint8_t sn, sockopt_type sotype, void* arg); +// Check whether we are sending on a socket +bool IsSending(uint8_t sn); -/** - * @ingroup WIZnet_socket_APIs - * @brief get socket options - * @details Get socket option like as FLAG, TTL, MSS, and so on. Refer to @ref sockopt_type - * @param sn socket number - * @param sotype socket option type. refer to @ref sockopt_type - * @param arg Data type and value is determined according to <I>sotype</I>. \n - * <table> - * <tr> <td> @b sotype </td> <td>@b data type</td><td>@b value</td></tr> - * <tr> <td> @ref SO_FLAG </td> <td> uint8_t </td><td> @ref SF_ETHER_OWN, etc... </td> </tr> - * <tr> <td> @ref SO_TOS </td> <td> uint8_t </td><td> 0 ~ 255 </td> </tr> - * <tr> <td> @ref SO_MSS </td> <td> uint16_t </td><td> 0 ~ 65535 </td> </tr> - * <tr> <td> @ref SO_DESTIP </td> <td> uint8_t[4] </td><td> </td></tr> - * <tr> <td> @ref SO_DESTPORT </td> <td> uint16_t </td><td> </td></tr> - * <tr> <td> @ref SO_KEEPALIVEAUTO </td> <td> uint8_t </td><td> 0 ~ 255 </td></tr> - * <tr> <td> @ref SO_SENDBUF </td> <td> uint16_t </td><td> 0 ~ 65535 </td></tr> - * <tr> <td> @ref SO_RECVBUF </td> <td> uint16_t </td><td> 0 ~ 65535 </td></tr> - * <tr> <td> @ref SO_STATUS </td> <td> uint8_t </td><td> @ref SOCK_ESTABLISHED, etc.. </td></tr> - * <tr> <td> @ref SO_REMAINSIZE </td> <td> uint16_t </td><td> 0~ 65535 </td></tr> - * <tr> <td> @ref SO_PACKINFO </td> <td> uint8_t </td><td> @ref PACK_FIRST, etc... </td></tr> - * </table> - * @return - * - @b Success : @ref SOCK_OK \n - * - @b Fail - * - @ref SOCKERR_SOCKNUM - Invalid Socket number \n - * - @ref SOCKERR_SOCKOPT - Invalid socket option or its value \n - * - @ref SOCKERR_SOCKMODE - Invalid socket mode \n - * @note - * The option as PACK_REMAINED and SO_PACKINFO is valid only in NON-TCP mode and after call @ref recvfrom(). \n - * When SO_PACKINFO value is PACK_FIRST and the return value of recvfrom() is zero, - * This means the zero byte UDP data(UDP Header only) received. - */ -int8_t getsockopt(uint8_t sn, sockopt_type sotype, void* arg); +// Check whether sending on a socket is complete +int32_t CheckSendComplete(uint8_t sn); // pre(IsSending()) // Execute a command void ExecCommand(uint8_t sn, uint8_t cmd); diff --git a/src/Networking/W5500Ethernet/Wiznet/Internet/DHCP/dhcp.cpp b/src/Networking/W5500Ethernet/Wiznet/Internet/DHCP/dhcp.cpp index 661ea0f3..5b325645 100644 --- a/src/Networking/W5500Ethernet/Wiznet/Internet/DHCP/dhcp.cpp +++ b/src/Networking/W5500Ethernet/Wiznet/Internet/DHCP/dhcp.cpp @@ -65,13 +65,18 @@ extern "C" void debugPrintf(const char *fmt, ...); #endif /* DHCP state machine. */ -#define STATE_DHCP_INIT 0 ///< Initialize -#define STATE_DHCP_DISCOVER 1 ///< send DISCOVER and wait OFFER -#define STATE_DHCP_REQUEST 2 ///< send REQEUST and wait ACK or NACK -#define STATE_DHCP_LEASED 3 ///< ReceiveD ACK and IP leased -#define STATE_DHCP_REREQUEST 4 ///< send REQUEST for maintaining leased IP -#define STATE_DHCP_RELEASE 5 ///< No use -#define STATE_DHCP_STOP 6 ///< Stop processing DHCP +enum class DhcpState : uint8_t +{ + init = 0, ///< Initialize + discover, ///< send DISCOVER and wait OFFER + request, ///< send REQUEST and wait ACK or NACK + leased, ///< Received ACK and IP leased + rerequest, ///< send REQUEST for maintaining leased IP + release, ///< No use + stop, ///< Stop processing DHCP + checkingIpConflict, ///< Waiting for send to conflicting IP to complete + delaying +}; #define DHCP_FLAGSBROADCAST 0x8000 ///< The broadcast value of flags in @ref RIP_MSG #define DHCP_FLAGSUNICAST 0x0000 ///< The unicast value of flags in @ref RIP_MSG @@ -81,6 +86,7 @@ extern "C" void debugPrintf(const char *fmt, ...); #define DHCP_BOOTREPLY 2 ///< Reply Message used i op of @ref RIP_MSG /* DHCP message type */ +#define DHCP_NOTYPE 0 // must be different from all of the following #define DHCP_DISCOVER 1 ///< DISCOVER message in OPT of @ref RIP_MSG #define DHCP_OFFER 2 ///< OFFER message in OPT of @ref RIP_MSG #define DHCP_REQUEST 3 ///< REQUEST message in OPT of @ref RIP_MSG @@ -207,14 +213,16 @@ uint8_t DHCP_allocated_sn[4] = {0, }; // Subnet mask from DHCP uint8_t DHCP_allocated_dns[4] = {0, }; // DNS address from DHCP -int8_t dhcp_state = STATE_DHCP_INIT; // DHCP state -int8_t dhcp_retry_count = 0; +DhcpState dhcp_state = DhcpState::init; // DHCP state +int8_t dhcp_retry_count; + +uint32_t dhcp_lease_time; +volatile uint32_t dhcp_tick_1s; // unit 1 second +uint32_t dhcp_tick_next; -uint32_t dhcp_lease_time = INFINITE_LEASETIME; -volatile uint32_t dhcp_tick_1s = 0; // unit 1 second -uint32_t dhcp_tick_next = DHCP_WAIT_TIME ; +uint32_t DHCP_XID; // Any number -uint32_t DHCP_XID; // Any number +int32_t dhcpLastSendStatus; static RIP_MSG dhcpMessageBuffer; RIP_MSG* const pDHCPMSG = &dhcpMessageBuffer; // Buffer pointer for DHCP processing @@ -245,7 +253,7 @@ void send_DHCP_REQUEST(void); void send_DHCP_DECLINE(void); /* IP conflict check by sending ARP-request to leased IP and wait ARP-response. */ -bool check_DHCP_leasedIP(void); +void check_DHCP_leasedIP(void); /* check the timeout in DHCP process */ DhcpRunResult check_DHCP_timeout(void); @@ -416,7 +424,7 @@ void send_DHCP_DISCOVER(void) DEBUG_PRINTF("> Send DHCP_DISCOVER\n"); - sendto(DHCP_SOCKET, (uint8_t *)pDHCPMSG, RIP_MSG_SIZE, ip, DHCP_SERVER_PORT); + (void)sendto(DHCP_SOCKET, (uint8_t *)pDHCPMSG, RIP_MSG_SIZE, ip, DHCP_SERVER_PORT); DEBUG_PRINTF("Sent\n"); } @@ -427,7 +435,7 @@ void send_DHCP_REQUEST(void) makeDHCPMSG(); uint8_t ip[4]; - if (dhcp_state == STATE_DHCP_LEASED || dhcp_state == STATE_DHCP_REREQUEST) + if (dhcp_state == DhcpState::leased || dhcp_state == DhcpState::rerequest) { *((uint8_t*)(&pDHCPMSG->flags)) = ((DHCP_FLAGSUNICAST & 0xFF00)>> 8); *((uint8_t*)(&pDHCPMSG->flags)+1) = (DHCP_FLAGSUNICAST & 0x00FF); @@ -465,7 +473,7 @@ void send_DHCP_REQUEST(void) pDHCPMSG->OPT[k++] = DHCP_CHADDR[4]; pDHCPMSG->OPT[k++] = DHCP_CHADDR[5]; - if (ip[3] == 255) // if(dchp_state == STATE_DHCP_LEASED || dchp_state == DHCP_REREQUEST_STATE) + if (dhcp_state != DhcpState::leased && dhcp_state != DhcpState::rerequest) { pDHCPMSG->OPT[k++] = dhcpRequestedIPaddr; pDHCPMSG->OPT[k++] = 0x04; @@ -510,7 +518,7 @@ void send_DHCP_REQUEST(void) DEBUG_PRINTF("> Send DHCP_REQUEST\n"); - sendto(DHCP_SOCKET, (uint8_t *)pDHCPMSG, RIP_MSG_SIZE, ip, DHCP_SERVER_PORT); + (void)sendto(DHCP_SOCKET, (uint8_t *)pDHCPMSG, RIP_MSG_SIZE, ip, DHCP_SERVER_PORT); } /* SEND DHCP DHCPDECLINE */ @@ -568,13 +576,13 @@ void send_DHCP_DECLINE(void) DEBUG_PRINTF("\n> Send DHCP_DECLINE\n"); - sendto(DHCP_SOCKET, (uint8_t *)pDHCPMSG, RIP_MSG_SIZE, ip, DHCP_SERVER_PORT); + (void)sendto(DHCP_SOCKET, (uint8_t *)pDHCPMSG, RIP_MSG_SIZE, ip, DHCP_SERVER_PORT); } /* PARSE REPLY pDHCPMSG */ int8_t parseDHCPMSG(void) { - uint8_t type = 0; + uint8_t type = DHCP_NOTYPE; uint16_t len; if ((len = getSn_RX_RSR(DHCP_SOCKET)) > 0) { @@ -587,9 +595,9 @@ int8_t parseDHCPMSG(void) uint16_t svr_port; len = recvfrom(DHCP_SOCKET, (uint8_t *)pDHCPMSG, len, svr_addr, &svr_port); - DEBUG_PRINTF("DHCP message : %d.%d.%d.%d(%d) %d received. \n", svr_addr[0], svr_addr[1], svr_addr[2], svr_addr[3],svr_port, len); + DEBUG_PRINTF("DHCP message : %d.%d.%d.%d(%d) %d received. \n", svr_addr[0], svr_addr[1], svr_addr[2], svr_addr[3], svr_port, len); - if (svr_port == DHCP_SERVER_PORT) + if (svr_port == DHCP_SERVER_PORT && len > 240) { // compare mac address if ( (pDHCPMSG->chaddr[0] == DHCP_CHADDR[0]) && (pDHCPMSG->chaddr[1] == DHCP_CHADDR[1]) @@ -687,7 +695,7 @@ int8_t parseDHCPMSG(void) DhcpRunResult DHCP_run(void) { - if (dhcp_state == STATE_DHCP_STOP) + if (dhcp_state == DhcpState::stop) { return DhcpRunResult::DHCP_STOPPED; } @@ -698,20 +706,29 @@ DhcpRunResult DHCP_run(void) } DhcpRunResult ret = DhcpRunResult::DHCP_RUNNING; + if (IsSending(DHCP_SOCKET)) + { + dhcpLastSendStatus = CheckSendComplete(DHCP_SOCKET); + if (dhcpLastSendStatus == SOCK_BUSY) + { + return ret; + } + } + const uint8_t type = parseDHCPMSG(); switch (dhcp_state) { - case STATE_DHCP_INIT: + case DhcpState::init: DHCP_allocated_ip[0] = 0; DHCP_allocated_ip[1] = 0; DHCP_allocated_ip[2] = 0; DHCP_allocated_ip[3] = 0; send_DHCP_DISCOVER(); - dhcp_state = STATE_DHCP_DISCOVER; + dhcp_state = DhcpState::discover; break; - case STATE_DHCP_DISCOVER: + case DhcpState::discover: if (type == DHCP_OFFER) { DEBUG_PRINTF("> Receive DHCP_OFFER\n"); @@ -721,7 +738,7 @@ DhcpRunResult DHCP_run(void) DHCP_allocated_ip[3] = pDHCPMSG->yiaddr[3]; send_DHCP_REQUEST(); - dhcp_state = STATE_DHCP_REQUEST; + dhcp_state = DhcpState::request; } else { @@ -729,31 +746,32 @@ DhcpRunResult DHCP_run(void) } break; - case STATE_DHCP_REQUEST : + case DhcpState::request: if (type == DHCP_ACK) { - DEBUG_PRINTF("> Receive DHCP_ACK\n"); - if (check_DHCP_leasedIP()) + DEBUG_PRINTF("> Receive DHCP_ACK, lease time = %u\n", (unsigned int)dhcp_lease_time); + uint8_t currentIp[4]; + getSIPR(currentIp); + if (memcmp(DHCP_allocated_ip, currentIp, 4) == 0) { - // Network info assignment from DHCP - dhcp_ip_assign(); + // We have been given the IP address we are already using. + // Don't check for an address conflict, because I have a suspicion that we end up replying to the ARP request ourselves. + dhcp_ip_assign(); // in case gateway or subnet mask have changed reset_DHCP_timeout(); - dhcp_state = STATE_DHCP_LEASED; + dhcp_state = DhcpState::leased; ret = DhcpRunResult::DHCP_IP_ASSIGN; } else { - // IP address conflict occurred - reset_DHCP_timeout(); - dhcp_ip_conflict(); - dhcp_state = STATE_DHCP_INIT; + check_DHCP_leasedIP(); + dhcp_state = DhcpState::checkingIpConflict; } } else if (type == DHCP_NAK) { DEBUG_PRINTF("> Receive DHCP_NACK\n"); reset_DHCP_timeout(); - dhcp_state = STATE_DHCP_DISCOVER; + dhcp_state = DhcpState::discover; } else { @@ -761,11 +779,40 @@ DhcpRunResult DHCP_run(void) } break; - case STATE_DHCP_LEASED : + case DhcpState::checkingIpConflict: + if (dhcpLastSendStatus == SOCKERR_TIMEOUT) + { + // UDP send Timeout occurred, so allocated IP address is unique, DHCP Success + DEBUG_PRINTF("\n> Check leased IP - OK\n"); + dhcp_ip_assign(); + reset_DHCP_timeout(); + dhcp_state = DhcpState::leased; + ret = DhcpRunResult::DHCP_IP_ASSIGN; + } + else + { + // Received ARP reply, so IP address conflict has occurred, DHCP Failed + send_DHCP_DECLINE(); + dhcp_ip_conflict(); + reset_DHCP_timeout(); + dhcp_state = DhcpState::delaying; + } + break; + + case DhcpState::delaying: + // Had IP address conflict. Delay before trying again. + if (dhcp_tick_1s > 3) + { + reset_DHCP_timeout(); + dhcp_state = DhcpState::init; + } + break; + + case DhcpState::leased : ret = DhcpRunResult::DHCP_IP_LEASED; if ((dhcp_lease_time != INFINITE_LEASETIME) && ((dhcp_lease_time/2) < dhcp_tick_1s)) { - DEBUG_PRINTF("> Maintains the IP address \n"); + DEBUG_PRINTF("> Maintain the IP address \n"); OLD_allocated_ip[0] = DHCP_allocated_ip[0]; OLD_allocated_ip[1] = DHCP_allocated_ip[1]; OLD_allocated_ip[2] = DHCP_allocated_ip[2]; @@ -775,11 +822,11 @@ DhcpRunResult DHCP_run(void) send_DHCP_REQUEST(); reset_DHCP_timeout(); - dhcp_state = STATE_DHCP_REREQUEST; + dhcp_state = DhcpState::rerequest; } break; - case STATE_DHCP_REREQUEST : + case DhcpState::rerequest: ret = DhcpRunResult::DHCP_IP_LEASED; if (type == DHCP_ACK) { @@ -798,13 +845,13 @@ DhcpRunResult DHCP_run(void) DEBUG_PRINTF(">IP is continued.\n"); } reset_DHCP_timeout(); - dhcp_state = STATE_DHCP_LEASED; + dhcp_state = DhcpState::leased; } else if (type == DHCP_NAK) { DEBUG_PRINTF("> Receive DHCP_NACK, Failed to maintain ip\n"); reset_DHCP_timeout(); - dhcp_state = STATE_DHCP_DISCOVER; + dhcp_state = DhcpState::discover; } else { @@ -822,7 +869,7 @@ DhcpRunResult DHCP_run(void) void DHCP_stop(void) { close(DHCP_SOCKET); - dhcp_state = STATE_DHCP_STOP; + dhcp_state = DhcpState::stop; } DhcpRunResult check_DHCP_timeout(void) @@ -835,18 +882,18 @@ DhcpRunResult check_DHCP_timeout(void) { switch ( dhcp_state ) { - case STATE_DHCP_DISCOVER : + case DhcpState::discover : DEBUG_PRINTF("<<timeout>> state : STATE_DHCP_DISCOVER\n"); send_DHCP_DISCOVER(); break; - case STATE_DHCP_REQUEST : + case DhcpState::request : DEBUG_PRINTF("<<timeout>> state : STATE_DHCP_REQUEST\n"); send_DHCP_REQUEST(); break; - case STATE_DHCP_REREQUEST : + case DhcpState::rerequest : DEBUG_PRINTF("<<timeout>> state : STATE_DHCP_REREQUEST\n"); send_DHCP_REQUEST(); @@ -865,14 +912,15 @@ DhcpRunResult check_DHCP_timeout(void) { // exceeded retry count switch(dhcp_state) { - case STATE_DHCP_DISCOVER: - dhcp_state = STATE_DHCP_INIT; + case DhcpState::discover: + dhcp_state = DhcpState::init; ret = DhcpRunResult::DHCP_FAILED; break; - case STATE_DHCP_REQUEST: - case STATE_DHCP_REREQUEST: + case DhcpState::request: + case DhcpState::rerequest: + case DhcpState::checkingIpConflict: send_DHCP_DISCOVER(); - dhcp_state = STATE_DHCP_DISCOVER; + dhcp_state = DhcpState::discover; break; default : break; @@ -882,43 +930,22 @@ DhcpRunResult check_DHCP_timeout(void) return ret; } -bool check_DHCP_leasedIP(void) +void check_DHCP_leasedIP(void) { - uint8_t tmp; - int32_t ret; - //WIZchip RCR value changed for ARP Timeout count control - tmp = getRCR(); + const uint8_t tmp = getRCR(); setRCR(0x03); // IP conflict detection : ARP request - ARP reply // Broadcasting ARP Request for check the IP conflict using UDP sendto() function // TODO the following takes 620ms to time out - hanging for this long isn't very nice - ret = sendto(DHCP_SOCKET, (const uint8_t *)"CHECK_IP_CONFLICT", 17, DHCP_allocated_ip, 5000); + sendto(DHCP_SOCKET, (const uint8_t *)"CHECK_IP_CONFLICT", 17, DHCP_allocated_ip, 5000); // RCR value restore setRCR(tmp); - - if (ret == SOCKERR_TIMEOUT) - { - // UDP send Timeout occurred : allocated IP address is unique, DHCP Success - DEBUG_PRINTF("\n> Check leased IP - OK\n"); - return true; - } - else - { - // Received ARP reply or etc : IP address conflict occur, DHCP Failed - send_DHCP_DECLINE(); - - ret = dhcp_tick_1s; - //TODO can't tolerate a 1 to 2 second wait here - while((dhcp_tick_1s - ret) < 2) { } // wait for 1s over; wait to complete to send DECLINE message; - - return false; - } } -void DHCP_init(uint8_t s, const char *hname) +void DHCP_init(uint8_t s, uint32_t seed, const char *hname) { strncpy(HOST_NAME, hname, sizeof(HOST_NAME)); HOST_NAME[sizeof(HOST_NAME) - 1] = 0; @@ -939,8 +966,11 @@ void DHCP_init(uint8_t s, const char *hname) setSHAR(DHCP_CHADDR); } - DHCP_SOCKET = s; // SOCK_DHCP - DHCP_XID = 0x12345678; + DHCP_SOCKET = s; + reset_DHCP_timeout(); + dhcp_lease_time = INFINITE_LEASETIME; + DHCP_XID = seed; + dhcpLastSendStatus = SOCK_OK; // WIZchip Netinfo Clear setSIPR(zeroip); @@ -948,7 +978,7 @@ void DHCP_init(uint8_t s, const char *hname) setGAR(zeroip); reset_DHCP_timeout(); - dhcp_state = STATE_DHCP_INIT; + dhcp_state = DhcpState::init; } /* Rset the DHCP timeout count and retry count. */ diff --git a/src/Networking/W5500Ethernet/Wiznet/Internet/DHCP/dhcp.h b/src/Networking/W5500Ethernet/Wiznet/Internet/DHCP/dhcp.h index 4f238b6e..6148b5eb 100644 --- a/src/Networking/W5500Ethernet/Wiznet/Internet/DHCP/dhcp.h +++ b/src/Networking/W5500Ethernet/Wiznet/Internet/DHCP/dhcp.h @@ -77,7 +77,7 @@ enum class DhcpRunResult : uint8_t * @param s - socket number * @param hname - null-terminated host name string */ -void DHCP_init(uint8_t s, const char *hname); +void DHCP_init(uint8_t s, uint32_t seed, const char *hname); /* * @brief DHCP 1s Tick Timer handler diff --git a/src/Platform.cpp b/src/Platform.cpp index 4e37716e..75f2f517 100644 --- a/src/Platform.cpp +++ b/src/Platform.cpp @@ -357,7 +357,7 @@ void Platform::Init() SERIAL_AUX2_DEVICE.begin(baudRates[2]); #endif - compatibility = marlin; // default to Marlin because the common host programs expect the "OK" response to commands + compatibility = Compatibility::marlin; // default to Marlin because the common host programs expect the "OK" response to commands // File management massStorage->Init(); @@ -366,33 +366,37 @@ void Platform::Init() ARRAY_INIT(netMask, DefaultNetMask); ARRAY_INIT(gateWay, DefaultGateway); -#if defined(DUET_NG) || defined(SAME70_TEST_BOARD) - // On the Duet Ethernet and SAM E70, use the unique chip ID as most of the MAC address. - // The unique ID is 128 bits long whereas the whole MAC address is only 48 bits, - // so we can't guarantee that each Duet will get a unique MAC address this way. +#if SAM4E || SAM4S || SAME70 + // Read the unique ID of the MCU + memset(uniqueId, 0, sizeof(uniqueId)); + DisableCache(); + cpu_irq_disable(); + const uint32_t rc = flash_read_unique_id(uniqueId, 4); + cpu_irq_enable(); + EnableCache(); + + if (rc == 0) { - uint32_t idBuf[4]; - memset(idBuf, 0, sizeof(idBuf)); - DisableCache(); - cpu_irq_disable(); - const uint32_t rc = flash_read_unique_id(idBuf, 4); - cpu_irq_enable(); - EnableCache(); - if (rc == 0) - { - memset(defaultMacAddress, 0, sizeof(defaultMacAddress)); - defaultMacAddress[0] = 0xBE; // use a fixed first byte with the locally-administered bit set - const uint8_t * const idBytes = reinterpret_cast<const uint8_t *>(idBuf); - for (size_t i = 0; i < 15; ++i) - { - defaultMacAddress[(i % 5) + 1] ^= idBytes[i]; - } - } - else + // Put the checksum at the end + // We only print 30 5-bit characters = 128 data bits + 22 checksum bits. So compress the 32 checksum bits into 22. + uniqueId[4] = uniqueId[0] ^ uniqueId[1] ^ uniqueId[2] ^ uniqueId[3]; + uniqueId[4] ^= (uniqueId[4] >> 10); + + // On the Duet Ethernet and SAM E70, use the unique chip ID as most of the MAC address. + // The unique ID is 128 bits long whereas the whole MAC address is only 48 bits, + // so we can't guarantee that each Duet will get a unique MAC address this way. + memset(defaultMacAddress, 0, sizeof(defaultMacAddress)); + defaultMacAddress[0] = 0xBE; // use a fixed first byte with the locally-administered bit set + const uint8_t * const idBytes = reinterpret_cast<const uint8_t *>(uniqueId); + for (size_t i = 0; i < 15; ++i) { - ARRAY_INIT(defaultMacAddress, DefaultMacAddress); + defaultMacAddress[(i % 5) + 1] ^= idBytes[i]; } } + else + { + ARRAY_INIT(defaultMacAddress, DefaultMacAddress); + } #elif defined(DUET_06_085) ARRAY_INIT(defaultMacAddress, DefaultMacAddress); @@ -497,9 +501,6 @@ void Platform::Init() motorCurrents[drive] = 0.0; motorCurrentFraction[drive] = 1.0; -#if HAS_SMART_DRIVERS - motorStandstillCurrentFraction[drive] = 1.0; -#endif driverState[drive] = DriverStatus::disabled; // Enable pullup resistors on endstop inputs here if necessary. @@ -1254,26 +1255,26 @@ void Platform::Exit() Compatibility Platform::Emulating() const { - return (compatibility == reprapFirmware) ? me : compatibility; + return (compatibility == Compatibility::reprapFirmware) ? Compatibility::me : compatibility; } void Platform::SetEmulating(Compatibility c) { - if (c != me && c != reprapFirmware && c != marlin) + if (c != Compatibility::me && c != Compatibility::reprapFirmware && c != Compatibility::marlin) { Message(ErrorMessage, "Attempt to emulate unsupported firmware.\n"); } else { - if (c == reprapFirmware) + if (c == Compatibility::reprapFirmware) { - c = me; + c = Compatibility::me; } compatibility = c; } } -void Platform::UpdateNetworkAddress(byte dst[4], const byte src[4]) +void Platform::UpdateNetworkAddress(uint8_t dst[4], const uint8_t src[4]) { for (uint8_t i = 0; i < 4; i++) { @@ -1282,22 +1283,22 @@ void Platform::UpdateNetworkAddress(byte dst[4], const byte src[4]) reprap.GetNetwork().SetEthernetIPAddress(ipAddress, gateWay, netMask); } -void Platform::SetIPAddress(byte ip[]) +void Platform::SetIPAddress(uint8_t ip[]) { UpdateNetworkAddress(ipAddress, ip); } -void Platform::SetGateWay(byte gw[]) +void Platform::SetGateWay(uint8_t gw[]) { UpdateNetworkAddress(gateWay, gw); } -void Platform::SetNetMask(byte nm[]) +void Platform::SetNetMask(uint8_t nm[]) { UpdateNetworkAddress(netMask, nm); } -// Flush messages to USB and aux, returning true if there is more to send +// Flush messages to aux, returning true if there is more to send bool Platform::FlushAuxMessages() { // Write non-blocking data to the AUX line @@ -1873,7 +1874,7 @@ void Platform::SoftwareReset(uint16_t reason, const uint32_t *stk) } srdBuf[slot].magic = SoftwareResetData::magicValue; srdBuf[slot].resetReason = reason; - srdBuf[slot].when = realTime; + srdBuf[slot].when = (uint32_t)realTime; // some compilers/libraries use 64-bit time_t GetStackUsage(nullptr, nullptr, &srdBuf[slot].neverUsedRam); srdBuf[slot].hfsr = SCB->HFSR; srdBuf[slot].cfsr = SCB->CFSR; @@ -2020,7 +2021,7 @@ void Platform::InitialiseInterrupts() // Interrupt for 4-pin PWM fan sense line if (coolingFanRpmPin != NoPin) { - attachInterrupt(coolingFanRpmPin, FanInterrupt, FALLING, nullptr); + attachInterrupt(coolingFanRpmPin, FanInterrupt, INTERRUPT_MODE_FALLING, nullptr); } // Tick interrupt for ADC conversions @@ -2053,70 +2054,55 @@ void Platform::InitialiseInterrupts() // Print the unique processor ID void Platform::PrintUniqueId(MessageType mtype) { - uint32_t idBuf[5]; - const irqflags_t flags = cpu_irq_save(); - DisableCache(); - const uint32_t rc = flash_read_unique_id(idBuf, 4); - EnableCache(); - cpu_irq_restore(flags); - if (rc == 0) + // Print the unique ID and checksum as 30 base5 alphanumeric digits + char digits[30 + 5 + 1]; // 30 characters, 5 separators, 1 null terminator + char *digitPtr = digits; + for (size_t i = 0; i < 30; ++i) { - // Put the checksum at the end - idBuf[4] = idBuf[0] ^ idBuf[1] ^ idBuf[2] ^ idBuf[3]; - - // We are only going to print 30 5-bit characters = 128 data bits + 22 checksum bits. So compress the 32 checksum bits into 22. - idBuf[4] ^= (idBuf[4] >> 10); - - // Print the unique ID and checksum as 30 base5 alphanumeric digits - char digits[30 + 5 + 1]; // 30 characters, 5 separators, 1 null terminator - char *digitPtr = digits; - for (size_t i = 0; i < 30; ++i) + if ((i % 5) == 0 && i != 0) + { + *digitPtr++ = '-'; + } + const size_t index = (i * 5) / 32; + const size_t shift = (i * 5) % 32; + uint32_t val = uniqueId[index] >> shift; + if (shift > 32 - 5) + { + // We need some bits from the next dword too + val |= uniqueId[index + 1] << (32 - shift); + } + val &= 31; + char c; + if (val < 10) + { + c = val + '0'; + } + else { - if ((i % 5) == 0 && i != 0) + c = val + ('A' - 10); + // We have 26 letters in the usual A-Z alphabet and we only need 22 of them plus 0-9. + // So avoid using letters C, E, I and O which are easily mistaken for G, F, 1 and 0. + if (c >= 'C') { - *digitPtr++ = '-'; + ++c; } - const size_t index = (i * 5) / 32; - const size_t shift = (i * 5) % 32; - uint32_t val = idBuf[index] >> shift; - if (shift > 32 - 5) + if (c >= 'E') { - // We need some bits from the next dword too - val |= idBuf[index + 1] << (32 - shift); + ++c; } - val &= 31; - char c; - if (val < 10) + if (c >= 'I') { - c = val + '0'; + ++c; } - else + if (c >= 'O') { - c = val + ('A' - 10); - // We have 26 letters in the usual A-Z alphabet and we only need 22 of them plus 0-9. - // So avoid using letters C, E, I and O which are easily mistaken for G, F, 1 and 0. - if (c >= 'C') - { - ++c; - } - if (c >= 'E') - { - ++c; - } - if (c >= 'I') - { - ++c; - } - if (c >= 'O') - { - ++c; - } + ++c; } - *digitPtr++ = c; } - *digitPtr = 0; - MessageF(mtype, "Board ID: %s\n", digits); + *digitPtr++ = c; } + *digitPtr = 0; + MessageF(mtype, "Board ID: %s\n", digits); } #endif @@ -2157,7 +2143,7 @@ void Platform::Diagnostics(MessageType mtype) #elif SAM3XA (char *) 0x20070000; #else -# error +# error Unsupported processor #endif const struct mallinfo mi = mallinfo(); MessageF(mtype, "Static ram used: %d\n", &_end - ramstart); @@ -2171,8 +2157,9 @@ void Platform::Diagnostics(MessageType mtype) // Show the up time and reason for the last reset const uint32_t now = (uint32_t)(millis64()/1000u); // get up time in seconds const char* resetReasons[8] = { "power up", "backup", "watchdog", "software", -#if SAM4E || SAM4S - // On the SAM4E a watchdog reset may be reported as a user reset because of the capacitor on the NRST pin +#ifdef DUET_NG + // On the SAM4E a watchdog reset may be reported as a user reset because of the capacitor on the NRST pin. + // The SAM4S is the same but the Duet M has a diode in the reset circuit to avoid this problem. "reset button or watchdog", #else "reset button", @@ -2223,7 +2210,8 @@ void Platform::Diagnostics(MessageType mtype) : "Unknown"; if (srdBuf[slot].when != 0) { - const struct tm * const timeInfo = gmtime(&srdBuf[slot].when); + const time_t when = (time_t)srdBuf[slot].when; + const struct tm * const timeInfo = gmtime(&when); scratchString.printf("at %04u-%02u-%02u %02u:%02u", timeInfo->tm_year + 1900, timeInfo->tm_mon + 1, timeInfo->tm_mday, timeInfo->tm_hour, timeInfo->tm_min); } @@ -2995,7 +2983,7 @@ void Platform::SetDriverCurrent(size_t driver, float currentOrPercent, int code) #if HAS_SMART_DRIVERS case 917: - motorStandstillCurrentFraction[driver] = 0.01 * currentOrPercent; + SmartDrivers::SetStandstillCurrentPercent(driver, currentOrPercent); break; #endif default: @@ -3110,7 +3098,7 @@ float Platform::GetMotorCurrent(size_t drive, int code) const #if HAS_SMART_DRIVERS case 917: - return motorStandstillCurrentFraction[driver] * 100.0; + return (driver < numSmartDrivers) ? SmartDrivers::GetStandstillCurrentPercent(driver) : 100.0; #endif default: break; @@ -3236,18 +3224,18 @@ void Platform::SetEnableValue(size_t driver, int8_t eVal) #endif } -void Platform::SetAxisDriversConfig(size_t drive, const AxisDriversConfig& config) +void Platform::SetAxisDriversConfig(size_t axis, const AxisDriversConfig& config) { - axisDrivers[drive] = config; + axisDrivers[axis] = config; uint32_t bitmap = 0; for (size_t i = 0; i < config.numDrivers; ++i) { bitmap |= CalcDriverBitmap(config.driverNumbers[i]); #if HAS_SMART_DRIVERS - SmartDrivers::SetAxisNumber(config.driverNumbers[i], drive); + SmartDrivers::SetAxisNumber(config.driverNumbers[i], axis); #endif } - driveDriverBits[drive] = bitmap; + driveDriverBits[axis] = bitmap; } // Map an extruder to a driver @@ -3410,14 +3398,14 @@ void Platform::GetEndStopConfiguration(size_t axis, EndStopPosition& esType, End //----------------------------------------------------------------------------------------------------- -void Platform::AppendAuxReply(const char *msg) +void Platform::AppendAuxReply(const char *msg, bool rawMessage) { // Discard this response if either no aux device is attached or if the response is empty if (msg[0] != 0 && HaveAux()) { - if (msg[0] == '{') + if (rawMessage) { - // JSON responses are always sent directly to the AUX device + // Raw responses are sent directly to the AUX device OutputBuffer *buf; if (OutputBuffer::Allocate(buf)) { @@ -3437,14 +3425,14 @@ void Platform::AppendAuxReply(const char *msg) } } -void Platform::AppendAuxReply(OutputBuffer *reply) +void Platform::AppendAuxReply(OutputBuffer *reply, bool rawMessage) { // Discard this response if either no aux device is attached or if the response is empty if (reply == nullptr || reply->Length() == 0 || !HaveAux()) { OutputBuffer::ReleaseAll(reply); } - else if ((*reply)[0] == '{') + else if (rawMessage) { // JSON responses are always sent directly to the AUX device // For big responses it makes sense to write big chunks of data in portions. Store this data here @@ -3481,7 +3469,7 @@ void Platform::RawMessage(MessageType type, const char *message) } else if ((type & LcdMessage) != 0) { - AppendAuxReply(message); + AppendAuxReply(message, (message[0] == '{') || (type & RawMessageFlag) != 0); } if ((type & HttpMessage) != 0) @@ -3597,7 +3585,7 @@ void Platform::Message(const MessageType type, OutputBuffer *buffer) if ((type & (LcdMessage | ImmediateLcdMessage)) != 0) { - AppendAuxReply(buffer); + AppendAuxReply(buffer, ((*buffer)[0] == '{') || (type & RawMessageFlag) != 0); } if ((type & HttpMessage) != 0) @@ -4106,9 +4094,9 @@ bool Platform::GetFirmwarePin(LogicalPin logicalPin, PinAccess access, Pin& firm return false; } -bool Platform::SetExtrusionAncilliaryPwmPin(LogicalPin logicalPin) +bool Platform::SetExtrusionAncilliaryPwmPin(LogicalPin logicalPin, bool invert) { - return extrusionAncilliaryPwmPort.Set(logicalPin, PinAccess::pwm); + return extrusionAncilliaryPwmPort.Set(logicalPin, PinAccess::pwm, invert); } // CNC and laser support @@ -4131,21 +4119,21 @@ void Platform::SetLaserPwm(float pwm) laserPort.WriteAnalog(pwm); } -bool Platform::SetSpindlePins(LogicalPin lpf, LogicalPin lpr) +bool Platform::SetSpindlePins(LogicalPin lpf, LogicalPin lpr, bool invert) { - const bool ok1 = spindleForwardPort.Set(lpf, PinAccess::pwm); + const bool ok1 = spindleForwardPort.Set(lpf, PinAccess::pwm, invert); if (lpr == NoLogicalPin) { spindleReversePort.Clear(); return ok1; } - const bool ok2 = spindleReversePort.Set(lpr, PinAccess::pwm); + const bool ok2 = spindleReversePort.Set(lpr, PinAccess::pwm, invert); return ok1 && ok2; } -void Platform::GetSpindlePins(LogicalPin& lpf, LogicalPin& lpr) const +void Platform::GetSpindlePins(LogicalPin& lpf, LogicalPin& lpr, bool& invert) const { - lpf = spindleForwardPort.GetLogicalPin(); + lpf = spindleForwardPort.GetLogicalPin(invert); lpr = spindleReversePort.GetLogicalPin(); } @@ -4155,9 +4143,9 @@ void Platform::SetSpindlePwmFrequency(float freq) spindleReversePort.SetFrequency(freq); } -bool Platform::SetLaserPin(LogicalPin lp) +bool Platform::SetLaserPin(LogicalPin lp, bool invert) { - return laserPort.Set(lp, PinAccess::pwm); + return laserPort.Set(lp, PinAccess::pwm, invert); } void Platform::SetLaserPwmFrequency(float freq) @@ -4328,7 +4316,7 @@ bool Platform::ConfigureStallDetection(GCodeBuffer& gb, const StringRef& reply) if (gb.Seen('F')) { seen = true; - const int sgFilter = (gb.GetIValue() == 1); + const bool sgFilter = (gb.GetIValue() == 1); for (size_t drive = 0; drive < numSmartDrivers; ++drive) { if (IsBitSet(drivers, drive)) @@ -4467,6 +4455,17 @@ void Platform::InitI2c() #endif } +#if SAM4E || SAM4S || SAME70 + +// Get a pseudo-random number +uint32_t Platform::Random() +{ + const uint32_t clocks = GetInterruptClocks(); + return clocks ^ uniqueId[0] ^ uniqueId[1] ^ uniqueId[2] ^ uniqueId[3]; +} + +#endif + // Step pulse timer interrupt void STEP_TC_HANDLER() __attribute__ ((hot)); diff --git a/src/Platform.h b/src/Platform.h index 2ce27086..5977b2fa 100644 --- a/src/Platform.h +++ b/src/Platform.h @@ -38,7 +38,7 @@ Licence: GPL #include "Storage/FileData.h" #include "Storage/MassStorage.h" // must be after Pins.h because it needs NumSdCards defined #include "MessageType.h" -#include "Zprobe.h" +#include "ZProbe.h" #include "ZProbeProgrammer.h" #if defined(DUET_NG) @@ -158,6 +158,17 @@ enum class EndStopInputType motorStall = 3 }; +// Other firmware that we might switch to be compatible with. +enum class Compatibility : uint8_t +{ + me = 0, + reprapFirmware = 1, + marlin = 2, + teacup = 3, + sprinter = 4, + repetier = 5 +}; + /***************************************************************************************************/ // Enumeration describing the reasons for a software reset. @@ -329,8 +340,8 @@ public: // Communications and data storage OutputBuffer *GetAuxGCodeReply(); // Returns cached G-Code reply for AUX devices and clears its reference - void AppendAuxReply(OutputBuffer *buf); - void AppendAuxReply(const char *msg); + void AppendAuxReply(OutputBuffer *buf, bool rawMessage); + void AppendAuxReply(const char *msg, bool rawMessage); uint32_t GetAuxSeq() { return auxSeq; } bool HaveAux() const { return auxDetected; } // Any device on the AUX line? void SetAuxDetected() { auxDetected = true; } @@ -434,7 +445,7 @@ public: pre(axis < MaxAxes); uint32_t GetAllEndstopStates() const; - void SetAxisDriversConfig(size_t drive, const AxisDriversConfig& config); + void SetAxisDriversConfig(size_t axis, const AxisDriversConfig& config); const AxisDriversConfig& GetAxisDriversConfig(size_t drive) const { return axisDrivers[drive]; } void SetExtruderDriver(size_t extruder, uint8_t driver); @@ -555,13 +566,13 @@ public: // Logging support bool ConfigureLogging(GCodeBuffer& gb, const StringRef& reply); - // Ancilliary PWM + // Ancillary PWM void SetExtrusionAncilliaryPwmValue(float v); float GetExtrusionAncilliaryPwmValue() const; void SetExtrusionAncilliaryPwmFrequency(float f); float GetExtrusionAncilliaryPwmFrequency() const; - bool SetExtrusionAncilliaryPwmPin(LogicalPin logicalPin); - int GetExtrusionAncilliaryPwmPin() const { return extrusionAncilliaryPwmPort.GetLogicalPin(); } + bool SetExtrusionAncilliaryPwmPin(LogicalPin logicalPin, bool invert); + LogicalPin GetExtrusionAncilliaryPwmPin(bool& invert) const { return extrusionAncilliaryPwmPort.GetLogicalPin(invert); } void ExtrudeOn(); void ExtrudeOff(); @@ -569,19 +580,23 @@ public: void SetSpindlePwm(float pwm); void SetLaserPwm(float pwm); - bool SetSpindlePins(LogicalPin lpf, LogicalPin lpr); - void GetSpindlePins(LogicalPin& lpf, LogicalPin& lpr) const; + bool SetSpindlePins(LogicalPin lpf, LogicalPin lpr, bool invert); + void GetSpindlePins(LogicalPin& lpf, LogicalPin& lpr, bool& invert) const; void SetSpindlePwmFrequency(float freq); float GetSpindlePwmFrequency() const { return spindleForwardPort.GetFrequency(); } - bool SetLaserPin(LogicalPin lp); - LogicalPin GetLaserPin() const { return laserPort.GetLogicalPin(); } + bool SetLaserPin(LogicalPin lp, bool invert); + LogicalPin GetLaserPin(bool& invert) const { return laserPort.GetLogicalPin(invert); } void SetLaserPwmFrequency(float freq); float GetLaserPwmFrequency() const { return laserPort.GetFrequency(); } // Misc void InitI2c(); +#if SAM4E || SAM4S || SAME70 + uint32_t Random(); +#endif + static uint8_t softwareResetDebugInfo; // extra info for debugging #if SAM4S || SAME70 @@ -639,7 +654,7 @@ private: uint32_t icsr; // interrupt control and state register uint32_t bfar; // bus fault address register uint32_t sp; // stack pointer - time_t when; // value of the RTC when the software reset occurred + uint32_t when; // value of the RTC when the software reset occurred uint32_t stack[24]; // stack when the exception occurred, with the program counter at the bottom bool isVacant() const // return true if this struct can be written without erasing it first @@ -672,12 +687,16 @@ private: ZProbe alternateZProbeParameters; // Z probe values for the alternate sensor ZProbeType zProbeType; // the type of Z probe we are currently using - byte ipAddress[4]; - byte netMask[4]; - byte gateWay[4]; + // Network + uint8_t ipAddress[4]; + uint8_t netMask[4]; + uint8_t gateWay[4]; uint8_t defaultMacAddress[6]; - Compatibility compatibility; + // Board and processor +#if SAM4E || SAM4S || SAME70 + uint32_t uniqueId[5]; +#endif BoardType board; #ifdef DUET_NG @@ -687,6 +706,7 @@ private: uint32_t longWait; bool active; + Compatibility compatibility; uint32_t errorCodeBits; void InitialiseInterrupts(); @@ -716,9 +736,6 @@ private: #endif float motorCurrents[DRIVES]; // the normal motor current for each stepper driver float motorCurrentFraction[DRIVES]; // the percentages of normal motor current that each driver is set to -#if HAS_SMART_DRIVERS - float motorStandstillCurrentFraction[DRIVES]; -#endif AxisDriversConfig axisDrivers[MaxAxes]; // the driver numbers assigned to each axis uint8_t extruderDrivers[MaxExtruders]; // the driver number assigned to each extruder uint32_t driveDriverBits[2 * DRIVES]; // the bitmap of driver port bits for each axis or extruder, followed by the raw versions @@ -773,7 +790,7 @@ private: void InitZProbe(); uint16_t GetRawZProbeReading() const; - void UpdateNetworkAddress(byte dst[4], const byte src[4]); + void UpdateNetworkAddress(uint8_t dst[4], const uint8_t src[4]); // Axes and endstops float axisMaxima[MaxAxes]; diff --git a/src/PortControl.cpp b/src/PortControl.cpp index 4cd2be96..7af80de5 100644 --- a/src/PortControl.cpp +++ b/src/PortControl.cpp @@ -85,7 +85,7 @@ bool PortControl::Configure(GCodeBuffer& gb, const StringRef& reply) return true; } IoPort& pm = portMap[i]; - if (!pm.Set((LogicalPin)pnum, PinAccess::write)) + if (!pm.Set((LogicalPin)pnum, PinAccess::write, false)) { reply.printf("Port number %ld is not available", pnum); return true; diff --git a/src/PrintMonitor.cpp b/src/PrintMonitor.cpp index cb00022a..6e857748 100644 --- a/src/PrintMonitor.cpp +++ b/src/PrintMonitor.cpp @@ -345,239 +345,269 @@ bool PrintMonitor::GetFileInfo(const char *directory, const char *fileName, GCod char* const buf = reinterpret_cast<char*>(buf32); size_t sizeToRead, sizeToScan; // number of bytes we want to read and scan in this go - if (parseState == parsingHeader) + switch (parseState) { - bool headerInfoComplete = true; - - // Read a chunk from the header. On the first run only process GCODE_READ_SIZE bytes, but use overlap next times. - sizeToRead = (size_t)min<FilePosition>(fileBeingParsed->Length() - fileBeingParsed->Position(), GCODE_READ_SIZE); - if (fileOverlapLength > 0) - { - memcpy(buf, fileOverlap, fileOverlapLength); - sizeToScan = sizeToRead + fileOverlapLength; - } - else + case parsingHeader: { - sizeToScan = sizeToRead; - } + bool headerInfoComplete = true; - uint32_t startTime = millis(); - const int nbytes = fileBeingParsed->Read(&buf[fileOverlapLength], sizeToRead); - if (nbytes != (int)sizeToRead) - { - platform.MessageF(ErrorMessage, "Failed to read header of G-Code file \"%s\"\n", fileName); - parseState = notParsing; - fileBeingParsed->Close(); - info = parsedFileInfo; - return true; - } - buf[sizeToScan] = 0; + // Read a chunk from the header. On the first run only process GCODE_READ_SIZE bytes, but use overlap next times. + sizeToRead = (size_t)min<FilePosition>(fileBeingParsed->Length() - fileBeingParsed->Position(), GCODE_READ_SIZE); + if (fileOverlapLength > 0) + { + memcpy(buf, fileOverlap, fileOverlapLength); + sizeToScan = sizeToRead + fileOverlapLength; + } + else + { + sizeToScan = sizeToRead; + } - // Record performance data - uint32_t now = millis(); - accumulatedReadTime += now - startTime; - startTime = now; + uint32_t startTime = millis(); + const int nbytes = fileBeingParsed->Read(&buf[fileOverlapLength], sizeToRead); + if (nbytes != (int)sizeToRead) + { + platform.MessageF(ErrorMessage, "Failed to read header of G-Code file \"%s\"\n", fileName); + parseState = notParsing; + fileBeingParsed->Close(); + info = parsedFileInfo; + return true; + } + buf[sizeToScan] = 0; - // Search for filament usage (Cura puts it at the beginning of a G-code file) - if (parsedFileInfo.numFilaments == 0) - { - parsedFileInfo.numFilaments = FindFilamentUsed(buf, sizeToScan, parsedFileInfo.filamentNeeded, DRIVES - reprap.GetGCodes().GetTotalAxes()); - headerInfoComplete &= (parsedFileInfo.numFilaments != 0); - } + // Record performance data + uint32_t now = millis(); + accumulatedReadTime += now - startTime; + startTime = now; - // Look for first layer height - if (parsedFileInfo.firstLayerHeight == 0.0) - { - headerInfoComplete &= FindFirstLayerHeight(buf, sizeToScan, parsedFileInfo.firstLayerHeight); - } + // Search for filament usage (Cura puts it at the beginning of a G-code file) + if (parsedFileInfo.numFilaments == 0) + { + parsedFileInfo.numFilaments = FindFilamentUsed(buf, sizeToScan, parsedFileInfo.filamentNeeded, DRIVES - reprap.GetGCodes().GetTotalAxes()); + headerInfoComplete &= (parsedFileInfo.numFilaments != 0); + } - // Look for layer height - if (parsedFileInfo.layerHeight == 0.0) - { - headerInfoComplete &= FindLayerHeight(buf, sizeToScan, parsedFileInfo.layerHeight); - } + // Look for first layer height + if (parsedFileInfo.firstLayerHeight == 0.0) + { + headerInfoComplete &= FindFirstLayerHeight(buf, sizeToScan, parsedFileInfo.firstLayerHeight); + } - // Look for slicer program - if (parsedFileInfo.generatedBy[0] == 0) - { - static const char * const GeneratedByStrings[] = + // Look for layer height + if (parsedFileInfo.layerHeight == 0.0) { - "generated by ", // slic3r and S3D - ";Sliced by ", // ideaMaker - "; KISSlicer", // KISSlicer - ";Sliced at: ", // Cura (old) - ";Generated with " // Cura (new) - }; - - size_t index = 0; - const char* pos; - do + headerInfoComplete &= FindLayerHeight(buf, sizeToScan, parsedFileInfo.layerHeight); + } + + // Look for slicer program + if (parsedFileInfo.generatedBy[0] == 0) { - pos = strstr(buf, GeneratedByStrings[index]); - if (pos != nullptr) + static const char * const GeneratedByStrings[] = { - break; - } - ++index; - } while (index < ARRAY_SIZE(GeneratedByStrings)); + "generated by ", // slic3r and S3D + ";Sliced by ", // ideaMaker + "; KISSlicer", // KISSlicer + ";Sliced at: ", // Cura (old) + ";Generated with " // Cura (new) + }; + + size_t index = 0; + const char* pos; + do + { + pos = strstr(buf, GeneratedByStrings[index]); + if (pos != nullptr) + { + break; + } + ++index; + } while (index < ARRAY_SIZE(GeneratedByStrings)); - if (pos != nullptr) - { - const char* introString = ""; - switch (index) + if (pos != nullptr) { - default: - pos += strlen(GeneratedByStrings[index]); - break; + const char* introString = ""; + switch (index) + { + default: + pos += strlen(GeneratedByStrings[index]); + break; - case 2: // KISSlicer - pos += 2; - break; + case 2: // KISSlicer + pos += 2; + break; - case 3: // Cura (old) - introString = "Cura at "; - pos += strlen(GeneratedByStrings[index]); - break; + case 3: // Cura (old) + introString = "Cura at "; + pos += strlen(GeneratedByStrings[index]); + break; + } + + strcpy(parsedFileInfo.generatedBy, introString); + size_t i = strlen(introString); + while (i < ARRAY_SIZE(parsedFileInfo.generatedBy) - 1 && *pos >= ' ') + { + parsedFileInfo.generatedBy[i++] = *pos++; + } + parsedFileInfo.generatedBy[i] = 0; } + } + headerInfoComplete &= (parsedFileInfo.generatedBy[0] != 0); + + // Keep track of the time stats + accumulatedParseTime += millis() - startTime; - strcpy(parsedFileInfo.generatedBy, introString); - size_t i = strlen(introString); - while (i < ARRAY_SIZE(parsedFileInfo.generatedBy) - 1 && *pos >= ' ') + // Can we proceed to the footer? Don't scan more than the first 4KB of the file + FilePosition pos = fileBeingParsed->Position(); + if (headerInfoComplete || pos >= GCODE_HEADER_SIZE || pos == fileBeingParsed->Length()) + { + // Yes - see if we need to output some debug info + if (reprap.Debug(modulePrintMonitor)) { - parsedFileInfo.generatedBy[i++] = *pos++; + platform.MessageF(UsbMessage, "Header complete, processed %lu bytes, read time %.3fs, parse time %.3fs\n", + fileBeingParsed->Position(), (double)((float)accumulatedReadTime/1000.0), (double)((float)accumulatedParseTime/1000.0)); } - parsedFileInfo.generatedBy[i] = 0; + + // Go to the last chunk and proceed from there on + const FilePosition seekFromEnd = ((fileBeingParsed->Length() - 1) % GCODE_READ_SIZE) + 1; + nextSeekPos = fileBeingParsed->Length() - seekFromEnd; + accumulatedSeekTime = accumulatedReadTime = accumulatedParseTime = 0; + fileOverlapLength = 0; + parseState = seeking; + } + else + { + // No - copy the last chunk of the buffer for overlapping search + fileOverlapLength = min<size_t>(sizeToRead, GCODE_OVERLAP_SIZE); + memcpy(fileOverlap, &buf[sizeToRead - fileOverlapLength], fileOverlapLength); } } - headerInfoComplete &= (parsedFileInfo.generatedBy[0] != 0); - - // Keep track of the time stats - accumulatedParseTime += millis() - startTime; + break; - // Can we proceed to the footer? Don't scan more than the first 4KB of the file - FilePosition pos = fileBeingParsed->Position(); - if (headerInfoComplete || pos >= GCODE_HEADER_SIZE || pos == fileBeingParsed->Length()) + case seeking: + // Seeking into a large file can take a long time using the FAT file system, so do it in stages { - // Yes - see if we need to output some debug info - if (reprap.Debug(modulePrintMonitor)) + FilePosition currentPos = fileBeingParsed->Position(); + const uint32_t clsize = fileBeingParsed->ClusterSize(); + if (currentPos/clsize > nextSeekPos/clsize) { - platform.MessageF(UsbMessage, "Header complete, processed %lu bytes, read time %.3fs, parse time %.3fs\n", - fileBeingParsed->Position(), (double)((float)accumulatedReadTime/1000.0), (double)((float)accumulatedParseTime/1000.0)); + // Seeking backwards over a cluster boundary, so in practice the seek will start from the start of the file + currentPos = 0; } - // Go to the last chunk and proceed from there on - startTime = millis(); - const FilePosition seekFromEnd = ((fileBeingParsed->Length() - 1) % GCODE_READ_SIZE) + 1; - fileBeingParsed->Seek(fileBeingParsed->Length() - seekFromEnd); - accumulatedSeekTime = millis() - startTime; - accumulatedReadTime = accumulatedParseTime = 0; - fileOverlapLength = 0; - parseState = parsingFooter; - } - else - { - // No - copy the last chunk of the buffer for overlapping search - fileOverlapLength = min<size_t>(sizeToRead, GCODE_OVERLAP_SIZE); - memcpy(fileOverlap, &buf[sizeToRead - fileOverlapLength], fileOverlapLength); - } - } + // Seek at most 512 clusters at a time + const FilePosition maxSeekDistance = 512 * (FilePosition)clsize; + const bool doFullSeek = (nextSeekPos <= currentPos) || (nextSeekPos - currentPos <= maxSeekDistance); + const FilePosition thisSeekPos = (doFullSeek) ? nextSeekPos : currentPos + maxSeekDistance; - if (parseState == parsingFooter) - { - // Processing the footer. See how many bytes we need to read and if we can reuse the overlap - FilePosition pos = fileBeingParsed->Position(); - sizeToRead = (size_t)min<FilePosition>(fileBeingParsed->Length() - pos, GCODE_READ_SIZE); - if (fileOverlapLength > 0) - { - memcpy(&buf[sizeToRead], fileOverlap, fileOverlapLength); - sizeToScan = sizeToRead + fileOverlapLength; - } - else - { - sizeToScan = sizeToRead; + const uint32_t startTime = millis(); + if (!fileBeingParsed->Seek(thisSeekPos)) + { + platform.Message(ErrorMessage, "Could not seek from end of file!\n"); + parseState = notParsing; + fileBeingParsed->Close(); + info = parsedFileInfo; + return true; + } + accumulatedSeekTime += millis() - startTime; + if (doFullSeek) + { + parseState = parsingFooter; + } } + break; - // Read another chunk from the footer - uint32_t startTime = millis(); - int nbytes = fileBeingParsed->Read(buf, sizeToRead); - if (nbytes != (int)sizeToRead) + case parsingFooter: { - platform.MessageF(ErrorMessage, "Failed to read footer from G-Code file \"%s\"\n", fileName); - parseState = notParsing; - fileBeingParsed->Close(); - info = parsedFileInfo; - return true; - } - buf[sizeToScan] = 0; + // Processing the footer. See how many bytes we need to read and if we can reuse the overlap + FilePosition pos = fileBeingParsed->Position(); + sizeToRead = (size_t)min<FilePosition>(fileBeingParsed->Length() - pos, GCODE_READ_SIZE); + if (fileOverlapLength > 0) + { + memcpy(&buf[sizeToRead], fileOverlap, fileOverlapLength); + sizeToScan = sizeToRead + fileOverlapLength; + } + else + { + sizeToScan = sizeToRead; + } - // Record performance data - uint32_t now = millis(); - accumulatedReadTime += now - startTime; - startTime = now; + // Read another chunk from the footer + uint32_t startTime = millis(); + int nbytes = fileBeingParsed->Read(buf, sizeToRead); + if (nbytes != (int)sizeToRead) + { + platform.MessageF(ErrorMessage, "Failed to read footer from G-Code file \"%s\"\n", fileName); + parseState = notParsing; + fileBeingParsed->Close(); + info = parsedFileInfo; + return true; + } + buf[sizeToScan] = 0; - bool footerInfoComplete = true; + // Record performance data + uint32_t now = millis(); + accumulatedReadTime += now - startTime; + startTime = now; - // Search for filament used - if (parsedFileInfo.numFilaments == 0) - { - parsedFileInfo.numFilaments = FindFilamentUsed(buf, sizeToScan, parsedFileInfo.filamentNeeded, DRIVES - reprap.GetGCodes().GetTotalAxes()); + bool footerInfoComplete = true; + + // Search for filament used if (parsedFileInfo.numFilaments == 0) { - footerInfoComplete = false; + parsedFileInfo.numFilaments = FindFilamentUsed(buf, sizeToScan, parsedFileInfo.filamentNeeded, DRIVES - reprap.GetGCodes().GetTotalAxes()); + if (parsedFileInfo.numFilaments == 0) + { + footerInfoComplete = false; + } } - } - // Search for layer height - if (parsedFileInfo.layerHeight == 0.0) - { - if (!FindLayerHeight(buf, sizeToScan, parsedFileInfo.layerHeight)) + // Search for layer height + if (parsedFileInfo.layerHeight == 0.0) { - footerInfoComplete = false; + if (!FindLayerHeight(buf, sizeToScan, parsedFileInfo.layerHeight)) + { + footerInfoComplete = false; + } } - } - // Search for object height - if (parsedFileInfo.objectHeight == 0.0) - { - if (!FindHeight(buf, sizeToScan, parsedFileInfo.objectHeight)) + // Search for object height + if (parsedFileInfo.objectHeight == 0.0) { - footerInfoComplete = false; + if (!FindHeight(buf, sizeToScan, parsedFileInfo.objectHeight)) + { + footerInfoComplete = false; + } } - } - // Keep track of the time stats - accumulatedParseTime += millis() - startTime; + // Keep track of the time stats + accumulatedParseTime += millis() - startTime; - // If we've collected all details, scanned the last 192K of the file or if we cannot go any further, stop here. - if (footerInfoComplete || pos == 0 || fileBeingParsed->Length() - pos >= GCODE_FOOTER_SIZE) - { - if (reprap.Debug(modulePrintMonitor)) + // If we've collected all details, scanned the last 192K of the file or if we cannot go any further, stop here. + if (footerInfoComplete || pos == 0 || fileBeingParsed->Length() - pos >= GCODE_FOOTER_SIZE) { - platform.MessageF(UsbMessage, "Footer complete, processed %lu bytes, read time %.3fs, parse time %.3fs, seek time %.3fs\n", - fileBeingParsed->Length() - fileBeingParsed->Position() + GCODE_READ_SIZE, - (double)((float)accumulatedReadTime/1000.0), (double)((float)accumulatedParseTime/1000.0), (double)((float)accumulatedSeekTime/1000.0)); + if (reprap.Debug(modulePrintMonitor)) + { + platform.MessageF(UsbMessage, "Footer complete, processed %lu bytes, read time %.3fs, parse time %.3fs, seek time %.3fs\n", + fileBeingParsed->Length() - fileBeingParsed->Position() + GCODE_READ_SIZE, + (double)((float)accumulatedReadTime/1000.0), (double)((float)accumulatedParseTime/1000.0), (double)((float)accumulatedSeekTime/1000.0)); + } + parseState = notParsing; + fileBeingParsed->Close(); + info = parsedFileInfo; + return true; } - parseState = notParsing; - fileBeingParsed->Close(); - info = parsedFileInfo; - return true; - } - // Else go back further - startTime = millis(); - size_t seekOffset = (size_t)min<FilePosition>(pos, GCODE_READ_SIZE); - if (!fileBeingParsed->Seek(pos - seekOffset)) - { - platform.Message(ErrorMessage, "Could not seek from end of file!\n"); - parseState = notParsing; - fileBeingParsed->Close(); - info = parsedFileInfo; - return true; + // Else go back further + fileOverlapLength = (size_t)min<FilePosition>(sizeToScan, GCODE_OVERLAP_SIZE); + memcpy(fileOverlap, buf, fileOverlapLength); + nextSeekPos = (pos <= GCODE_READ_SIZE) ? 0 : pos - GCODE_READ_SIZE; + parseState = seeking; } - accumulatedSeekTime += millis() - startTime; + break; - fileOverlapLength = (size_t)min<FilePosition>(sizeToScan, GCODE_OVERLAP_SIZE); - memcpy(fileOverlap, buf, fileOverlapLength); + default: // should not get here + info = parsedFileInfo; + return true; } } while (!isPrinting && millis() - loopStartTime < MAX_FILEINFO_PROCESS_TIME); return false; @@ -1057,7 +1087,7 @@ bool PrintMonitor::FindLayerHeight(const char *buf, size_t len, float& layerHeig // Scan the buffer for the filament used. The buffer is null-terminated. // Returns the number of filaments found. -unsigned int PrintMonitor::FindFilamentUsed(const char* buf, size_t len, float *filamentUsed, unsigned int maxFilaments) const +unsigned int PrintMonitor::FindFilamentUsed(const char* buf, size_t len, float *filamentUsed, size_t maxFilaments) const { unsigned int filamentsFound = 0; @@ -1159,7 +1189,7 @@ unsigned int PrintMonitor::FindFilamentUsed(const char* buf, size_t len, float * if (p != nullptr) { const float filamentCMM = strtof(p + strlen(filamentVolumeStr), nullptr) * 1000.0; - filamentUsed[filamentsFound++] = filamentCMM / (PI * (platform.GetFilamentWidth() / 2.0) * (platform.GetFilamentWidth() / 2.0)); + filamentUsed[filamentsFound++] = filamentCMM / (Pi * fsquare(platform.GetFilamentWidth() / 2.0)); } } diff --git a/src/PrintMonitor.h b/src/PrintMonitor.h index f94e4f7f..4f1cb56d 100644 --- a/src/PrintMonitor.h +++ b/src/PrintMonitor.h @@ -68,6 +68,7 @@ enum FileParseState { notParsing, parsingHeader, + seeking, parsingFooter }; @@ -129,9 +130,10 @@ class PrintMonitor float layerEstimatedTimeLeft; // We parse G-Code files in multiple stages. These variables hold the required information - volatile FileParseState parseState; + FileParseState parseState; char filenameBeingParsed[MaxFilenameLength]; FileStore *fileBeingParsed; + FilePosition nextSeekPos; GCodeFileInfo parsedFileInfo; char fileOverlap[GCODE_OVERLAP_SIZE]; @@ -145,7 +147,7 @@ class PrintMonitor bool FindHeight(const char* buf, size_t len, float& height) const; bool FindFirstLayerHeight(const char* buf, size_t len, float& layerHeight) const; bool FindLayerHeight(const char* buf, size_t len, float& layerHeight) const; - unsigned int FindFilamentUsed(const char* buf, size_t len, float *filamentUsed, unsigned int maxFilaments) const; + unsigned int FindFilamentUsed(const char* buf, size_t len, float *filamentUsed, size_t maxFilaments) const; uint32_t accumulatedParseTime, accumulatedReadTime, accumulatedSeekTime; }; diff --git a/src/RepRap.cpp b/src/RepRap.cpp index 39ec4dc5..5a486c2c 100644 --- a/src/RepRap.cpp +++ b/src/RepRap.cpp @@ -102,7 +102,7 @@ void RepRap::Init() // All of the following init functions must execute reasonably quickly before the watchdog times us out platform->Init(); network->Init(); - SetName(DEFAULT_MACHINE_NAME); // network must be initialised before calling this because it calls SetHostName + SetName(DEFAULT_MACHINE_NAME); // network must be initialised before calling this because this calls SetHostName gCodes->Init(); move->Init(); heat->Init(); @@ -1692,9 +1692,12 @@ char RepRap::GetStatusCharacter() const : (gCodes->IsResuming()) ? 'R' // Resuming : (gCodes->IsDoingToolChange()) ? 'T' // Changing tool : (gCodes->IsPaused()) ? 'S' // Paused / Stopped - : (printMonitor->IsPrinting()) ? 'P' // Printing + : (printMonitor->IsPrinting()) + ? ((gCodes->IsSimulating()) ? 'M' // Simulating + : 'P' // Printing + ) : (gCodes->DoingFileMacro() || !move->NoLiveMovement()) ? 'B' // Busy - : 'I'; // Idle + : 'I'; // Idle } bool RepRap::NoPasswordSet() const diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h index 8764ddcb..b44149a8 100644 --- a/src/RepRapFirmware.h +++ b/src/RepRapFirmware.h @@ -154,6 +154,9 @@ private: const T _end; }; +// Macro to create a SimpleRange from an array +#define ARRAY_INDICES(_arr) (SimpleRange<size_t>(ARRAY_SIZE(_arr))) + // Helper functions to work on bitmaps of various lengths. // The primary purpose of these is to allow us to switch between 16, 32 and 64-bit bitmaps. @@ -202,9 +205,6 @@ template<typename BitmapType> BitmapType UnsignedArrayToBitMap(const uint32_t *a return res; } -// Macro to create a SimpleRange from an array -#define ARRAY_INDICES(_arr) (SimpleRange<size_t>(ARRAY_SIZE(_arr))) - // A string buffer used for temporary purposes extern StringRef scratchString; @@ -221,8 +221,10 @@ constexpr float SecondsToMinutes = 1.0/MinutesToSeconds; constexpr float SecondsToMillis = 1000.0; constexpr float MillisToSeconds = 0.001; constexpr float InchToMm = 25.4; -constexpr float DegreesToRadians = PI/180.0; -constexpr float RadiansToDegrees = 180.0/PI; +constexpr float Pi = 3.141592653589793; +constexpr float TwoPi = 3.141592653589793 * 2; +constexpr float DegreesToRadians = 3.141592653589793/180.0; +constexpr float RadiansToDegrees = 180.0/3.141592653589793; #define DEGREE_SYMBOL "\xC2\xB0" // degree-symbol encoding in UTF8 diff --git a/src/Storage/FileStore.cpp b/src/Storage/FileStore.cpp index bb8cd07a..652c78d4 100644 --- a/src/Storage/FileStore.cpp +++ b/src/Storage/FileStore.cpp @@ -205,7 +205,12 @@ bool FileStore::Seek(FilePosition pos) FilePosition FileStore::Position() const { - return file.fptr; + return (inUse) ? file.fptr : 0; +} + +uint32_t FileStore::ClusterSize() const +{ + return (inUse) ? file.fs->csize * 512u : 1; // we divide by the cluster size so return 1 not 0 if there is an error } #if 0 // not currently used diff --git a/src/Storage/FileStore.h b/src/Storage/FileStore.h index ed62d77c..5651b0bd 100644 --- a/src/Storage/FileStore.h +++ b/src/Storage/FileStore.h @@ -34,10 +34,12 @@ public: bool ForceClose(); bool Seek(FilePosition pos); // Jump to pos in the file FilePosition Position() const; // Return the current position in the file, assuming we are reading the file + uint32_t ClusterSize() const; // Cluster size in bytes + FilePosition Length() const; // File size in bytes #if 0 // not currently used bool GoToEnd(); // Position the file at the end (so you can write on the end). #endif - FilePosition Length() const; // File size in bytes + void Duplicate(); // Create a second reference to this file bool Flush(); // Write remaining buffer data bool Invalidate(const FATFS *fs, bool doClose); // Invalidate the file if it uses the specified FATFS object diff --git a/src/Storage/MassStorage.cpp b/src/Storage/MassStorage.cpp index 7a0e6afd..ba167588 100644 --- a/src/Storage/MassStorage.cpp +++ b/src/Storage/MassStorage.cpp @@ -653,7 +653,7 @@ void MassStorage::Spin() } // Get information about the SD card and interface speed -MassStorage::InfoResult MassStorage::GetCardInfo(size_t slot, uint64_t& capacity, uint64_t& freeSpace, uint32_t& speed) +MassStorage::InfoResult MassStorage::GetCardInfo(size_t slot, uint64_t& capacity, uint64_t& freeSpace, uint32_t& speed, uint32_t& clSize) { if (slot >= NumSdCards) { @@ -673,7 +673,16 @@ MassStorage::InfoResult MassStorage::GetCardInfo(size_t slot, uint64_t& capacity uint32_t freeClusters; FATFS *fs; const FRESULT fr = f_getfree(path.c_str(), &freeClusters, &fs); - freeSpace = (fr == FR_OK) ? (uint64_t)freeClusters * fs->csize * 512 : 0; + if (fr == FR_OK) + { + clSize = fs->csize * 512; + freeSpace = (fr == FR_OK) ? (uint64_t)freeClusters * clSize : 0; + } + else + { + clSize = 0; + freeSpace = 0; + } return InfoResult::ok; } diff --git a/src/Storage/MassStorage.h b/src/Storage/MassStorage.h index 68f29058..42302f74 100644 --- a/src/Storage/MassStorage.h +++ b/src/Storage/MassStorage.h @@ -54,7 +54,7 @@ public: ok = 2 }; - InfoResult GetCardInfo(size_t slot, uint64_t& capacity, uint64_t& freeSpace, uint32_t& speed); + InfoResult GetCardInfo(size_t slot, uint64_t& capacity, uint64_t& freeSpace, uint32_t& speed, uint32_t& clSize); friend class Platform; friend class FileStore; diff --git a/src/Version.h b/src/Version.h index 0cb0295e..53dc216f 100644 --- a/src/Version.h +++ b/src/Version.h @@ -9,11 +9,11 @@ #define SRC_VERSION_H_ #ifndef VERSION -# define VERSION "1.21RC2" +# define VERSION "1.21RC3" #endif #ifndef DATE -# define DATE "2018-02-15 build 2" +# define DATE "2018-02-28 build 4" #endif #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman" |