diff options
Diffstat (limited to 'src/CAN/CanInterface.cpp')
| -rw-r--r-- | src/CAN/CanInterface.cpp | 86 |
1 files changed, 67 insertions, 19 deletions
diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp index 9730cc1c..9249dfc5 100644 --- a/src/CAN/CanInterface.cpp +++ b/src/CAN/CanInterface.cpp @@ -30,6 +30,10 @@ # include "SBC/SbcInterface.h" #endif +#if SUPPORT_REMOTE_COMMANDS +# include <Version.h> +#endif + #include <memory> #define SUPPORT_CAN 1 // needed by CanDevice.h @@ -95,6 +99,7 @@ static uint8_t currentTimeSyncMarker = 0xFF; #if SUPPORT_REMOTE_COMMANDS static bool inExpansionMode = false; +static bool mainBoardAcknowledgedAnnounce = false; #endif //#define CAN_DEBUG @@ -166,7 +171,7 @@ constexpr auto TxBufferIndexBroadcast = CanDevice::TxBufferNumber::buffer4; #if USE_TX_FIFO constexpr auto TxBufferIndexMotion = CanDevice::TxBufferNumber::fifo; // we send lots of movement messages so use the FIFO for them #else -constexpr auto TxBufferIndexMotion = CanDevice::TxBufferNumber::buffer5; // we send lots of movement messages so use the FIFO for them +constexpr auto TxBufferIndexMotion = CanDevice::TxBufferNumber::buffer5; #endif // Receive buffer/FIFO usage. All dedicated buffer numbers must be < Can0Config.numRxBuffers. @@ -221,17 +226,6 @@ static void InitReceiveFilters() noexcept # endif } -#if SUPPORT_REMOTE_COMMANDS - -static void ReInit() noexcept -{ - can0dev->Disable(); - InitReceiveFilters(); - can0dev->Enable(); -} - -#endif - // This is the function called by the transmit event handler when the message marker is nonzero void TxCallback(uint8_t marker, CanId id, uint16_t timeStamp) noexcept { @@ -317,6 +311,13 @@ bool CanInterface::InExpansionMode() noexcept return inExpansionMode; } +static void ReInit() noexcept +{ + can0dev->Disable(); + InitReceiveFilters(); + can0dev->Enable(); +} + void CanInterface::SwitchToExpansionMode(CanAddress addr) noexcept { TaskCriticalSectionLocker lock; @@ -327,6 +328,43 @@ void CanInterface::SwitchToExpansionMode(CanAddress addr) noexcept ReInit(); // reset the CAN filters to account for our new CAN address } +// Send an announcement message if we haven't had an announce acknowledgement from a main board. On return the buffer is available to use again. +void CanInterface::SendAnnounce(CanMessageBuffer *buf) noexcept +{ + if (inExpansionMode && !mainBoardAcknowledgedAnnounce) + { + auto msg = buf->SetupBroadcastMessage<CanMessageAnnounceNew>(myAddress); + msg->timeSinceStarted = millis(); + msg->numDrivers = NumDirectDrivers; + msg->zero = 0; + memcpy(msg->uniqueId, reprap.GetPlatform().GetUniqueId().GetRaw(), sizeof(msg->uniqueId)); + // Note, board type name, firmware version, firmware date and firmware time are limited to 43 characters in the new + // We use vertical-bar to separate the three fields: board type, firmware version, date/time + SafeSnprintf(msg->boardTypeAndFirmwareVersion, ARRAY_SIZE(msg->boardTypeAndFirmwareVersion), "%s|%s|%s%.6s", BOARD_SHORT_NAME, VERSION, IsoDate, TIME_SUFFIX); + buf->dataLength = msg->GetActualDataLength(); + SendMessageNoReplyNoFree(buf); + } +} + +// Send an event. The text will be truncated if it is longer than 55 characters. +void CanInterface::RaiseEvent(EventType type, uint16_t param, uint8_t device, const char *format, va_list vargs) noexcept +{ + CanMessageBuffer buf(nullptr); + auto msg = buf.SetupStatusMessage<CanMessageEvent>(CanInterface::GetCanAddress(), CanId::MasterAddress); + msg->eventType = EventType::heater_fault; + msg->deviceNumber = device; + msg->eventParam = param; + msg->zero = 0; + SafeVsnprintf(msg->text, ARRAY_SIZE(msg->text), format, vargs); + buf.dataLength = msg->GetActualDataLength(); + CanInterface::SendMessageNoReplyNoFree(&buf); +} + +void CanInterface::MainBoardAcknowledgedAnnounce() noexcept +{ + mainBoardAcknowledgedAnnounce = true; +} + #endif // Allocate a CAN request ID @@ -1230,18 +1268,28 @@ GCodeResult CanInterface::ReadRemoteHandles(CanAddress boardAddress, RemoteInput void CanInterface::Diagnostics(MessageType mtype) noexcept { - unsigned int messagesQueuedForSending, messagesReceived, messagesLost, busOffCount; - can0dev->GetAndClearStats(messagesQueuedForSending, messagesReceived, messagesLost, busOffCount); - reprap.GetPlatform().MessageF(mtype, - "=== CAN ===\nMessages queued %u, received %u, lost %u, longest wait %" PRIu32 "ms for reply type %u" - ", peak Tx sync delay %" PRIu32 + Platform& p = reprap.GetPlatform(); + p.Message(mtype, "=== CAN ===\n"); + // If the user runs M122 after an emergency stop, can0dev will be null + if (can0dev == nullptr) + { + p.Message(mtype, "Disabled\n"); + } + else + { + unsigned int messagesQueuedForSending, messagesReceived, messagesLost, busOffCount; + can0dev->GetAndClearStats(messagesQueuedForSending, messagesReceived, messagesLost, busOffCount); + p.MessageF(mtype, "Messages queued %u, received %u, lost %u, boc %u\n", messagesQueuedForSending, messagesReceived, messagesLost, busOffCount); + } + + p.MessageF(mtype, + "Longest wait %" PRIu32 "ms for reply type %u, peak Tx sync delay %" PRIu32 ", free buffers %u (min %u)" //debug ", ts %u/%u/%u" //end debug "\n", - messagesQueuedForSending, messagesReceived, messagesLost, longestWaitTime, longestWaitMessageType, - peakTimeSyncTxDelay, + longestWaitTime, longestWaitMessageType, peakTimeSyncTxDelay, CanMessageBuffer::GetFreeBuffers(), CanMessageBuffer::GetAndClearMinFreeBuffers() //debug , timeSyncMessagesSent, goodTimeStamps, badTimeStamps |