Networking and conditional GCode changes

Removed LWIP_GMAC_TASK definition. We now always use a separate task for
the GMAC.
Added loop counter constant 'iterations'
Fixed some expressoin evaluation bugs

7 files changed, 83 insertions, 291 deletions

diff --git a/src/Networking/LwipEthernet/GMAC/ethernet_sam.cpp b/src/Networking/LwipEthernet/GMAC/ethernet_sam.cpp
index d4301e93..da87c94f 100644
--- a/src/Networking/LwipEthernet/GMAC/ethernet_sam.cpp
+++ b/src/Networking/LwipEthernet/GMAC/ethernet_sam.cpp
@@ -212,29 +212,10 @@ bool ethernet_link_established() noexcept
  */
 void ethernet_task() noexcept
 {
-#if !LWIP_GMAC_TASK
-	/* Run polling tasks */
-	while (ethernetif_input(&gs_net_if)) { }
-#endif
-
 	/* Run periodic tasks */
 	ethernet_timers_update();
 }
 
-#if !LWIP_GMAC_TASK
-/*
- * \brief Sets the EMAC RX callback. It will be called when a new packet
- * can be processed and should be called with a NULL parameter inside
- * the actual callback.
- *
- * \param callback The callback to be called when a new packet is ready
- */
-void ethernet_set_rx_callback(gmac_dev_tx_cb_t callback) noexcept
-{
-	ethernetif_set_rx_callback(callback);
-}
-#endif
-
 /*
  * \brief Returns the current IP address
  */
diff --git a/src/Networking/LwipEthernet/GMAC/ethernet_sam.h b/src/Networking/LwipEthernet/GMAC/ethernet_sam.h
index c1948803..41350fb2 100644
--- a/src/Networking/LwipEthernet/GMAC/ethernet_sam.h
+++ b/src/Networking/LwipEthernet/GMAC/ethernet_sam.h
@@ -75,11 +75,6 @@ void ethernet_timers_update() noexcept;
 // Reads all stored network packets and processes them
 void ethernet_task() noexcept;
 
-#if !LWIP_GMAC_TASK
-// Set the RX callback for incoming network packets
-void ethernet_set_rx_callback(gmac_dev_tx_cb_t callback) noexcept;
-#endif
-
 // Returns the network interface's current IPv4 address
 void ethernet_get_ipaddress(IPAddress& ipAddress, IPAddress& netMask, IPAddress& gateWay) noexcept;
 
diff --git a/src/Networking/LwipEthernet/GMAC/same70_gmac.cpp b/src/Networking/LwipEthernet/GMAC/same70_gmac.cpp
index 2565fe79..79704484 100644
--- a/src/Networking/LwipEthernet/GMAC/same70_gmac.cpp
+++ b/src/Networking/LwipEthernet/GMAC/same70_gmac.cpp
@@ -52,8 +52,6 @@ extern "C" {
 
 extern void delay(uint32_t ms);
 
-#if LWIP_GMAC_TASK
-
 // We can't #include RepRapFirmware.h here because that leads to a duplicate definition of ERR_TIMEOUT
 #include <RTOSIface/RTOSIface.h>
 #include <TaskPriorities.h>
@@ -63,8 +61,6 @@ extern Mutex lwipMutex;
 constexpr size_t EthernetTaskStackWords = 250;
 static Task<EthernetTaskStackWords> ethernetTask;
 
-#endif
-
 // Error counters
 unsigned int rxErrorCount;
 unsigned int rxBuffersNotFullyPopulatedCount;
@@ -82,7 +78,6 @@ unsigned int txBufferTooShortCount;
 /** Network link speed. */
 #define NET_LINK_SPEED        100000000
 
-#if LWIP_GMAC_TASK
 /* Interrupt priorities. (lowest value = highest priority) */
 /* ISRs using FreeRTOS *FromISR APIs must have priorities below or equal to */
 /* configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY. */
@@ -95,16 +90,6 @@ unsigned int txBufferTooShortCount;
 
 /** The GMAC RX errors to handle */
 #define GMAC_RX_ERRORS (GMAC_RSR_RXOVR | GMAC_RSR_HNO)
-#elif 1		// chrishamm
-#define GMAC_INT_GROUP       (GMAC_ISR_RCOMP | GMAC_ISR_ROVR)		// call ISR only when a new frame has arrived
-#define GMAC_TX_ERRORS       0
-#define GMAC_RX_ERRORS       0
-#else
-#define INT_PRIORITY_GMAC    0
-#define GMAC_INT_GROUP       0
-#define GMAC_TX_ERRORS       0
-#define GMAC_RX_ERRORS       0
-#endif
 
 /** TX descriptor lists */
 COMPILER_ALIGNED(8)
@@ -169,16 +154,11 @@ uint32_t lwip_tx_rate = 0;
 uint32_t lwip_rx_rate = 0;
 #endif
 
-#if !LWIP_GMAC_TASK
-static gmac_dev_tx_cb_t gmac_rx_cb = nullptr;
-#endif
-
 /**
  * \brief GMAC interrupt handler.
  */
 extern "C" void GMAC_Handler() noexcept
 {
-#if LWIP_GMAC_TASK
 	/* Get interrupt status. */
 	const uint32_t ul_isr = gmac_get_interrupt_status(GMAC);
 
@@ -187,22 +167,6 @@ extern "C" void GMAC_Handler() noexcept
 	{
 		ethernetTask.GiveFromISR();
 	}
-#else
-# if 1
-	volatile uint32_t ul_isr;
-
-	/* Get interrupt status. */
-	ul_isr = gmac_get_interrupt_status(GMAC);
-
-	/* RX interrupts. */
-	if ((ul_isr & GMAC_INT_GROUP) != 0 && gmac_rx_cb != nullptr)
-	{
-		gmac_rx_cb(ul_isr);
-	}
-# else
-    NVIC_DisableIRQ(GMAC_IRQn);
-# endif
-#endif
 }
 
 /**
@@ -557,7 +521,6 @@ static pbuf *gmac_low_level_input(struct netif *netif) noexcept
 	return p;
 }
 
-#if LWIP_GMAC_TASK
 /**
  * \brief GMAC task function. This function waits for the notification
  * semaphore from the interrupt, processes the incoming packet and then
@@ -582,7 +545,6 @@ extern "C" [[noreturn]] void gmac_task(void *pvParameters) noexcept
 		TaskBase::Take((rxPbufsFullyPopulated) ? 1000 : 20);
 	}
 }
-#endif
 
 /**
  * \brief This function should be called when a packet is ready to be
@@ -676,10 +638,7 @@ err_t ethernetif_init(struct netif *netif) noexcept
 	/* Initialize the hardware */
 	gmac_low_level_init(netif);
 
-#if LWIP_GMAC_TASK
 	ethernetTask.Create(gmac_task, "ETHERNET", &gs_gmac_dev, TaskPriority::EthernetPriority);
-#endif
-
 	return ERR_OK;
 }
 
@@ -809,13 +768,6 @@ bool ethernetif_link_established() noexcept
 	return true;
 }
 
-#if !LWIP_GMAC_TASK
-void ethernetif_set_rx_callback(gmac_dev_tx_cb_t callback) noexcept
-{
-	gmac_rx_cb = callback;
-}
-#endif
-
 void ethernetif_set_mac_address(const uint8_t macAddress[]) noexcept
 {
 	// This function must be called once before low_level_init(), because that is where the
@@ -830,9 +782,7 @@ void ethernetif_set_mac_address(const uint8_t macAddress[]) noexcept
 void ethernetif_terminate() noexcept
 {
 	NVIC_DisableIRQ(GMAC_IRQn);
-#if LWIP_GMAC_TASK
 	ethernetTask.TerminateAndUnlink();
-#endif
 }
 
 extern "C" u32_t millis() noexcept;
diff --git a/src/Networking/LwipEthernet/GMAC/same70_gmac.h b/src/Networking/LwipEthernet/GMAC/same70_gmac.h
index 8d6bd595..dfdaca6d 100644
--- a/src/Networking/LwipEthernet/GMAC/same70_gmac.h
+++ b/src/Networking/LwipEthernet/GMAC/same70_gmac.h
@@ -69,11 +69,6 @@ bool ethernetif_establish_link() noexcept;					// attempts to establish link and
 
 bool ethernetif_link_established() noexcept;				// asks the PHY if the link is still up
 
-#if !LWIP_GMAC_TASK
-typedef void (*gmac_dev_tx_cb_t) (uint32_t ul_status) noexcept;	// copied from gmac_raw.h
-void ethernetif_set_rx_callback(gmac_dev_tx_cb_t callback) noexcept;
-#endif
-
 void ethernetif_set_mac_address(const uint8_t macAddress[]) noexcept;
 
 #endif
diff --git a/src/Networking/LwipEthernet/LwipEthernetInterface.cpp b/src/Networking/LwipEthernet/LwipEthernetInterface.cpp
index 88c42a90..0a46d850 100644
--- a/src/Networking/LwipEthernet/LwipEthernetInterface.cpp
+++ b/src/Networking/LwipEthernet/LwipEthernetInterface.cpp
@@ -46,71 +46,17 @@ const unsigned int MdnsTtl = 10 * 60;			// same value as on the Duet 0.6/0.8.5
 
 static LwipEthernetInterface *ethernetInterface;
 
-#if LWIP_GMAC_TASK
-
 # include <RTOSIface/RTOSIface.h>
 Mutex lwipMutex;
 
-#endif
-
 extern "C"
 {
 
-#if !LWIP_GMAC_TASK
-
-	static volatile bool lwipLocked = false;
-	static volatile bool resetCallback = false;
-
-	// Lock functions for LwIP (LwIP isn't thread-safe when working with the raw API)
-	bool LockLWIP()
-	{
-		if (lwipLocked)
-		{
-			return false;
-		}
-
-		lwipLocked = true;
-		return true;
-	}
-
-	void UnlockLWIP()
-	{
-		lwipLocked = false;
-	}
-
-	// Callback functions for the GMAC driver and for LwIP
-
-	// Called from ISR
-	static void ethernet_rx_callback(uint32_t ul_status)
-	{
-		// Because the LWIP stack can become corrupted if we work with it in parallel,
-		// we may have to wait for the next Spin() call to read the next packet.
-		if (LockLWIP())
-		{
-			ethernet_task();
-			UnlockLWIP();
-		}
-		else
-		{
-			ethernet_set_rx_callback(nullptr);
-			resetCallback = true;
-		}
-	}
-
-	#endif
 
 	// Task function to keep the GMAC and LwIP running
 	void DoEthernetTask()
 	{
 		ethernet_task();
-
-#if !LWIP_GMAC_TASK
-		if (resetCallback)
-		{
-			resetCallback = false;
-			ethernet_set_rx_callback(&ethernet_rx_callback);
-		}
-#endif
 	}
 
 	// Callback functions for LWIP (may be called from ISR)
@@ -180,9 +126,7 @@ void LwipEthernetInterface::Init() noexcept
 	interfaceMutex.Create("LwipIface");
 	//TODO we don't yet use this mutex anywhere!
 
-#if LWIP_GMAC_TASK
 	lwipMutex.Create("LwipCore");
-#endif
 
 	// Clear the PCBs
 	for (size_t i = 0; i < NumTcpPorts; ++i)
@@ -405,9 +349,6 @@ void LwipEthernetInterface::Start() noexcept
 		initialised = true;
 	}
 
-#if !LWIP_GMAC_TASK
-	resetCallback = true;			// reset EMAC RX callback on next Spin call
-#endif
 	state = NetworkState::establishingLink;
 }
 
@@ -417,10 +358,6 @@ void LwipEthernetInterface::Stop() noexcept
 	if (state != NetworkState::disabled)
 	{
 		netif_set_down(&gs_net_if);
-#if !LWIP_GMAC_TASK
-		resetCallback = false;
-		ethernet_set_rx_callback(nullptr);
-#endif
 
 #if defined(DUET3)
 	pinMode(PhyResetPin, OUTPUT_LOW);		// hold the Ethernet Phy chip in reset
@@ -432,125 +369,106 @@ void LwipEthernetInterface::Stop() noexcept
 // Main spin loop. If 'full' is true then we are being called from the main spin loop. If false then we are being called during HSMCI idle time.
 void LwipEthernetInterface::Spin() noexcept
 {
-#if LWIP_GMAC_TASK
 	MutexLocker lock(lwipMutex);
-#else
-	if (LockLWIP())							// basically we can't do anything if we can't interact with LWIP
+
+	switch(state)
 	{
-#endif
-		switch(state)
+	case NetworkState::enabled:
+	case NetworkState::disabled:
+	default:
+		// Nothing to do
+		break;
+
+	case NetworkState::establishingLink:
+		if (ethernet_establish_link())
 		{
-		case NetworkState::enabled:
-		case NetworkState::disabled:
-		default:
-			// Nothing to do
-			break;
-
-		case NetworkState::establishingLink:
-			if (ethernet_establish_link())
+			usingDhcp = platform.GetIPAddress().IsNull();
+			if (usingDhcp)
 			{
-				usingDhcp = platform.GetIPAddress().IsNull();
-				if (usingDhcp)
-				{
-					// IP address is all zeros, so use DHCP
-					state = NetworkState::obtainingIP;
+				// IP address is all zeros, so use DHCP
+				state = NetworkState::obtainingIP;
 //					debugPrintf("Link established, getting IP address\n");
-					IPAddress nullAddress;
-					ethernet_set_configuration(nullAddress, nullAddress, nullAddress);
-					dhcp_start(&gs_net_if);
-				}
-				else
-				{
-					// Using static IP address
-					state = NetworkState::connected;
-//					debugPrintf("Link established, network running\n");
-					ethernet_set_configuration(platform.GetIPAddress(), platform.NetMask(), platform.GateWay());
-				}
-			}
-			break;
-
-		case NetworkState::obtainingIP:
-			if (ethernet_link_established())
-			{
-				// Check for incoming packets
-				DoEthernetTask();
-
-				// Have we obtained an IP address yet?
-				ethernet_get_ipaddress(ipAddress, netmask, gateway);
-				if (!ipAddress.IsNull())
-				{
-					// Notify the mDNS responder about this
-					state = NetworkState::connected;
-//						debugPrintf("IP address obtained, network running\n");
-				}
+				IPAddress nullAddress;
+				ethernet_set_configuration(nullAddress, nullAddress, nullAddress);
+				dhcp_start(&gs_net_if);
 			}
 			else
 			{
-//					debugPrintf("Lost phy link\n");
-				TerminateSockets();
-				state = NetworkState::establishingLink;
+				// Using static IP address
+				state = NetworkState::connected;
+//					debugPrintf("Link established, network running\n");
+				ethernet_set_configuration(platform.GetIPAddress(), platform.NetMask(), platform.GateWay());
 			}
-			break;
+		}
+		break;
 
-		case NetworkState::connected:
-			if (usingDhcp)
+	case NetworkState::obtainingIP:
+		if (ethernet_link_established())
+		{
+			// Check for incoming packets
+			DoEthernetTask();
+
+			// Have we obtained an IP address yet?
+			ethernet_get_ipaddress(ipAddress, netmask, gateway);
+			if (!ipAddress.IsNull())
 			{
-				dhcp_stop(&gs_net_if);
+				// Notify the mDNS responder about this
+				state = NetworkState::connected;
+//						debugPrintf("IP address obtained, network running\n");
 			}
+		}
+		else
+		{
+//					debugPrintf("Lost phy link\n");
+			TerminateSockets();
+			state = NetworkState::establishingLink;
+		}
+		break;
 
-			InitSockets();
-			RebuildMdnsServices();
-			ethernet_get_ipaddress(ipAddress, netmask, gateway);
-			platform.MessageF(NetworkInfoMessage, "Ethernet running, IP address = %s\n", IP4String(ipAddress).c_str());
-			state = NetworkState::active;
-			break;
+	case NetworkState::connected:
+		if (usingDhcp)
+		{
+			dhcp_stop(&gs_net_if);
+		}
 
-		case NetworkState::active:
-			// Check that the link is still up
-			if (ethernet_link_established())
-			{
-				// Check for incoming packets
-				DoEthernetTask();
+		InitSockets();
+		RebuildMdnsServices();
+		ethernet_get_ipaddress(ipAddress, netmask, gateway);
+		platform.MessageF(NetworkInfoMessage, "Ethernet running, IP address = %s\n", IP4String(ipAddress).c_str());
+		state = NetworkState::active;
+		break;
 
-				// Poll the next TCP socket
-				sockets[nextSocketToPoll]->Poll();
+	case NetworkState::active:
+		// Check that the link is still up
+		if (ethernet_link_established())
+		{
+			// Check for incoming packets
+			DoEthernetTask();
 
-				// Move on to the next TCP socket for next time
-				++nextSocketToPoll;
-				if (nextSocketToPoll == NumEthernetSockets)
-				{
-					nextSocketToPoll = 0;
-				}
+			// Poll the next TCP socket
+			sockets[nextSocketToPoll]->Poll();
 
-				// Check if the data port needs to be closed
-				if (closeDataPort && !sockets[FtpDataSocketNumber]->IsClosing())
-				{
-					TerminateDataPort();
-				}
+			// Move on to the next TCP socket for next time
+			++nextSocketToPoll;
+			if (nextSocketToPoll == NumEthernetSockets)
+			{
+				nextSocketToPoll = 0;
 			}
-			else
+
+			// Check if the data port needs to be closed
+			if (closeDataPort && !sockets[FtpDataSocketNumber]->IsClosing())
 			{
-//				debugPrintf("Lost phy link\n");
-				TerminateSockets();
-				state = NetworkState::establishingLink;
+				TerminateDataPort();
 			}
-			break;
 		}
-#if !LWIP_GMAC_TASK
-		UnlockLWIP();
-	}
-#endif
-}
-
-void LwipEthernetInterface::Interrupt() noexcept
-{
-#if !LWIP_GMAC_TASK
-	if (initialised && LockLWIP())
-	{
-		ethernet_timers_update();
-		UnlockLWIP();
+		else
+		{
+//				debugPrintf("Lost phy link\n");
+			TerminateSockets();
+			state = NetworkState::establishingLink;
+		}
+		break;
 	}
-#endif
 }
 
 void LwipEthernetInterface::Diagnostics(MessageType mtype) noexcept
@@ -603,15 +521,6 @@ int LwipEthernetInterface::EnableState() const noexcept
 	return (state == NetworkState::disabled) ? 0 : 1;
 }
 
-bool LwipEthernetInterface::InNetworkStack() const noexcept
-{
-#if LWIP_GMAC_TASK
-	return false;
-#else
-	return lwipLocked;
-#endif
-}
-
 bool LwipEthernetInterface::ConnectionEstablished(tcp_pcb *pcb) noexcept
 {
 	for (LwipSocket *s : sockets)
diff --git a/src/Networking/LwipEthernet/LwipEthernetInterface.h b/src/Networking/LwipEthernet/LwipEthernetInterface.h
index 3a4a6f42..d4269cd3 100644
--- a/src/Networking/LwipEthernet/LwipEthernetInterface.h
+++ b/src/Networking/LwipEthernet/LwipEthernetInterface.h
@@ -34,7 +34,6 @@ public:
 	void Activate() noexcept override;
 	void Exit() noexcept override;
 	void Spin() noexcept override;
-	void Interrupt() noexcept override;
 	void Diagnostics(MessageType mtype) noexcept override;
 
 	GCodeResult EnableInterface(int mode, const StringRef& ssid, const StringRef& reply) noexcept override;			// enable or disable the network
@@ -44,7 +43,6 @@ public:
 
 	GCodeResult GetNetworkState(const StringRef& reply) noexcept override;
 	int EnableState() const noexcept override;
-	bool InNetworkStack() const noexcept override;
 	bool IsWiFiInterface() const noexcept override { return false; }
 
 	void UpdateHostname(const char *hostname) noexcept override;
diff --git a/src/Networking/LwipEthernet/LwipSocket.cpp b/src/Networking/LwipEthernet/LwipSocket.cpp
index 52c5288c..a057bb69 100644
--- a/src/Networking/LwipEthernet/LwipSocket.cpp
+++ b/src/Networking/LwipEthernet/LwipSocket.cpp
@@ -12,9 +12,7 @@
 #include "Networking/NetworkBuffer.h"
 #include "RepRap.h"
 
-#if LWIP_GMAC_TASK
 extern Mutex lwipMutex;
-#endif
 
 //***************************************************************************************************
 
@@ -66,12 +64,7 @@ static err_t conn_sent(void *arg, tcp_pcb *pcb, u16_t len)
 	return ERR_OK;
 }
 
-#if !LWIP_GMAC_TASK
-extern bool LockLWIP();
-extern void UnlockLWIP();
-#endif
-
-}
+}	// end extern "C"
 
 //***************************************************************************************************
 
@@ -208,9 +201,7 @@ void LwipSocket::Close() noexcept
 {
 	if (state != SocketState::disabled && state != SocketState::listening)
 	{
-#if LWIP_GMAC_TASK
 		MutexLocker lock(lwipMutex);
-#endif
 		DiscardReceivedData();
 		state = SocketState::closing;
 		whenClosed = millis();
@@ -227,9 +218,7 @@ void LwipSocket::Terminate() noexcept
 {
 	if (state != SocketState::disabled)
 	{
-#if LWIP_GMAC_TASK
 		MutexLocker lock(lwipMutex);
-#endif
 		if (connectionPcb != nullptr)
 		{
 			tcp_err(connectionPcb, nullptr);
@@ -267,10 +256,9 @@ bool LwipSocket::ReadChar(char& c) noexcept
 
 		if (readIndex >= receivedData->len)
 		{
-#if LWIP_GMAC_TASK
-			MutexLocker lock(lwipMutex);
-#endif
 			// We've processed one more pbuf
+			MutexLocker lock(lwipMutex);
+
 			if (connectionPcb != nullptr)
 			{
 				tcp_recved(connectionPcb, receivedData->len);
@@ -313,10 +301,9 @@ void LwipSocket::Taken(size_t len) noexcept
 		readIndex += len;
 		if (readIndex >= receivedData->len)
 		{
-#if LWIP_GMAC_TASK
-			MutexLocker lock(lwipMutex);
-#endif
 			// Notify LwIP
+			MutexLocker lock(lwipMutex);
+
 			if (connectionPcb != nullptr)
 			{
 				tcp_recved(connectionPcb, receivedData->len);
@@ -412,19 +399,11 @@ void LwipSocket::DiscardReceivedData() noexcept
 // Send the data, returning the length buffered
 size_t LwipSocket::Send(const uint8_t *data, size_t length) noexcept
 {
-#if LWIP_GMAC_TASK
 	MutexLocker lock(lwipMutex);
-#else
-	// This is always called outside the EthernetInterface::Spin method. Wait for pending ISRs to finish
-	while (!LockLWIP()) { }
-#endif
 
 	if (!CanSend())
 	{
 		// Don't bother if we cannot send anything at all+
-#if !LWIP_GMAC_TASK
-		UnlockLWIP();
-#endif
 		return 0;
 	}
 
@@ -446,9 +425,6 @@ size_t LwipSocket::Send(const uint8_t *data, size_t length) noexcept
 			if (ERR_IS_FATAL(err))
 			{
 				Terminate();
-#if !LWIP_GMAC_TASK
-				UnlockLWIP();
-#endif
 				return 0;
 			}
 			else if (err == ERR_MEM)
@@ -457,9 +433,6 @@ size_t LwipSocket::Send(const uint8_t *data, size_t length) noexcept
 				{
 					// The buffers are full - try again later
 					tcp_output(connectionPcb);
-#if !LWIP_GMAC_TASK
-					UnlockLWIP();
-#endif
 					return 0;
 				}
 				bytesToSend /= 2;
@@ -471,9 +444,6 @@ size_t LwipSocket::Send(const uint8_t *data, size_t length) noexcept
 		if (ERR_IS_FATAL(tcp_output(connectionPcb)))
 		{
 			Terminate();
-#if !LWIP_GMAC_TASK
-			UnlockLWIP();
-#endif
 			return 0;
 		}
 
@@ -481,15 +451,9 @@ size_t LwipSocket::Send(const uint8_t *data, size_t length) noexcept
 		whenWritten = millis();
 		unAcked += bytesToSend;
 
-#if !LWIP_GMAC_TASK
-		UnlockLWIP();
-#endif
 		return bytesToSend;
 	}
 
-#if !LWIP_GMAC_TASK
-	UnlockLWIP();
-#endif
 	return 0;
 }