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|
#include "RepRap.h"
#include "Movement/Move.h"
#include "Movement/StepTimer.h"
#include "FilamentMonitors/FilamentMonitor.h"
#include "GCodes/GCodes.h"
#include "Heating/Heat.h"
#include "Heating/Sensors/TemperatureSensor.h"
#include "Networking/Network.h"
#if SUPPORT_HTTP
# include "Networking/HttpResponder.h"
#endif
#include "Platform.h"
#include "Scanner.h"
#include <PrintMonitor/PrintMonitor.h>
#include "Tools/Tool.h"
#include "Tools/Filament.h"
#include "Endstops/ZProbe.h"
#include "Tasks.h"
#include <Cache.h>
#include "Fans/FansManager.h"
#include <Hardware/SoftwareReset.h>
#include <Hardware/ExceptionHandlers.h>
#include <Accelerometers/Accelerometers.h>
#include "Version.h"
#ifdef DUET_NG
# include "DueXn.h"
#endif
#if SUPPORT_TMC2660
# include "Movement/StepperDrivers/TMC2660.h"
#endif
#if SUPPORT_TMC22xx
# include "Movement/StepperDrivers/TMC22xx.h"
#endif
#if SUPPORT_TMC51xx
# include "Movement/StepperDrivers/TMC51xx.h"
#endif
#if SUPPORT_IOBITS
# include "PortControl.h"
#endif
#if SUPPORT_12864_LCD
# include "Display/Display.h"
#endif
#if HAS_SBC_INTERFACE
# include "SBC/SbcInterface.h"
#endif
#ifdef DUET3_ATE
# include <Duet3Ate.h>
#endif
#if HAS_HIGH_SPEED_SD
# if !SAME5x
# include <hsmci/hsmci.h>
# include <conf_sd_mmc.h>
# endif
# if SAME70
// Check correct DMA channel assigned
static_assert(CONF_HSMCI_XDMAC_CHANNEL == DmacChanHsmci, "mismatched DMA channel assignment");
# endif
#endif
#if SUPPORT_CAN_EXPANSION
# include <CAN/CanInterface.h>
# include <CAN/ExpansionManager.h>
#endif
#include "FreeRTOS.h"
#include "task.h"
#if SAME70
# include <DmacManager.h>
#endif
#if SAM4S
# include <wdt/wdt.h>
#endif
// We call vTaskNotifyGiveFromISR from various interrupts, so the following must be true
static_assert(configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY <= NvicPriorityHSMCI, "configMAX_SYSCALL_INTERRUPT_PRIORITY is set too high");
// This is the string that identifies the board type and firmware version, that the vector at 0x20 points to.
// The characters after the last space must be the firmware version in standard format, e.g. "3.3.0" or "3.4.0beta4". The firmware build date/time is not included.
extern const char VersionText[] = FIRMWARE_NAME " version " VERSION;
#if HAS_HIGH_SPEED_SD && !SAME5x // SAME5x uses CoreN2G which makes its own RTOS calls
static TaskHandle hsmciTask = nullptr; // the task that is waiting for a HSMCI command to complete
// HSMCI interrupt handler
extern "C" void HSMCI_Handler() noexcept
{
HSMCI->HSMCI_IDR = 0xFFFFFFFF; // disable all HSMCI interrupts
#if SAME70
XDMAC->XDMAC_CHID[DmacChanHsmci].XDMAC_CID = 0xFFFFFFFF; // disable all DMA interrupts for this channel
#endif
TaskBase::GiveFromISR(hsmciTask); // wake up the task
}
#if SAME70
// HSMCI DMA complete callback
void HsmciDmaCallback(CallbackParameter cb, DmaCallbackReason reason) noexcept
{
HSMCI->HSMCI_IDR = 0xFFFFFFFF; // disable all HSMCI interrupts
XDMAC->XDMAC_CHID[DmacChanHsmci].XDMAC_CID = 0xFFFFFFFF; // disable all DMA interrupts for this channel
if (hsmciTask != nullptr)
{
TaskBase::GiveFromISR(hsmciTask);
hsmciTask = nullptr;
}
}
#endif
// Callback function from the hsmci driver, called while it is waiting for an SD card operation to complete
// 'stBits' is the set of bits in the HSMCI status register that the caller is interested in.
// The caller keeps calling this function until at least one of those bits is set.
extern "C" void hsmciIdle(uint32_t stBits, uint32_t dmaBits) noexcept
{
if ( (HSMCI->HSMCI_SR & stBits) == 0
#if SAME70
&& (XDMAC->XDMAC_CHID[DmacChanHsmci].XDMAC_CIS & dmaBits) == 0
#endif
)
{
// Suspend this task until we get an interrupt indicating that a status bit that we are interested in has been set
hsmciTask = TaskBase::GetCallerTaskHandle();
HSMCI->HSMCI_IER = stBits;
#if SAME70
DmacManager::SetInterruptCallback(DmacChanHsmci, HsmciDmaCallback, CallbackParameter());
XDMAC->XDMAC_CHID[DmacChanHsmci].XDMAC_CIE = dmaBits;
XDMAC->XDMAC_GIE = 1u << DmacChanHsmci;
#endif
if (!TaskBase::Take(200))
{
// We timed out waiting for the HSMCI operation to complete
reprap.GetPlatform().LogError(ErrorCode::HsmciTimeout);
}
}
}
#endif //end if HAS_HIGH_SPEED_SD && !SAME5x
#if SUPPORT_OBJECT_MODEL
// Object model table and functions
// Note: if using GCC version 7.3.1 20180622 and lambda functions are used in this table, you must compile this file with option -std=gnu++17.
// Otherwise the table will be allocate in RAM instead of flash, which wastes too much RAM.
// Macro to build a standard lambda function that includes the necessary type conversions
#define OBJECT_MODEL_FUNC(...) OBJECT_MODEL_FUNC_BODY(RepRap, __VA_ARGS__)
#define OBJECT_MODEL_FUNC_IF(_condition,...) OBJECT_MODEL_FUNC_IF_BODY(RepRap, _condition,__VA_ARGS__)
constexpr ObjectModelArrayDescriptor RepRap::boardsArrayDescriptor =
{
nullptr, // no lock needed
#if SUPPORT_CAN_EXPANSION
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return ((const RepRap*)self)->expansion->GetNumExpansionBoards() + 1; },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
{ return (context.GetLastIndex() == 0)
? ExpressionValue(((const RepRap*)self)->platform, 0)
: ExpressionValue(((const RepRap*)self)->expansion, 0); }
#else
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return 1; },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue(((const RepRap*)self)->platform, 0); }
#endif
};
constexpr ObjectModelArrayDescriptor RepRap::fansArrayDescriptor =
{
&FansManager::fansLock,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return ((const RepRap*)self)->fansManager->GetNumFansToReport(); },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue(((const RepRap*)self)->fansManager->FindFan(context.GetLastIndex()).Ptr()); }
};
constexpr ObjectModelArrayDescriptor RepRap::inputsArrayDescriptor =
{
nullptr,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return ((const RepRap*)self)->gCodes->GetNumInputs(); },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue(((const RepRap*)self)->gCodes->GetInput(context.GetLastIndex())); }
};
constexpr ObjectModelArrayDescriptor RepRap::gpoutArrayDescriptor =
{
nullptr,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return reprap.GetPlatform().GetNumGpOutputsToReport(); },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
{
const GpOutputPort& port = reprap.GetPlatform().GetGpOutPort(context.GetLastIndex());
return (port.IsUnused()) ? ExpressionValue(nullptr) : ExpressionValue(&port);
}
};
constexpr ObjectModelArrayDescriptor RepRap::spindlesArrayDescriptor =
{
nullptr, // no lock needed
[] (const ObjectModel *self, const ObjectExplorationContext& context) noexcept -> size_t { return MaxSpindles; },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue(&((const RepRap*)self)->platform->AccessSpindle(context.GetLastIndex())); }
};
constexpr ObjectModelArrayDescriptor RepRap::toolsArrayDescriptor =
{
&toolListLock,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return ((const RepRap*)self)->numToolsToReport; },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue(((const RepRap*)self)->GetTool(context.GetLastIndex()).Ptr()); }
};
constexpr ObjectModelArrayDescriptor RepRap::restorePointsArrayDescriptor =
{
nullptr,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return NumRestorePoints; },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
{ return ExpressionValue(((const RepRap*)self)->gCodes->GetRestorePoint(context.GetLastIndex())); }
};
constexpr ObjectModelArrayDescriptor RepRap::volumesArrayDescriptor =
{
nullptr,
#if HAS_MASS_STORAGE
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return MassStorage::GetNumVolumes(); },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue(MassStorage::GetVolume(context.GetLastIndex())); }
#else
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return 0; },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue { return ExpressionValue(nullptr); }
#endif
};
#if HAS_MASS_STORAGE
constexpr ObjectModelArrayDescriptor RepRap::volChangesArrayDescriptor =
{
nullptr,
[] (const ObjectModel *self, const ObjectExplorationContext&) noexcept -> size_t { return MassStorage::GetNumVolumes(); },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
{ return ExpressionValue((int32_t)MassStorage::GetVolumeSeq(context.GetLastIndex())); }
};
#endif
constexpr ObjectModelTableEntry RepRap::objectModelTable[] =
{
// Within each group, these entries must be in alphabetical order
// 0. MachineModel root
{ "boards", OBJECT_MODEL_FUNC_NOSELF(&boardsArrayDescriptor), ObjectModelEntryFlags::live },
#if HAS_MASS_STORAGE || HAS_EMBEDDED_FILES || HAS_SBC_INTERFACE
{ "directories", OBJECT_MODEL_FUNC(self, 1), ObjectModelEntryFlags::none },
#endif
{ "fans", OBJECT_MODEL_FUNC_NOSELF(&fansArrayDescriptor), ObjectModelEntryFlags::live },
{ "global", OBJECT_MODEL_FUNC(&(self->globalVariables)), ObjectModelEntryFlags::none },
{ "heat", OBJECT_MODEL_FUNC(self->heat), ObjectModelEntryFlags::live },
{ "inputs", OBJECT_MODEL_FUNC_NOSELF(&inputsArrayDescriptor), ObjectModelEntryFlags::live },
{ "job", OBJECT_MODEL_FUNC(self->printMonitor), ObjectModelEntryFlags::live },
{ "limits", OBJECT_MODEL_FUNC(self, 2), ObjectModelEntryFlags::none },
{ "move", OBJECT_MODEL_FUNC(self->move), ObjectModelEntryFlags::live },
// Note, 'network' is needed even if there is no networking, because it contains the machine name
{ "network", OBJECT_MODEL_FUNC(self->network), ObjectModelEntryFlags::none },
#if SUPPORT_SCANNER
{ "scanner", OBJECT_MODEL_FUNC(self->scanner), ObjectModelEntryFlags::none },
#endif
{ "sensors", OBJECT_MODEL_FUNC(&self->platform->GetEndstops()), ObjectModelEntryFlags::live },
{ "seqs", OBJECT_MODEL_FUNC(self, 6), ObjectModelEntryFlags::live },
{ "spindles", OBJECT_MODEL_FUNC_NOSELF(&spindlesArrayDescriptor), ObjectModelEntryFlags::live },
{ "state", OBJECT_MODEL_FUNC(self, 3), ObjectModelEntryFlags::live },
{ "tools", OBJECT_MODEL_FUNC_NOSELF(&toolsArrayDescriptor), ObjectModelEntryFlags::live },
{ "volumes", OBJECT_MODEL_FUNC_NOSELF(&volumesArrayDescriptor), ObjectModelEntryFlags::none },
// 1. MachineModel.directories
#if HAS_MASS_STORAGE || HAS_EMBEDDED_FILES || HAS_SBC_INTERFACE
{ "filaments", OBJECT_MODEL_FUNC_NOSELF(FILAMENTS_DIRECTORY), ObjectModelEntryFlags::verbose },
{ "firmware", OBJECT_MODEL_FUNC_NOSELF(FIRMWARE_DIRECTORY), ObjectModelEntryFlags::verbose },
{ "gCodes", OBJECT_MODEL_FUNC(self->platform->GetGCodeDir()), ObjectModelEntryFlags::verbose },
{ "macros", OBJECT_MODEL_FUNC(self->platform->GetMacroDir()), ObjectModelEntryFlags::verbose },
{ "menu", OBJECT_MODEL_FUNC_NOSELF(MENU_DIR), ObjectModelEntryFlags::verbose },
{ "scans", OBJECT_MODEL_FUNC_NOSELF(SCANS_DIRECTORY), ObjectModelEntryFlags::verbose },
{ "system", OBJECT_MODEL_FUNC_NOSELF(ExpressionValue::SpecialType::sysDir, 0), ObjectModelEntryFlags::none },
{ "web", OBJECT_MODEL_FUNC(self->platform->GetWebDir()), ObjectModelEntryFlags::verbose },
#endif
// 2. MachineModel.limits
{ "axes", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxAxes), ObjectModelEntryFlags::verbose },
{ "axesPlusExtruders", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxAxesPlusExtruders), ObjectModelEntryFlags::verbose },
{ "bedHeaters", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxBedHeaters), ObjectModelEntryFlags::verbose },
#if SUPPORT_CAN_EXPANSION
{ "boards", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxCanBoards + 1), ObjectModelEntryFlags::verbose },
#else
{ "boards", OBJECT_MODEL_FUNC_NOSELF((int32_t)1), ObjectModelEntryFlags::verbose },
#endif
{ "chamberHeaters", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxChamberHeaters), ObjectModelEntryFlags::verbose },
#if SUPPORT_CAN_EXPANSION
{ "drivers", OBJECT_MODEL_FUNC_NOSELF((int32_t)(NumDirectDrivers + MaxCanDrivers)), ObjectModelEntryFlags::verbose },
#else
{ "drivers", OBJECT_MODEL_FUNC((int32_t)self->platform->GetNumActualDirectDrivers()), ObjectModelEntryFlags::verbose },
#endif
{ "driversPerAxis", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxDriversPerAxis), ObjectModelEntryFlags::verbose },
{ "extruders", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxExtruders), ObjectModelEntryFlags::verbose },
{ "extrudersPerTool", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxExtrudersPerTool), ObjectModelEntryFlags::verbose },
{ "fans", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxFans), ObjectModelEntryFlags::verbose },
{ "gpInPorts", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxGpInPorts), ObjectModelEntryFlags::verbose },
{ "gpOutPorts", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxGpOutPorts), ObjectModelEntryFlags::verbose },
{ "heaters", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxHeaters), ObjectModelEntryFlags::verbose },
{ "heatersPerTool", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxHeatersPerTool), ObjectModelEntryFlags::verbose },
{ "monitorsPerHeater", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxMonitorsPerHeater), ObjectModelEntryFlags::verbose },
{ "restorePoints", OBJECT_MODEL_FUNC_NOSELF((int32_t)NumRestorePoints), ObjectModelEntryFlags::verbose },
{ "sensors", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxSensors), ObjectModelEntryFlags::verbose },
{ "spindles", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxSpindles), ObjectModelEntryFlags::verbose },
{ "tools", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxTools), ObjectModelEntryFlags::verbose },
{ "trackedObjects", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxTrackedObjects), ObjectModelEntryFlags::verbose },
{ "triggers", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxTriggers), ObjectModelEntryFlags::verbose },
#if HAS_MASS_STORAGE
{ "volumes", OBJECT_MODEL_FUNC_NOSELF((int32_t)MassStorage::GetNumVolumes()), ObjectModelEntryFlags::verbose },
#else
{ "volumes", OBJECT_MODEL_FUNC_NOSELF((int32_t)0), ObjectModelEntryFlags::verbose },
#endif
{ "workplaces", OBJECT_MODEL_FUNC_NOSELF((int32_t)NumCoordinateSystems), ObjectModelEntryFlags::verbose },
{ "zProbeProgramBytes", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxZProbeProgramBytes), ObjectModelEntryFlags::verbose },
{ "zProbes", OBJECT_MODEL_FUNC_NOSELF((int32_t)MaxZProbes), ObjectModelEntryFlags::verbose },
// 3. MachineModel.state
{ "atxPower", OBJECT_MODEL_FUNC_IF(self->platform->IsAtxPowerControlled(), self->platform->GetAtxPowerState()), ObjectModelEntryFlags::none },
{ "atxPowerPort", OBJECT_MODEL_FUNC_IF(self->platform->IsAtxPowerControlled(), self->platform->GetAtxPowerPort()), ObjectModelEntryFlags::none },
{ "beep", OBJECT_MODEL_FUNC_IF(self->beepDuration != 0, self, 4), ObjectModelEntryFlags::none },
{ "currentTool", OBJECT_MODEL_FUNC((int32_t)self->GetCurrentToolNumber()), ObjectModelEntryFlags::live },
{ "deferredPowerDown", OBJECT_MODEL_FUNC_IF(self->platform->IsAtxPowerControlled(), (int32_t)self->platform->IsDeferredPowerDown()), ObjectModelEntryFlags::none },
{ "displayMessage", OBJECT_MODEL_FUNC(self->message.c_str()), ObjectModelEntryFlags::none },
{ "gpOut", OBJECT_MODEL_FUNC_NOSELF(&gpoutArrayDescriptor), ObjectModelEntryFlags::live },
#if SUPPORT_LASER
// 2020-04-24: return the configured laser PWM even if the laser is temporarily turned off
{ "laserPwm", OBJECT_MODEL_FUNC_IF(self->gCodes->GetMachineType() == MachineType::laser, self->gCodes->GetLaserPwm(), 2), ObjectModelEntryFlags::live },
#endif
#if HAS_MASS_STORAGE
{ "logFile", OBJECT_MODEL_FUNC(self->platform->GetLogFileName()), ObjectModelEntryFlags::none },
#else
{ "logFile", OBJECT_MODEL_FUNC_NOSELF(nullptr), ObjectModelEntryFlags::none },
#endif
{ "logLevel", OBJECT_MODEL_FUNC(self->platform->GetLogLevel()), ObjectModelEntryFlags::none },
{ "machineMode", OBJECT_MODEL_FUNC(self->gCodes->GetMachineModeString()), ObjectModelEntryFlags::none },
{ "macroRestarted", OBJECT_MODEL_FUNC(self->gCodes->GetMacroRestarted()), ObjectModelEntryFlags::none },
{ "messageBox", OBJECT_MODEL_FUNC_IF(self->mbox.active, self, 5), ObjectModelEntryFlags::important },
{ "msUpTime", OBJECT_MODEL_FUNC_NOSELF((int32_t)(context.GetStartMillis() % 1000u)), ObjectModelEntryFlags::live },
{ "nextTool", OBJECT_MODEL_FUNC((int32_t)self->gCodes->GetNewToolNumber()), ObjectModelEntryFlags::live },
#if HAS_VOLTAGE_MONITOR
{ "powerFailScript", OBJECT_MODEL_FUNC(self->gCodes->GetPowerFailScript()), ObjectModelEntryFlags::none },
#endif
{ "previousTool", OBJECT_MODEL_FUNC((int32_t)self->previousToolNumber), ObjectModelEntryFlags::live },
{ "restorePoints", OBJECT_MODEL_FUNC_NOSELF(&restorePointsArrayDescriptor), ObjectModelEntryFlags::none },
{ "status", OBJECT_MODEL_FUNC(self->GetStatusString()), ObjectModelEntryFlags::live },
{ "time", OBJECT_MODEL_FUNC(DateTime(self->platform->GetDateTime())), ObjectModelEntryFlags::live },
{ "upTime", OBJECT_MODEL_FUNC_NOSELF((int32_t)((context.GetStartMillis()/1000u) & 0x7FFFFFFF)), ObjectModelEntryFlags::live },
// 4. MachineModel.state.beep
{ "duration", OBJECT_MODEL_FUNC((int32_t)self->beepDuration), ObjectModelEntryFlags::none },
{ "frequency", OBJECT_MODEL_FUNC((int32_t)self->beepFrequency), ObjectModelEntryFlags::none },
// 5. MachineModel.state.messageBox (FIXME acquire MutexLocker when accessing the following)
{ "axisControls", OBJECT_MODEL_FUNC((int32_t)self->mbox.controls.GetRaw()), ObjectModelEntryFlags::important },
{ "message", OBJECT_MODEL_FUNC(self->mbox.message.c_str()), ObjectModelEntryFlags::important },
{ "mode", OBJECT_MODEL_FUNC((int32_t)self->mbox.mode), ObjectModelEntryFlags::important },
{ "seq", OBJECT_MODEL_FUNC((int32_t)self->mbox.seq), ObjectModelEntryFlags::important },
{ "timeout", OBJECT_MODEL_FUNC((int32_t)self->mbox.timeout), ObjectModelEntryFlags::important },
{ "title", OBJECT_MODEL_FUNC(self->mbox.title.c_str()), ObjectModelEntryFlags::important },
// 6. MachineModel.seqs
{ "boards", OBJECT_MODEL_FUNC((int32_t)self->boardsSeq), ObjectModelEntryFlags::live },
#if HAS_MASS_STORAGE || HAS_EMBEDDED_FILES || HAS_SBC_INTERFACE
{ "directories", OBJECT_MODEL_FUNC((int32_t)self->directoriesSeq), ObjectModelEntryFlags::live },
#endif
{ "fans", OBJECT_MODEL_FUNC((int32_t)self->fansSeq), ObjectModelEntryFlags::live },
{ "global", OBJECT_MODEL_FUNC((int32_t)self->globalSeq), ObjectModelEntryFlags::live },
{ "heat", OBJECT_MODEL_FUNC((int32_t)self->heatSeq), ObjectModelEntryFlags::live },
{ "inputs", OBJECT_MODEL_FUNC((int32_t)self->inputsSeq), ObjectModelEntryFlags::live },
{ "job", OBJECT_MODEL_FUNC((int32_t)self->jobSeq), ObjectModelEntryFlags::live },
// no need for 'limits' because it never changes
{ "move", OBJECT_MODEL_FUNC((int32_t)self->moveSeq), ObjectModelEntryFlags::live },
// Note, 'network' is needed even if there is no networking, because it contains the machine name
{ "network", OBJECT_MODEL_FUNC((int32_t)self->networkSeq), ObjectModelEntryFlags::live },
#if HAS_NETWORKING
{ "reply", OBJECT_MODEL_FUNC_NOSELF((int32_t)HttpResponder::GetReplySeq()), ObjectModelEntryFlags::live },
#endif
#if SUPPORT_SCANNER
{ "scanner", OBJECT_MODEL_FUNC((int32_t)self->scannerSeq), ObjectModelEntryFlags::live },
#endif
{ "sensors", OBJECT_MODEL_FUNC((int32_t)self->sensorsSeq), ObjectModelEntryFlags::live },
{ "spindles", OBJECT_MODEL_FUNC((int32_t)self->spindlesSeq), ObjectModelEntryFlags::live },
{ "state", OBJECT_MODEL_FUNC((int32_t)self->stateSeq), ObjectModelEntryFlags::live },
{ "tools", OBJECT_MODEL_FUNC((int32_t)self->toolsSeq), ObjectModelEntryFlags::live },
#if HAS_MASS_STORAGE
{ "volChanges", OBJECT_MODEL_FUNC_NOSELF(&volChangesArrayDescriptor), ObjectModelEntryFlags::live },
{ "volumes", OBJECT_MODEL_FUNC((int32_t)self->volumesSeq), ObjectModelEntryFlags::live },
#endif
};
constexpr uint8_t RepRap::objectModelTableDescriptor[] =
{
7, // number of sub-tables
15 + SUPPORT_SCANNER + (HAS_MASS_STORAGE | HAS_EMBEDDED_FILES | HAS_SBC_INTERFACE), // root
#if HAS_MASS_STORAGE || HAS_EMBEDDED_FILES || HAS_SBC_INTERFACE
8, // directories
#else
0, // directories
#endif
25, // limits
19 + HAS_VOLTAGE_MONITOR + SUPPORT_LASER, // state
2, // state.beep
6, // state.messageBox
12 + HAS_NETWORKING + SUPPORT_SCANNER +
2 * HAS_MASS_STORAGE + (HAS_MASS_STORAGE | HAS_EMBEDDED_FILES | HAS_SBC_INTERFACE) // seqs
};
DEFINE_GET_OBJECT_MODEL_TABLE(RepRap)
#endif
ReadWriteLock RepRap::toolListLock;
// RepRap member functions.
// Do nothing more in the constructor; put what you want in RepRap:Init()
RepRap::RepRap() noexcept
: boardsSeq(0), directoriesSeq(0), fansSeq(0), heatSeq(0), inputsSeq(0), jobSeq(0), moveSeq(0), globalSeq(0),
networkSeq(0), scannerSeq(0), sensorsSeq(0), spindlesSeq(0), stateSeq(0), toolsSeq(0), volumesSeq(0),
toolList(nullptr), currentTool(nullptr), lastWarningMillis(0),
activeExtruders(0), activeToolHeaters(0), numToolsToReport(0),
ticksInSpinState(0), heatTaskIdleTicks(0),
beepFrequency(0), beepDuration(0), beepTimer(0),
previousToolNumber(-1),
diagnosticsDestination(MessageType::NoDestinationMessage), justSentDiagnostics(false),
spinningModule(noModule), stopped(false), active(false), processingConfig(true)
#if HAS_SBC_INTERFACE
, usingSbcInterface(false) // default to not using the SBC interface until we have checked for config.g on an SD card,
// because a disconnected SBC interface can generate noise which may trigger interrupts and DMA
#endif
{
ClearDebug();
// Don't call constructors for other objects here
}
#if 0
///DEBUG to catch memory corruption
const size_t WatchSize = 32768;
uint32_t *watchBuffer;
static void InitWatchBuffer() noexcept
{
watchBuffer = (uint32_t*)malloc(WatchSize);
memset(watchBuffer, 0x5A, WatchSize);
}
static void CheckWatchBuffer(unsigned int module) noexcept
{
uint32_t *p = watchBuffer, *end = watchBuffer + 32768/sizeof(uint32_t);
while (p < end)
{
if (*p != 0x5A5A5A5A)
{
debugPrintf("Address %p data %08" PRIx32 " module %u\n", p, *p, module);
*p = 0x5A5A5A5A;
}
++p;
}
}
#endif
void RepRap::Init() noexcept
{
OutputBuffer::Init();
platform = new Platform();
#if HAS_SBC_INTERFACE
sbcInterface = new SbcInterface(); // needs to be allocated early on Duet 2 so as to avoid using any of the last 64K of RAM
#endif
network = new Network(*platform);
gCodes = new GCodes(*platform);
move = new Move();
heat = new Heat();
printMonitor = new PrintMonitor(*platform, *gCodes);
fansManager = new FansManager;
#if SUPPORT_ROLAND
roland = new Roland(*platform);
#endif
#if SUPPORT_SCANNER
scanner = new Scanner(*platform);
#endif
#if SUPPORT_IOBITS
portControl = new PortControl();
#endif
#if SUPPORT_12864_LCD
display = new Display();
#endif
#if SUPPORT_CAN_EXPANSION
expansion = new ExpansionManager();
#endif
SetPassword(DEFAULT_PASSWORD);
message.Clear();
#if SUPPORT_12864_LCD
messageSequence = 0;
#endif
messageBoxMutex.Create("MessageBox");
platform->Init();
network->Init();
SetName(DEFAULT_MACHINE_NAME); // Network must be initialised before calling this because this calls SetHostName
gCodes->Init(); // must be called before Move::Init
#if SUPPORT_CAN_EXPANSION
CanInterface::Init();
#endif
move->Init();
heat->Init();
fansManager->Init();
printMonitor->Init();
FilamentMonitor::InitStatic();
#if SUPPORT_ROLAND
roland->Init();
#endif
#if SUPPORT_SCANNER
scanner->Init();
#endif
#if SUPPORT_IOBITS
portControl->Init();
#endif
#if SUPPORT_12864_LCD
display->Init();
#endif
#ifdef DUET3_ATE
Duet3Ate::Init();
#endif
// sbcInterface is not initialised until we know we are using it, to prevent a disconnected SBC interface generating interrupts and DMA
// Set up the timeout of the regular watchdog, and set up the backup watchdog if there is one.
#if SAME5x
WatchdogInit();
NVIC_SetPriority(WDT_IRQn, NvicPriorityWatchdog); // set priority for watchdog interrupts
NVIC_ClearPendingIRQ(WDT_IRQn);
NVIC_EnableIRQ(WDT_IRQn); // enable the watchdog early warning interrupt
#elif defined(__LPC17xx__)
wdt_init(1); // set wdt to 1 second. reset the processor on a watchdog fault
#else
{
// The clock frequency for both watchdogs is about 32768/128 = 256Hz
// The watchdogs on the SAM4E seem to be very timing-sensitive. On the Duet WiFi/Ethernet they were going off spuriously depending on how long the DueX initialisation took.
// The documentation says you mustn't write to the mode register within 3 slow clocks after kicking the watchdog.
// I have a theory that the converse is also true, i.e. after enabling the watchdog you mustn't kick it within 3 slow clocks
// So I've added a delay call before we set 'active' true (which enables kicking the watchdog), and that seems to fix the problem.
# if SAM4E || SAME70
const uint16_t mainTimeout = 49152/128; // set main (back stop) watchdog timeout to 1.5s second (max allowed value is 4095 = 16 seconds)
WDT->WDT_MR = WDT_MR_WDRSTEN | WDT_MR_WDDBGHLT | WDT_MR_WDV(mainTimeout) | WDT_MR_WDD(mainTimeout); // reset the processor on a watchdog fault, stop it when debugging
// The RSWDT must be initialised *after* the main WDT
const uint16_t rsTimeout = 32768/128; // set secondary watchdog timeout to 1 second (max allowed value is 4095 = 16 seconds)
# if SAME70
RSWDT->RSWDT_MR = RSWDT_MR_WDFIEN | RSWDT_MR_WDDBGHLT | RSWDT_MR_WDV(rsTimeout) | RSWDT_MR_ALLONES_Msk; // generate an interrupt on a watchdog fault
NVIC_SetPriority(RSWDT_IRQn, NvicPriorityWatchdog); // set priority for watchdog interrupts
NVIC_ClearPendingIRQ(RSWDT_IRQn);
NVIC_EnableIRQ(RSWDT_IRQn); // enable the watchdog interrupt
# else
RSWDT->RSWDT_MR = RSWDT_MR_WDFIEN | RSWDT_MR_WDDBGHLT | RSWDT_MR_WDV(rsTimeout) | RSWDT_MR_WDD(rsTimeout); // generate an interrupt on a watchdog fault
NVIC_SetPriority(WDT_IRQn, NvicPriorityWatchdog); // set priority for watchdog interrupts
NVIC_ClearPendingIRQ(WDT_IRQn);
NVIC_EnableIRQ(WDT_IRQn); // enable the watchdog interrupt
# endif
# else
// We don't have a RSWDT so set the main watchdog timeout to 1 second
const uint16_t timeout = 32768/128; // set watchdog timeout to 1 second (max allowed value is 4095 = 16 seconds)
wdt_init(WDT, WDT_MR_WDRSTEN | WDT_MR_WDDBGHLT, timeout, timeout); // reset the processor on a watchdog fault, stop it when debugging
# endif
delayMicroseconds(200); // 200us is about 6 slow clocks
}
#endif
active = true; // must do this after we initialise the watchdog but before we start the network or call Spin(), else the watchdog may time out
delay(100); // give the tick ISR time to collect voltage readings
platform->ResetVoltageMonitors(); // get rid of the spurious zero minimum voltage readings
platform->MessageF(UsbMessage, "%s\n", VersionText);
#if HAS_SBC_INTERFACE && !HAS_MASS_STORAGE
usingSbcInterface = true;
sbcInterface->Init();
FileWriteBuffer::UsingSbcMode();
#endif
#if HAS_MASS_STORAGE || HAS_EMBEDDED_FILES
{
// Try to mount the first SD card
GCodeResult rslt;
String<100> reply;
do
{
MassStorage::Spin(); // Spin() doesn't get called regularly until after this function completes, and we need it to update the card detect status
rslt = MassStorage::Mount(0, reply.GetRef(), false);
}
while (rslt == GCodeResult::notFinished);
if (rslt == GCodeResult::ok)
{
// Run the configuration file
if (!RunStartupFile(GCodes::CONFIG_FILE) && !RunStartupFile(GCodes::CONFIG_BACKUP_FILE))
{
platform->Message(AddWarning(UsbMessage), "no configuration file found\n");
}
}
# if HAS_SBC_INTERFACE
else if (!MassStorage::IsCardDetected(0)) // if we failed to mount the SD card because there was no card in the slot
{
usingSbcInterface = true;
FileWriteBuffer::UsingSbcMode();
}
# endif
else
{
delay(3000); // Wait a few seconds so users have a chance to see this
platform->MessageF(AddWarning(UsbMessage), "%s\n", reply.c_str());
}
# if HAS_SBC_INTERFACE
sbcInterface->Init();
# endif
}
#elif defined(DUET_NG)
// It's the SBC build of Duet 2 firmware. Enable the PanelDue port so that the ATE can test it.
platform->SetBaudRate(1, 57600);
platform->SetCommsProperties(1, 1);
gCodes->SetAux0CommsProperties(1);
platform->SetAuxRaw(0, false);
platform->EnableAux(0);
#endif
#if HAS_SBC_INTERFACE
if (usingSbcInterface)
{
// Keep spinning until the SBC connects
while (!sbcInterface->IsConnected())
{
Spin();
}
// Run config.g or config.g.bak
if (!RunStartupFile(GCodes::CONFIG_FILE))
{
RunStartupFile(GCodes::CONFIG_BACKUP_FILE);
}
// runonce.g is executed by the SBC as soon as processingConfig is set to false.
// As we are running the SBC, save RAM by not activating the network
}
else
#endif
{
network->Activate(); // need to do this here, as the configuration GCodes may set IP address etc.
#if HAS_MASS_STORAGE
// If we are running from SD card, run the runonce.g file if it exists, then delete it
if (RunStartupFile(GCodes::RUNONCE_G))
{
platform->DeleteSysFile(GCodes::RUNONCE_G);
}
#endif
}
processingConfig = false;
#if HAS_HIGH_SPEED_SD && !SAME5x
hsmci_set_idle_func(hsmciIdle);
HSMCI->HSMCI_IDR = 0xFFFFFFFF; // disable all HSMCI interrupts
NVIC_EnableIRQ(HSMCI_IRQn);
#endif
platform->MessageF(UsbMessage, "%s is up and running.\n", FIRMWARE_NAME);
fastLoop = UINT32_MAX;
slowLoop = 0;
#if STEP_TIMER_DEBUG
(void)StepTimer::GetTimerTicks();
StepTimer::maxInterval = 0;
#endif
}
// Run a startup file
bool RepRap::RunStartupFile(const char *filename) noexcept
{
bool rslt = gCodes->RunConfigFile(filename);
if (rslt)
{
platform->MessageF(UsbMessage, "Executing %s... ", filename);
do
{
// GCodes::Spin will process the macro file and ensure IsDaemonBusy returns false when it's done
Spin();
} while (gCodes->IsTriggerBusy());
platform->Message(UsbMessage, "Done!\n");
}
return rslt;
}
void RepRap::Exit() noexcept
{
#if HAS_HIGH_SPEED_SD && !SAME5x // SAME5x MCI driver is RTOS_aware, so it doesn't need this
hsmci_set_idle_func(nullptr);
#endif
active = false;
heat->Exit();
move->Exit();
gCodes->Exit();
#if SUPPORT_SCANNER
scanner->Exit();
#endif
#if SUPPORT_IOBITS
portControl->Exit();
#endif
#if SUPPORT_12864_LCD
display->Exit();
#endif
network->Exit();
platform->Exit();
#if SUPPORT_ACCELEROMETERS
Accelerometers::Exit();
#endif
}
void RepRap::Spin() noexcept
{
if (!active)
{
return;
}
const uint32_t lastTime = StepTimer::GetTimerTicks();
ticksInSpinState = 0;
spinningModule = modulePlatform;
platform->Spin();
ticksInSpinState = 0;
spinningModule = moduleGcodes;
gCodes->Spin();
#if SUPPORT_ROLAND
ticksInSpinState = 0;
spinningModule = moduleRoland;
roland->Spin();
#endif
#if SUPPORT_SCANNER && !SCANNER_AS_SEPARATE_TASK
ticksInSpinState = 0;
spinningModule = moduleScanner;
scanner->Spin();
#endif
ticksInSpinState = 0;
spinningModule = modulePrintMonitor;
printMonitor->Spin();
ticksInSpinState = 0;
spinningModule = moduleFilamentSensors;
FilamentMonitor::Spin();
#if SUPPORT_12864_LCD
ticksInSpinState = 0;
spinningModule = moduleDisplay;
display->Spin();
#endif
#if HAS_SBC_INTERFACE
// Keep the SBC task spinning from the main task in standalone mode to respond to a SBC if necessary
if (!UsingSbcInterface())
{
ticksInSpinState = 0;
spinningModule = moduleSbcInterface;
sbcInterface->Spin();
}
#endif
ticksInSpinState = 0;
spinningModule = noModule;
// Check if we need to send diagnostics
if (diagnosticsDestination != MessageType::NoDestinationMessage)
{
Diagnostics(diagnosticsDestination);
diagnosticsDestination = MessageType::NoDestinationMessage;
}
// Check if we need to display a cold extrusion warning
const uint32_t now = millis();
if (now - lastWarningMillis >= MinimumWarningInterval)
{
ReadLocker lock(toolListLock);
for (Tool *t = toolList; t != nullptr; t = t->Next())
{
if (t->DisplayColdExtrudeWarning())
{
platform->MessageF(WarningMessage, "Tool %d was not driven because its heater temperatures were not high enough or it has a heater fault\n", t->myNumber);
lastWarningMillis = now;
}
}
}
// Check if the beep request can be cleared
if (beepTimer != 0 && now - beepTimer >= beepDuration)
{
beepDuration = beepFrequency = beepTimer = 0;
StateUpdated();
}
// Check if the message box can be hidden
{
MutexLocker lock(messageBoxMutex);
if (mbox.active && mbox.timer != 0 && now - mbox.timer >= mbox.timeout)
{
mbox.active = false;
StateUpdated();
}
}
// Keep track of the loop time
if (justSentDiagnostics)
{
// Sending diagnostics increases the loop time, so don't count it
justSentDiagnostics = false;
}
else
{
const uint32_t now = StepTimer::GetTimerTicks();
const uint32_t dt = now - lastTime;
#if 0 //DEBUG
if (dt > 1000000)
{
platform->MessageF(ErrorMessage, "dt %" PRIu32 " now %08" PRIx32 " last %08" PRIx32 "\n", dt, now, lastTime);
}
#endif
if (dt < fastLoop)
{
fastLoop = dt;
}
if (dt > slowLoop)
{
slowLoop = dt;
}
}
RTOSIface::Yield();
}
void RepRap::Timing(MessageType mtype) noexcept
{
platform->MessageF(mtype, "Slowest loop: %.2fms; fastest: %.2fms\n", (double)(slowLoop * StepClocksToMillis), (double)(fastLoop * StepClocksToMillis));
fastLoop = UINT32_MAX;
slowLoop = 0;
}
void RepRap::Diagnostics(MessageType mtype) noexcept
{
platform->Message(mtype, "=== Diagnostics ===\n");
// Print the firmware version, board type etc.
#ifdef DUET_NG
const char* const expansionName = DuetExpansion::GetExpansionBoardName();
#endif
platform->MessageF(mtype,
// Format string
"%s" // firmware name
#ifdef __LPC17xx__
" (%s)" // lpcBoardName
#endif
" version %s (%s%s) running on %s" // firmware version, date, time, electronics
#ifdef DUET_NG
"%s%s" // optional DueX expansion board
#endif
#ifdef __LPC17xx__
" at %uMhz" // clock speed
#endif
#if HAS_SBC_INTERFACE || SUPPORT_REMOTE_COMMANDS
" (%s mode)" // standalone, SBC or expansion mode
#endif
"\n",
// Parameters to match format string
FIRMWARE_NAME,
#ifdef __LPC17xx__
lpcBoardName,
#endif
VERSION, DATE, TIME_SUFFIX, platform->GetElectronicsString()
#ifdef DUET_NG
, ((expansionName == nullptr) ? "" : " + ")
, ((expansionName == nullptr) ? "" : expansionName)
#endif
#ifdef __LPC17xx__
, (unsigned int)(SystemCoreClock/1000000)
#endif
#if HAS_SBC_INTERFACE || SUPPORT_REMOTE_COMMANDS
,
# if SUPPORT_REMOTE_COMMANDS
(CanInterface::InExpansionMode()) ? "expansion" :
# endif
# if HAS_SBC_INTERFACE
(UsingSbcInterface()) ? "SBC" :
# endif
"standalone"
#endif
);
// DEBUG print the module addresses
// platform->MessageF(mtype, "platform %" PRIx32 ", network %" PRIx32 ", move %" PRIx32 ", heat %" PRIx32 ", gcodes %" PRIx32 ", scanner %" PRIx32 ", pm %" PRIx32 ", portc %" PRIx32 "\n",
// (uint32_t)platform, (uint32_t)network, (uint32_t)move, (uint32_t)heat, (uint32_t)gCodes, (uint32_t)scanner, (uint32_t)printMonitor, (uint32_t)portControl);
#if MCU_HAS_UNIQUE_ID
{
String<StringLength50> idChars;
platform->GetUniqueId().AppendCharsToString(idChars.GetRef());
platform->MessageF(mtype, "Board ID: %s\n", idChars.c_str());
}
#endif
// Show the used and free buffer counts. Do this early in case we are running out of them and the diagnostics get truncated.
OutputBuffer::Diagnostics(mtype);
// Now print diagnostics for other modules
Tasks::Diagnostics(mtype);
platform->Diagnostics(mtype); // this includes a call to our Timing() function
#if HAS_MASS_STORAGE || HAS_EMBEDDED_FILES
MassStorage::Diagnostics(mtype);
#endif
move->Diagnostics(mtype);
heat->Diagnostics(mtype);
gCodes->Diagnostics(mtype);
FilamentMonitor::Diagnostics(mtype);
#ifdef DUET_NG
DuetExpansion::Diagnostics(mtype);
#endif
#if SUPPORT_CAN_EXPANSION
CanInterface::Diagnostics(mtype);
#endif
#if HAS_SBC_INTERFACE
if (usingSbcInterface)
{
sbcInterface->Diagnostics(mtype);
}
else
#endif
{
network->Diagnostics(mtype);
}
justSentDiagnostics = true;
}
// Turn off the heaters, disable the motors, and deactivate the Heat and Move classes. Leave everything else working.
void RepRap::EmergencyStop() noexcept
{
#ifdef DUET3_ATE
Duet3Ate::PowerOffEUT();
#endif
stopped = true; // a useful side effect of setting this is that it prevents Platform::Tick being called, which is needed when loading IAP into RAM
// Do not turn off ATX power here. If the nozzles are still hot, don't risk melting any surrounding parts by turning fans off.
//platform->SetAtxPower(false);
platform->DisableAllDrivers(); // need to do this to ensure that any motor brakes are re-engaged
switch (gCodes->GetMachineType())
{
case MachineType::cnc:
for (size_t i = 0; i < MaxSpindles; i++)
{
platform->AccessSpindle(i).SetState(SpindleState::stopped);
}
break;
#if SUPPORT_LASER
case MachineType::laser:
platform->SetLaserPwm(0);
break;
#endif
default:
break;
}
heat->Exit(); // this also turns off all heaters
move->Exit(); // this stops the motors stepping
#if SUPPORT_CAN_EXPANSION
expansion->EmergencyStop();
#endif
gCodes->EmergencyStop();
platform->StopLogging();
}
void RepRap::SetDebug(Module m, uint32_t flags) noexcept
{
if (m < numModules)
{
debugMaps[m].SetFromRaw(flags);
}
}
void RepRap::ClearDebug() noexcept
{
for (DebugFlags& dm : debugMaps)
{
dm.Clear();
}
}
void RepRap::PrintDebug(MessageType mt) noexcept
{
platform->Message((MessageType)(mt | PushFlag), "Debugging enabled for modules:");
for (size_t i = 0; i < numModules; i++)
{
if (debugMaps[i].IsNonEmpty())
{
platform->MessageF((MessageType)(mt | PushFlag), " %s(%u - %#" PRIx32 ")", GetModuleName(i), i, debugMaps[i].GetRaw());
}
}
platform->Message((MessageType)(mt | PushFlag), "\nDebugging disabled for modules:");
for (size_t i = 0; i < numModules; i++)
{
if (debugMaps[i].IsEmpty())
{
platform->MessageF((MessageType)(mt | PushFlag), " %s(%u)", GetModuleName(i), i);
}
}
platform->Message(mt, "\n");
}
// Add a tool.
// Prior to calling this, delete any existing tool with the same number
// The tool list is maintained in tool number order.
void RepRap::AddTool(Tool* tool) noexcept
{
WriteLocker lock(toolListLock);
Tool** t = &toolList;
while(*t != nullptr && (*t)->Number() < tool->Number())
{
t = &((*t)->next);
}
tool->next = *t;
*t = tool;
tool->UpdateExtruderAndHeaterCount(activeExtruders, activeToolHeaters, numToolsToReport);
ToolsUpdated();
}
void RepRap::DeleteTool(int toolNumber) noexcept
{
WriteLocker lock(toolListLock);
// Deselect it if necessary
if (currentTool != nullptr && currentTool->Number() == toolNumber)
{
SelectTool(-1, false);
}
// Purge any references to this tool
Tool * tool = nullptr;
for (Tool **t = &toolList; *t != nullptr; t = &((*t)->next))
{
if ((*t)->Number() == toolNumber)
{
tool = *t;
*t = tool->next;
// Switch off any associated heaters
for (size_t i = 0; i < tool->HeaterCount(); i++)
{
heat->SwitchOff(tool->GetHeater(i));
}
break;
}
}
// Delete it
Tool::Delete(tool);
// Update the number of active heaters and extruder drives
activeExtruders = activeToolHeaters = numToolsToReport = 0;
for (Tool *t = toolList; t != nullptr; t = t->Next())
{
t->UpdateExtruderAndHeaterCount(activeExtruders, activeToolHeaters, numToolsToReport);
}
ToolsUpdated();
}
// Select the specified tool, putting the existing current tool into standby
void RepRap::SelectTool(int toolNumber, bool simulating) noexcept
{
ReadLockedPointer<Tool> const newTool = GetTool(toolNumber);
if (!simulating)
{
if (currentTool != nullptr && currentTool != newTool.Ptr())
{
currentTool->Standby();
}
if (newTool.IsNotNull())
{
newTool->Activate();
}
}
currentTool = newTool.Ptr();
}
void RepRap::PrintTool(int toolNumber, const StringRef& reply) const noexcept
{
ReadLockedPointer<Tool> const tool = GetTool(toolNumber);
if (tool.IsNotNull())
{
tool->Print(reply);
}
else
{
reply.copy("Error: Attempt to print details of non-existent tool.\n");
}
}
void RepRap::StandbyTool(int toolNumber, bool simulating) noexcept
{
ReadLockedPointer<Tool> const tool = GetTool(toolNumber);
if (tool.IsNotNull())
{
if (!simulating)
{
tool->Standby();
}
if (currentTool == tool.Ptr())
{
currentTool = nullptr;
}
}
else
{
platform->MessageF(ErrorMessage, "Attempt to standby a non-existent tool: %d\n", toolNumber);
}
}
ReadLockedPointer<Tool> RepRap::GetLockedCurrentTool() const noexcept
{
ReadLocker lock(toolListLock);
return ReadLockedPointer<Tool>(lock, currentTool);
}
ReadLockedPointer<Tool> RepRap::GetTool(int toolNumber) const noexcept
{
ReadLocker lock(toolListLock);
Tool* tool = toolList;
while (tool != nullptr)
{
if (tool->Number() == toolNumber)
{
return ReadLockedPointer<Tool>(lock, tool);
}
tool = tool->Next();
}
return ReadLockedPointer<Tool>(lock, nullptr); // not an error
}
// Return the current tool number, or -1 if no tool selected
int RepRap::GetCurrentToolNumber() const noexcept
{
return (currentTool == nullptr) ? -1 : currentTool->Number();
}
// Get the current tool, or failing that the default tool. May return nullptr if we can't
// Called when a M104 or M109 command doesn't specify a tool number.
ReadLockedPointer<Tool> RepRap::GetCurrentOrDefaultTool() const noexcept
{
ReadLocker lock(toolListLock);
// If a tool is already selected, use that one, else use the lowest-numbered tool which is the one at the start of the tool list
return ReadLockedPointer<Tool>(lock, (currentTool != nullptr) ? currentTool : toolList);
}
// Return the lowest-numbered tool
ReadLockedPointer<Tool> RepRap::GetFirstTool() const noexcept
{
ReadLocker lock(toolListLock);
return ReadLockedPointer<Tool>(lock, toolList);
}
bool RepRap::IsHeaterAssignedToTool(int8_t heater) const noexcept
{
ReadLocker lock(toolListLock);
for (Tool *tool = toolList; tool != nullptr; tool = tool->Next())
{
for (size_t i = 0; i < tool->HeaterCount(); i++)
{
if (tool->GetHeater(i) == heater)
{
// It's already in use by some tool
return true;
}
}
}
return false;
}
unsigned int RepRap::GetNumberOfContiguousTools() const noexcept
{
int numTools = 0;
ReadLocker lock(toolListLock);
for (const Tool *t = toolList; t != nullptr && t->Number() == numTools; t = t->Next())
{
++numTools;
}
return (unsigned int)numTools;
}
// Report the temperatures of one tool in M105 format
void RepRap::ReportToolTemperatures(const StringRef& reply, const Tool *tool, bool includeNumber) const noexcept
{
if (tool != nullptr && tool->HeaterCount() != 0)
{
if (reply.strlen() != 0)
{
reply.cat(' ');
}
if (includeNumber)
{
reply.catf("T%u", tool->Number());
}
else
{
reply.cat("T");
}
Heat& heat = reprap.GetHeat();
char sep = ':';
for (size_t i = 0; i < tool->HeaterCount(); ++i)
{
const int heater = tool->GetHeater(i);
reply.catf("%c%.1f /%.1f", sep, (double)heat.GetHeaterTemperature(heater), (double)heat.GetTargetTemperature(heater));
sep = ' ';
}
}
}
void RepRap::ReportAllToolTemperatures(const StringRef& reply) const noexcept
{
ReadLocker lock(toolListLock);
// The following is believed to be compatible with Marlin and Octoprint, based on thread https://github.com/foosel/OctoPrint/issues/2590#issuecomment-385023980
ReportToolTemperatures(reply, currentTool, false);
for (const Tool *tool = toolList; tool != nullptr; tool = tool->Next())
{
ReportToolTemperatures(reply, tool, true);
}
}
GCodeResult RepRap::SetAllToolsFirmwareRetraction(GCodeBuffer& gb, const StringRef& reply, OutputBuffer*& outBuf) THROWS(GCodeException)
{
GCodeResult rslt = GCodeResult::ok;
for (Tool *tool = toolList; tool != nullptr && rslt == GCodeResult::ok; tool = tool->Next())
{
rslt = tool->SetFirmwareRetraction(gb, reply, outBuf);
}
return rslt;
}
// Get the current axes used as X axis
AxesBitmap RepRap::GetCurrentXAxes() const noexcept
{
return Tool::GetXAxes(currentTool);
}
// Get the current axes used as Y axis
AxesBitmap RepRap::GetCurrentYAxes() const noexcept
{
return Tool::GetYAxes(currentTool);
}
// Get the current axes used as the specified axis
AxesBitmap RepRap::GetCurrentAxisMapping(unsigned int axis) const noexcept
{
return Tool::GetAxisMapping(currentTool, axis);
}
// Set the previous tool number. Inline because it is only called from one place.
void RepRap::SetPreviousToolNumber() noexcept
{
previousToolNumber = (currentTool != nullptr) ? currentTool->Number() : -1;
}
void RepRap::Tick() noexcept
{
// Kicking the watchdog before it has been initialised may trigger it!
if (active)
{
WatchdogReset(); // kick the watchdog
#if SAM4E || SAME70
WatchdogResetSecondary(); // kick the secondary watchdog
#endif
if (!stopped)
{
platform->Tick();
++ticksInSpinState;
++heatTaskIdleTicks;
const bool heatTaskStuck = (heatTaskIdleTicks >= MaxTicksInSpinState);
if (heatTaskStuck || ticksInSpinState >= MaxTicksInSpinState) // if we stall for 20 seconds, save diagnostic data and reset
{
stopped = true;
heat->SwitchOffAllLocalFromISR(); // can't call SwitchOffAll because remote heaters can't be turned off from inside a ISR
platform->EmergencyDisableDrivers();
// We now save the stack when we get stuck in a spin loop
__asm volatile("mrs r2, psp");
register const uint32_t * stackPtr asm ("r2"); // we want the PSP not the MSP
SoftwareReset(
(heatTaskStuck) ? SoftwareResetReason::heaterWatchdog : SoftwareResetReason::stuckInSpin,
stackPtr + 5); // discard uninteresting registers, keep LR PC PSR
}
}
}
}
// Return true if we are close to timeout
bool RepRap::SpinTimeoutImminent() const noexcept
{
return ticksInSpinState >= HighTicksInSpinState;
}
// Get the JSON status response for the web server (or later for the M105 command).
// Type 1 is the ordinary JSON status response.
// Type 2 is the same except that static parameters are also included.
// Type 3 is the same but instead of static parameters we report print estimation values.
OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) const noexcept
{
// Need something to write to...
OutputBuffer *response;
if (!OutputBuffer::Allocate(response))
{
return nullptr;
}
// Machine status
response->printf("{\"status\":\"%c\",\"coords\":{", GetStatusCharacter());
// Homed axes
const size_t numVisibleAxes = gCodes->GetVisibleAxes();
AppendIntArray(response, "axesHomed", numVisibleAxes, [this](size_t axis) noexcept { return (gCodes->IsAxisHomed(axis)) ? 1 : 0; });
// XYZ positions
// Coordinates may be NaNs or infinities, for example when delta or SCARA homing fails. We must replace any NaNs or infinities to avoid JSON parsing errors.
// Ideally we would report "unknown" or similar for axis positions that are not known because we haven't homed them, but that requires changes to both DWC and PanelDue.
// So we report 9999.9 instead.
// First the user coordinates
#if SUPPORT_WORKPLACE_COORDINATES
response->catf(",\"wpl\":%u,", gCodes->GetWorkplaceCoordinateSystemNumber());
#else
response->cat(',');
#endif
AppendFloatArray(response, "xyz", numVisibleAxes, [this](size_t axis) noexcept { return gCodes->GetUserCoordinate(axis); }, 3);
// Machine coordinates
response->cat(',');
AppendFloatArray(response, "machine", numVisibleAxes, [this](size_t axis) noexcept { return move->LiveCoordinate(axis, currentTool); }, 3);
// Actual extruder positions since power up, last G92 or last M23
response->cat(',');
AppendFloatArray(response, "extr", GetExtrudersInUse(), [this](size_t extruder) noexcept { return move->LiveCoordinate(ExtruderToLogicalDrive(extruder), currentTool); }, 1);
// Current speeds
response->catf("},\"speeds\":{\"requested\":%.1f,\"top\":%.1f}", (double)InverseConvertSpeedToMmPerSec(move->GetRequestedSpeed()), (double)InverseConvertSpeedToMmPerSec(move->GetTopSpeed()));
// Current tool number
response->catf(",\"currentTool\":%d", GetCurrentToolNumber());
// Output notifications
{
const bool sendBeep = ((source == ResponseSource::AUX || !platform->IsAuxEnabled(0) || platform->IsAuxRaw(0)) && beepDuration != 0 && beepFrequency != 0);
const bool sendMessage = !message.IsEmpty();
float timeLeft = 0.0;
MutexLocker lock(messageBoxMutex);
if (mbox.active && mbox.timer != 0)
{
timeLeft = (float)(mbox.timeout) / 1000.0 - (float)(millis() - mbox.timer) / 1000.0;
}
if (sendBeep || sendMessage || mbox.active)
{
response->cat(",\"output\":{");
// Report beep values
if (sendBeep)
{
response->catf("\"beepDuration\":%u,\"beepFrequency\":%u", beepDuration, beepFrequency);
if (sendMessage || mbox.active)
{
response->cat(',');
}
}
// Report message
if (sendMessage)
{
response->catf("\"message\":\"%.s\"", message.c_str());
if (mbox.active)
{
response->cat(',');
}
}
// Report message box
if (mbox.active)
{
response->catf("\"msgBox\":{\"msg\":\"%.s\",\"title\":\"%.s\",\"mode\":%d,\"seq\":%" PRIu32 ",\"timeout\":%.1f,\"controls\":%u}",
mbox.message.c_str(), mbox.title.c_str(), mbox.mode, mbox.seq, (double)timeLeft, (unsigned int)mbox.controls.GetRaw());
}
response->cat('}');
}
}
// ATX power
response->catf(",\"params\":{\"atxPower\":%d", platform->IsAtxPowerControlled() ? (platform->GetAtxPowerState() ? 1 : 0) : -1);
// Parameters
{
// Cooling fan values
response->cat(',');
const size_t numFans = fansManager->GetNumFansToReport();
AppendIntArray(response, "fanPercent", numFans,
[this](size_t fan) noexcept
{
const float fanValue = fansManager->GetFanValue(fan);
return (fanValue < 0.0) ? -1 : (int)lrintf(fanValue * 100.0);
});
// Cooling fan names
if (type == 2)
{
response->cat(',');
AppendStringArray(response, "fanNames", numFans, [this](size_t fan) noexcept { return fansManager->GetFanName(fan); });
}
// Speed and Extrusion factors in %
response->catf(",\"speedFactor\":%.1f,", (double)(gCodes->GetSpeedFactor() * 100.0));
AppendFloatArray(response, "extrFactors", GetExtrudersInUse(), [this](size_t extruder) noexcept { return gCodes->GetExtrusionFactor(extruder) * 100.0; }, 1);
// Z babystepping
response->catf(",\"babystep\":%.3f}", (double)gCodes->GetTotalBabyStepOffset(Z_AXIS));
// G-code reply sequence for webserver (sequence number for AUX is handled later)
if (source == ResponseSource::HTTP)
{
response->catf(",\"seq\":%" PRIu32, network->GetHttpReplySeq());
}
// Sensors
response->cat(",\"sensors\":{");
// Probe
const auto zp = platform->GetZProbeOrDefault(0);
const int v0 = zp->GetReading();
int v1;
switch (zp->GetSecondaryValues(v1))
{
case 1:
response->catf("\"probeValue\":%d,\"probeSecondary\":[%d],", v0, v1);
break;
default:
response->catf("\"probeValue\":%d,", v0);
break;
}
// Send fan RPM value(s)
AppendIntArray(response, "fanRPM", numFans, [this](size_t fan) noexcept { return (int)fansManager->GetFanRPM(fan); });
response->cat('}');
}
/* Temperatures */
{
response->cat(",\"temps\":{");
/* Bed */
const int8_t bedHeater = (MaxBedHeaters > 0) ? heat->GetBedHeater(0) : -1;
if (bedHeater != -1)
{
response->catf("\"bed\":{\"current\":%.1f,\"active\":%.1f,\"standby\":%.1f,\"state\":%u,\"heater\":%d},",
(double)heat->GetHeaterTemperature(bedHeater), (double)heat->GetActiveTemperature(bedHeater), (double)heat->GetStandbyTemperature(bedHeater),
heat->GetStatus(bedHeater).ToBaseType(), bedHeater);
}
/* Chamber */
const int8_t chamberHeater = (MaxChamberHeaters > 0) ? heat->GetChamberHeater(0) : -1;
if (chamberHeater != -1)
{
response->catf("\"chamber\":{\"current\":%.1f,\"active\":%.1f,\"state\":%u,\"heater\":%d},",
(double)heat->GetHeaterTemperature(chamberHeater), (double)heat->GetActiveTemperature(chamberHeater),
heat->GetStatus(chamberHeater).ToBaseType(), chamberHeater);
}
/* Cabinet */
const int8_t cabinetHeater = (MaxChamberHeaters > 1) ? heat->GetChamberHeater(1) : -1;
if (cabinetHeater != -1)
{
response->catf("\"cabinet\":{\"current\":%.1f,\"active\":%.1f,\"state\":%u,\"heater\":%d},",
(double)heat->GetHeaterTemperature(cabinetHeater), (double)heat->GetActiveTemperature(cabinetHeater),
heat->GetStatus(cabinetHeater).ToBaseType(), cabinetHeater);
}
/* Heaters */
// Current temperatures
{
const size_t numHeaters = heat->GetNumHeatersToReport();
AppendFloatArray(response, "current", numHeaters, [this](size_t heater) noexcept { return heat->GetHeaterTemperature(heater); }, 1);
// Current states
response->cat(',');
AppendIntArray(response, "state", numHeaters, [this](size_t heater) noexcept { return (int)heat->GetStatus(heater).ToBaseType(); });
// Names of the sensors use to control heaters
if (type == 2)
{
response->cat(',');
AppendStringArray(response, "names", numHeaters, [this](size_t heater) noexcept { return heat->GetHeaterSensorName(heater); });
}
}
// Tool temperatures
response->cat(",\"tools\":{\"active\":[");
{
ReadLocker lock(toolListLock);
for (const Tool *tool = toolList; tool != nullptr; tool = tool->Next())
{
AppendFloatArray(response, nullptr, tool->heaterCount, [tool](unsigned int n) noexcept { return tool->activeTemperatures[n]; }, 1);
if (tool->Next() != nullptr)
{
response->cat(',');
}
}
response->cat("],\"standby\":[");
for (const Tool *tool = toolList; tool != nullptr; tool = tool->Next())
{
AppendFloatArray(response, nullptr, tool->heaterCount, [tool](unsigned int n) noexcept { return tool->standbyTemperatures[n]; }, 1);
if (tool->Next() != nullptr)
{
response->cat(',');
}
}
}
// Named extra temperature sensors
// TODO don't send the ones that we send in "names"
response->cat("]},\"extra\":[");
bool first = true;
unsigned int nextSensorNumber = 0;
for (;;)
{
const auto sensor = heat->FindSensorAtOrAbove(nextSensorNumber);
if (sensor.IsNull())
{
break;
}
const char * const nm = sensor->GetSensorName();
if (nm != nullptr)
{
if (!first)
{
response->cat(',');
}
first = false;
float temp;
(void)sensor->GetLatestTemperature(temp);
response->catf("{\"name\":\"%.s\",\"temp\":%.1f}", nm, HideNan(temp));
}
nextSensorNumber = sensor->GetSensorNumber() + 1;
}
response->cat("]}");
}
// Time since last reset
response->catf(",\"time\":%.1f", (double)(millis64()/1000u));
#if SUPPORT_SCANNER
// Scanner
if (scanner->IsEnabled())
{
response->catf(",\"scanner\":{\"status\":\"%c\"", scanner->GetStatusCharacter());
response->catf(",\"progress\":%.1f}", (double)(scanner->GetProgress() * 100.0));
}
#endif
// Spindles
if (gCodes->GetMachineType() == MachineType::cnc || type == 2)
{
size_t numSpindles = MaxSpindles;
while (numSpindles != 0 && platform->AccessSpindle(numSpindles - 1).GetState() == SpindleState::unconfigured)
{
--numSpindles;
}
if (numSpindles != 0)
{
response->cat(",\"spindles\":[");
for (size_t i = 0; i < numSpindles; i++)
{
if (i != 0)
{
response->cat(',');
}
const Spindle& spindle = platform->AccessSpindle(i);
response->catf("{\"current\":%" PRIi32 ",\"active\":%" PRIi32 ",\"state\":\"%s\"}", spindle.GetCurrentRpm(), spindle.GetRpm(), spindle.GetState().ToString());
}
response->cat(']');
}
}
#if SUPPORT_LASER
if (gCodes->GetMachineType() == MachineType::laser)
{
response->catf(",\"laser\":%.1f", (double)(gCodes->GetLaserPwm() * 100.0)); // 2020-04-24: return the configured laser PWM even if the laser is temporarily turned off
}
#endif
/* Extended Status Response */
if (type == 2)
{
// Cold Extrude/Retract
response->catf(",\"coldExtrudeTemp\":%.1f", (double)(heat->ColdExtrude() ? 0.0f : heat->GetExtrusionMinTemp()));
response->catf(",\"coldRetractTemp\":%.1f", (double)(heat->ColdExtrude() ? 0.0f : heat->GetRetractionMinTemp()));
// Compensation type
response->cat(",\"compensation\":");
if (move->IsUsingMesh())
{
response->cat("\"Mesh\"");
}
else
{
response->cat("\"None\"");
}
// Controllable Fans
FansBitmap controllableFans;
for (size_t fan = 0; fan < MaxFans; fan++)
{
if (fansManager->IsFanControllable(fan))
{
controllableFans.SetBit(fan);
}
}
response->catf(",\"controllableFans\":%lu", controllableFans.GetRaw());
// Maximum hotend temperature - DWC just wants the highest one
response->catf(",\"tempLimit\":%.1f", (double)(heat->GetHighestTemperatureLimit()));
// Endstops
uint32_t endstops = 0;
const size_t numTotalAxes = gCodes->GetTotalAxes();
for (size_t axis = 0; axis < numTotalAxes; axis++)
{
if (platform->GetEndstops().Stopped(axis))
{
endstops |= (1u << axis);
}
}
response->catf(",\"endstops\":%" PRIu32, endstops);
// Firmware name, machine geometry and number of axes
response->catf(",\"firmwareName\":\"%s\",\"firmwareVersion\":\"%s\",\"geometry\":\"%s\",\"axes\":%u,\"totalAxes\":%u,\"axisNames\":\"%s\"",
FIRMWARE_NAME, VERSION, move->GetGeometryString(), numVisibleAxes, numTotalAxes, gCodes->GetAxisLetters());
#if HAS_MASS_STORAGE
// Total and mounted volumes
size_t mountedCards = 0;
for (size_t i = 0; i < MassStorage::GetNumVolumes(); i++)
{
if (MassStorage::IsDriveMounted(i))
{
mountedCards |= (1u << i);
}
}
response->catf(",\"volumes\":%u,\"mountedVolumes\":%u", MassStorage::GetNumVolumes(), mountedCards);
#endif
// Machine mode and name
response->catf(",\"mode\":\"%.s\",\"name\":\"%.s\"", gCodes->GetMachineModeString(), myName.c_str());
// Probe trigger threshold, trigger height, type
{
const auto zp = platform->GetZProbeOrDefault(0);
response->catf(",\"probe\":{\"threshold\":%d,\"height\":%.2f,\"type\":%u}",
zp->GetAdcValue(), (double)zp->GetConfiguredTriggerHeight(), (unsigned int)zp->GetProbeType());
}
// Tool Mapping
{
response->cat(",\"tools\":[");
ReadLocker lock(toolListLock);
for (Tool *tool = toolList; tool != nullptr; tool = tool->Next())
{
// Number
response->catf("{\"number\":%d,", tool->Number());
// Name
const char * const toolName = tool->GetName();
if (toolName[0] != 0)
{
response->catf("\"name\":\"%.s\",", toolName);
}
// Heaters
AppendIntArray(response, "heaters", tool->HeaterCount(), [tool](size_t heater) noexcept { return tool->GetHeater(heater); });
// Extruder drives
response->cat(',');
AppendIntArray(response, "drives", tool->DriveCount(), [tool](size_t drive) noexcept { return tool->GetDrive(drive); });
// Axis mapping
response->cat(",\"axisMap\":[[");
tool->GetXAxisMap().Iterate
([response](unsigned int xi, unsigned int count) noexcept
{
if (count != 0)
{
response->cat(',');
}
response->catf("%u", xi);
}
);
response->cat("],[");
tool->GetYAxisMap().Iterate
([response](unsigned int yi, unsigned int count) noexcept
{
if (count != 0)
{
response->cat(',');
}
response->catf("%u", yi);
}
);
response->cat("]]");
// Fan mapping
response->catf(",\"fans\":%lu", tool->GetFanMapping().GetRaw());
// Filament (if any)
if (tool->GetFilament() != nullptr)
{
response->catf(",\"filament\":\"%.s\"", tool->GetFilament()->GetName());
}
// Spindle (if configured)
if (tool->spindleNumber > -1)
{
response->catf(",\"spindle\":%d,\"spindleRpm\":%" PRIi32, tool->spindleNumber, tool->spindleRpm);
}
// Offsets
response->cat(',');
AppendFloatArray(response, "offsets", numVisibleAxes, [tool](size_t axis) noexcept { return tool->GetOffset(axis); }, 2);
// Do we have any more tools?
response->cat((tool->Next() != nullptr) ? "}," : "}");
}
response->cat(']');
}
// MCU temperatures
#if HAS_CPU_TEMP_SENSOR
{
const MinCurMax temps = platform->GetMcuTemperatures();
response->catf(",\"mcutemp\":{\"min\":%.1f,\"cur\":%.1f,\"max\":%.1f}", (double)temps.minimum, (double)temps.current, (double)temps.maximum);
}
#endif
#if HAS_VOLTAGE_MONITOR
// Power in voltages
{
const MinCurMax voltages = platform->GetPowerVoltages();
response->catf(",\"vin\":{\"min\":%.1f,\"cur\":%.1f,\"max\":%.1f}", (double)voltages.minimum, (double)voltages.current, (double)voltages.maximum);
}
#endif
#if HAS_12V_MONITOR
// Power in voltages
{
const MinCurMax voltages = platform->GetV12Voltages();
response->catf(",\"v12\":{\"min\":%.1f,\"cur\":%.1f,\"max\":%.1f}", (double)voltages.minimum, (double)voltages.current, (double)voltages.maximum);
}
#endif
}
else if (type == 3)
{
// Current Layer
response->catf(",\"currentLayer\":%d", printMonitor->GetCurrentLayer());
// Current Layer Time
response->catf(",\"currentLayerTime\":%.1f,", (double)(printMonitor->GetCurrentLayerTime()));
// Raw Extruder Positions
AppendFloatArray(response, "extrRaw", GetExtrudersInUse(), [this](size_t extruder) noexcept { return gCodes->GetRawExtruderTotalByDrive(extruder); }, 1);
// Fraction of file printed
response->catf(",\"fractionPrinted\":%.1f", (double)((printMonitor->IsPrinting()) ? (printMonitor->FractionOfFilePrinted() * 100.0) : 0.0));
// Byte position of the file being printed
response->catf(",\"filePosition\":%lu", gCodes->GetFilePosition());
// First Layer Duration is no longer included
// First Layer Height is no longer included
// Print Duration
response->catf(",\"printDuration\":%.1f", (double)(printMonitor->GetPrintDuration()));
// Warm-Up Time
response->catf(",\"warmUpDuration\":%.1f", (double)(printMonitor->GetWarmUpDuration()));
/* Print Time Estimations */
response->catf(",\"timesLeft\":{\"file\":%.1f,\"filament\":%.1f}", (double)(printMonitor->EstimateTimeLeft(fileBased)), (double)(printMonitor->EstimateTimeLeft(filamentBased)));
}
response->cat('}');
return response;
}
OutputBuffer *RepRap::GetConfigResponse() noexcept
{
// We need some resources to return a valid config response...
OutputBuffer *response;
if (!OutputBuffer::Allocate(response))
{
return nullptr;
}
const size_t numAxes = gCodes->GetVisibleAxes();
// Axis minima
response->copy('{');
AppendFloatArray(response, "axisMins", numAxes, [this](size_t axis) noexcept { return platform->AxisMinimum(axis); }, 2);
// Axis maxima
response->cat(',');
AppendFloatArray(response, "axisMaxes", numAxes, [this](size_t axis) noexcept { return platform->AxisMaximum(axis); }, 2);
// Accelerations
response->cat(',');
AppendFloatArray(response, "accelerations", MaxAxesPlusExtruders, [this](size_t drive) noexcept { return InverseConvertAcceleration(platform->Acceleration(drive)); }, 2);
// Motor currents
response->cat(',');
AppendIntArray(response, "currents", MaxAxesPlusExtruders, [this](size_t drive) noexcept { return (int)platform->GetMotorCurrent(drive, 906); });
// Firmware details
response->catf(",\"firmwareElectronics\":\"%.s", platform->GetElectronicsString());
#ifdef DUET_NG
const char* expansionName = DuetExpansion::GetExpansionBoardName();
if (expansionName != nullptr)
{
response->catf(" + %.s", expansionName);
}
const char* additionalExpansionName = DuetExpansion::GetAdditionalExpansionBoardName();
if (additionalExpansionName != nullptr)
{
response->catf(" + %.s", additionalExpansionName);
}
#endif
response->catf("\",\"firmwareName\":\"%.s\",\"firmwareVersion\":\"%.s\"", FIRMWARE_NAME, VERSION);
#ifdef BOARD_SHORT_NAME
response->catf(",\"boardName\":\"%.s\"", BOARD_SHORT_NAME);
#endif
#if HAS_WIFI_NETWORKING
// If we have WiFi networking, send the WiFi module firmware version
# ifdef DUET_NG
if (platform->IsDuetWiFi())
# endif
{
response->catf(",\"dwsVersion\":\"%.s\"", network->GetWiFiServerVersion());
}
#endif
response->catf(",\"firmwareDate\":\"%.s\"", DATE);
#if HAS_MASS_STORAGE || HAS_EMBEDDED_FILES
// System files folder
response->catf(", \"sysdir\":\"%.s\"", platform->GetSysDir().Ptr());
#endif
// Motor idle parameters
response->catf(",\"idleCurrentFactor\":%.1f", (double)(platform->GetIdleCurrentFactor() * 100.0));
response->catf(",\"idleTimeout\":%.1f,", (double)(move->IdleTimeout()));
// Minimum feedrates
AppendFloatArray(response, "minFeedrates", MaxAxesPlusExtruders, [this](size_t drive) noexcept { return InverseConvertSpeedToMmPerSec(platform->GetInstantDv(drive)); }, 2);
// Maximum feedrates
response->cat(',');
AppendFloatArray(response, "maxFeedrates", MaxAxesPlusExtruders, [this](size_t drive) noexcept { return InverseConvertSpeedToMmPerSec(platform->MaxFeedrate(drive)); }, 2);
// Config file is no longer included, because we can use rr_configfile or M503 instead
response->cat('}');
return response;
}
// Get the JSON status response for PanelDue
// Type 0 was the old-style webserver status response, but is no longer supported.
// Type 1 is the new-style webserver status response.
// Type 2 is the M105 S2 response, which is like the new-style status response but some fields are omitted.
// Type 3 is the M105 S3 response, which is like the M105 S2 response except that static values are also included.
// 'seq' is the response sequence number, if it is not -1 and we have a different sequence number then we send the gcode response
OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) const noexcept
{
// Need something to write to...
OutputBuffer *response;
if (!OutputBuffer::Allocate(response))
{
// Should never happen
return nullptr;
}
// Send the status. Note that 'S' has always meant that the machine is halted in this version of the status response, so we use A for pAused.
char ch = GetStatusCharacter();
if (ch == 'S') // if paused then send 'A'
{
ch = 'A';
}
else if (ch == 'H') // if halted then send 'S'
{
ch = 'S';
}
response->printf("{\"status\":\"%c\",\"heaters\":", ch);
// Send the heater actual temperatures. If there is no bed heater, send zero for PanelDue.
const int8_t bedHeater = (MaxBedHeaters > 0) ? heat->GetBedHeater(0) : -1;
ch = ',';
response->catf("[%.1f", (double)((bedHeater == -1) ? 0.0 : heat->GetHeaterTemperature(bedHeater)));
for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
{
response->catf("%c%.1f", ch, (double)(heat->GetHeaterTemperature(heater)));
ch = ',';
}
response->cat((ch == '[') ? "[]" : "]");
// Send the heater active temperatures
response->catf(",\"active\":[%.1f", (double)((bedHeater == -1) ? 0.0 : heat->GetActiveTemperature(bedHeater)));
for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
{
response->catf(",%.1f", (double)(heat->GetActiveTemperature(heater)));
}
response->cat(']');
// Send the heater standby temperatures
response->catf(",\"standby\":[%.1f", (double)((bedHeater == -1) ? 0.0 : heat->GetStandbyTemperature(bedHeater)));
for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
{
response->catf(",%.1f", (double)(heat->GetStandbyTemperature(heater)));
}
response->cat(']');
// Send the heater statuses (0=off, 1=standby, 2=active, 3 = fault)
response->catf(",\"hstat\":[%u", (bedHeater == -1) ? 0 : heat->GetStatus(bedHeater).ToBaseType());
for (size_t heater = DefaultE0Heater; heater < GetToolHeatersInUse(); heater++)
{
response->catf(",%u", heat->GetStatus(heater).ToBaseType());
}
response->cat("],");
// User coordinates
const size_t numVisibleAxes = gCodes->GetVisibleAxes();
AppendFloatArray(response, "pos", numVisibleAxes, [this](size_t axis) noexcept { return gCodes->GetUserCoordinate(axis); }, 3);
// Machine coordinates
response->cat(',');
AppendFloatArray(response, "machine", numVisibleAxes, [this](size_t axis) noexcept { return move->LiveCoordinate(axis, currentTool); }, 3);
// Send the speed and extruder override factors
response->catf(",\"sfactor\":%.1f,", (double)(gCodes->GetSpeedFactor() * 100.0));
AppendFloatArray(response, "efactor", GetExtrudersInUse(), [this](size_t extruder) noexcept { return gCodes->GetExtrusionFactor(extruder) * 100.0; }, 1);
// Send the baby stepping offset
response->catf(",\"babystep\":%.03f", (double)(gCodes->GetTotalBabyStepOffset(Z_AXIS)));
// Send the current tool number
response->catf(",\"tool\":%d", GetCurrentToolNumber());
// Send the Z probe value
const auto zp = platform->GetZProbeOrDefault(0);
const int v0 = zp->GetReading();
int v1;
switch (zp->GetSecondaryValues(v1))
{
case 1:
response->catf(",\"probe\":\"%d (%d)\"", v0, v1);
break;
default:
response->catf(",\"probe\":\"%d\"", v0);
break;
}
// Send the fan settings, for PanelDue firmware 1.13 and later
// Currently, PanelDue assumes that the first value is the print cooling fan speed and only uses that one, so send the mapped fan speed first
response->catf(",\"fanPercent\":[%.1f", (double)(gCodes->GetMappedFanSpeed() * 100.0));
for (size_t i = 0; i < MaxFans; ++i)
{
const float fanValue = fansManager->GetFanValue(i);
response->catf(",%d", (fanValue < 0.0) ? -1 : (int)lrintf(fanValue * 100.0));
}
response->cat("],");
// Send fan RPM value(s)
AppendIntArray(response, "fanRPM", fansManager->GetNumFansToReport(), [this](size_t fan) { return (int)fansManager->GetFanRPM(fan);});
// Send the home state. To keep the messages short, we send 1 for homed and 0 for not homed, instead of true and false.
response->cat(',');
AppendIntArray(response, "homed", numVisibleAxes, [this](size_t axis) noexcept { return (gCodes->IsAxisHomed(axis)) ? 1 : 0; });
if (printMonitor->IsPrinting())
{
// Send the fraction printed
response->catf(",\"fraction_printed\":%.4f", (double)max<float>(0.0, printMonitor->FractionOfFilePrinted()));
}
// Short messages are now pushed directly to PanelDue, so don't include them here as well
// We no longer send the amount of http buffer space here because the web interface doesn't use these forms of status response
// Deal with the message box.
// Don't send it if we are flashing firmware, because when we flash firmware we send messages directly to PanelDue and we don't want them to get cleared.
if (!gCodes->IsFlashing())
{
float timeLeft = 0.0;
MutexLocker lock(messageBoxMutex);
if (mbox.active && mbox.timer != 0)
{
timeLeft = (float)(mbox.timeout) / 1000.0 - (float)(millis() - mbox.timer) / 1000.0;
}
if (mbox.active)
{
response->catf(",\"msgBox.mode\":%d,\"msgBox.seq\":%" PRIu32 ",\"msgBox.timeout\":%.1f,\"msgBox.controls\":%u,\"msgBox.msg\":\"%.s\",\"msgBox.title\":\"%.s\"",
mbox.mode, mbox.seq, (double)timeLeft, (unsigned int)mbox.controls.GetRaw(), mbox.message.c_str(), mbox.title.c_str());
}
else
{
response->cat(",\"msgBox.mode\":-1"); // tell PanelDue that there is no active message box
}
}
if (type == 2)
{
if (printMonitor->IsPrinting())
{
// Send estimated times left based on file progress, filament usage, and layers
response->catf(",\"timesLeft\":[%.1f,%.1f,0.0]",
(double)(printMonitor->EstimateTimeLeft(fileBased)),
(double)(printMonitor->EstimateTimeLeft(filamentBased)));
}
}
else if (type == 3)
{
// Add the static fields
response->catf(",\"geometry\":\"%s\",\"axes\":%u,\"totalAxes\":%u,\"axisNames\":\"%s\",\"volumes\":%u,\"numTools\":%u,\"myName\":\"%.s\",\"firmwareName\":\"%.s\"",
move->GetGeometryString(), numVisibleAxes, gCodes->GetTotalAxes(), gCodes->GetAxisLetters(), MassStorage::GetNumVolumes(), GetNumberOfContiguousTools(), myName.c_str(), FIRMWARE_NAME);
}
response->cat("}\n"); // include a newline to help PanelDue resync
return response;
}
#if HAS_MASS_STORAGE || HAS_EMBEDDED_FILES
// Get the list of files in the specified directory in JSON format. PanelDue uses this one, so include a newline at the end.
// If flagDirs is true then we prefix each directory with a * character.
OutputBuffer *RepRap::GetFilesResponse(const char *dir, unsigned int startAt, bool flagsDirs) noexcept
{
// Need something to write to...
OutputBuffer *response;
if (!OutputBuffer::Allocate(response))
{
return nullptr;
}
response->printf("{\"dir\":\"%.s\",\"first\":%u,\"files\":[", dir, startAt);
unsigned int err;
unsigned int nextFile = 0;
#if HAS_MASS_STORAGE
if (!MassStorage::CheckDriveMounted(dir))
{
err = 1;
}
else
#endif
if (!MassStorage::DirectoryExists(dir))
{
err = 2;
}
else
{
err = 0;
FileInfo fileInfo;
unsigned int filesFound = 0;
bool gotFile = MassStorage::FindFirst(dir, fileInfo);
size_t bytesLeft = OutputBuffer::GetBytesLeft(response); // don't write more bytes than we can
while (gotFile)
{
if (fileInfo.fileName[0] != '.') // ignore Mac resource files and Linux hidden files
{
if (filesFound >= startAt)
{
// Make sure we can end this response properly
if (bytesLeft < fileInfo.fileName.strlen() * 2 + 20)
{
// No more space available - stop here
MassStorage::AbandonFindNext();
nextFile = filesFound;
break;
}
// Write separator and filename
if (filesFound != startAt)
{
bytesLeft -= response->cat(',');
}
bytesLeft -= response->catf((flagsDirs && fileInfo.isDirectory) ? "\"*%.s\"" : "\"%.s\"", fileInfo.fileName.c_str());
}
++filesFound;
}
gotFile = MassStorage::FindNext(fileInfo);
}
}
if (err != 0)
{
response->catf("],\"err\":%u}\n", err);
}
else
{
response->catf("],\"next\":%u,\"err\":%u}\n", nextFile, err);
}
if (response->HadOverflow())
{
OutputBuffer::ReleaseAll(response);
}
return response;
}
// Get a JSON-style filelist including file types and sizes
OutputBuffer *RepRap::GetFilelistResponse(const char *dir, unsigned int startAt) noexcept
{
// Need something to write to...
OutputBuffer *response;
if (!OutputBuffer::Allocate(response))
{
return nullptr;
}
response->printf("{\"dir\":\"%.s\",\"first\":%u,\"files\":[", dir, startAt);
unsigned int err;
unsigned int nextFile = 0;
#if HAS_MASS_STORAGE
if (!MassStorage::CheckDriveMounted(dir))
{
err = 1;
}
else
#endif
if (!MassStorage::DirectoryExists(dir))
{
err = 2;
}
else
{
err = 0;
FileInfo fileInfo;
unsigned int filesFound = 0;
bool gotFile = MassStorage::FindFirst(dir, fileInfo);
size_t bytesLeft = OutputBuffer::GetBytesLeft(response); // don't write more bytes than we can
while (gotFile)
{
if (fileInfo.fileName[0] != '.') // ignore Mac resource files and Linux hidden files
{
if (filesFound >= startAt)
{
// Make sure we can end this response properly
if (bytesLeft < fileInfo.fileName.strlen() * 2 + 50)
{
// No more space available - stop here
MassStorage::AbandonFindNext();
nextFile = filesFound;
break;
}
// Write delimiter
if (filesFound != startAt)
{
bytesLeft -= response->cat(',');
}
// Write another file entry
bytesLeft -= response->catf("{\"type\":\"%c\",\"name\":\"%.s\",\"size\":%" PRIu32,
fileInfo.isDirectory ? 'd' : 'f', fileInfo.fileName.c_str(), fileInfo.size);
tm timeInfo;
gmtime_r(&fileInfo.lastModified, &timeInfo);
if (timeInfo.tm_year <= /*19*/80)
{
// Don't send the last modified date if it is invalid
bytesLeft -= response->cat('}');
}
else
{
bytesLeft -= response->catf(",\"date\":\"%04u-%02u-%02uT%02u:%02u:%02u\"}",
timeInfo.tm_year + 1900, timeInfo.tm_mon + 1, timeInfo.tm_mday, timeInfo.tm_hour, timeInfo.tm_min, timeInfo.tm_sec);
}
}
++filesFound;
}
gotFile = MassStorage::FindNext(fileInfo);
}
}
// If there is no error, don't append "err":0 because if we do then DWC thinks there has been an error - looks like it doesn't check the value
if (err != 0)
{
response->catf("],\"err\":%u}\n", err);
}
else
{
response->catf("],\"next\":%u}\n", nextFile);
}
if (response->HadOverflow())
{
OutputBuffer::ReleaseAll(response);
}
return response;
}
#endif
#if HAS_MASS_STORAGE
// Get thumbnail data
// 'offset' is the offset into the file of the thumbnail data that the caller wants.
// It is up to the caller to get the offset right, however we must fail gracefully if the caller passes us a bad offset.
// The offset should always be either the initial offset or the 'next' value passed in a previous call, so it should always be the start of a line.
OutputBuffer *RepRap::GetThumbnailResponse(const char *filename, FilePosition offset) noexcept
{
// Need something to write to...
OutputBuffer *response;
if (!OutputBuffer::Allocate(response))
{
return nullptr;
}
response->printf("{\"fileName\":\"%.s\",\"offset\":%" PRIu32 ",", filename, offset);
FileStore *const f = platform->OpenFile(platform->GetGCodeDir(), filename, OpenMode::read);
unsigned int err = 0;
if (f != nullptr)
{
if (f->Seek(offset))
{
response->cat("\"data\":\"");
for (unsigned int charsWritten = 0; charsWritten < 2500;)
{
// Read a line
char lineBuffer[GCODE_LENGTH];
const int charsRead = f->ReadLine(lineBuffer, ARRAY_SIZE(lineBuffer));
if (charsRead < 2)
{
err = 1;
break;
}
// Check it is a comment line
const char *p = lineBuffer;
if (*p != ';')
{
err = 1;
break;
}
// Update the file offset for returning 'next'
offset = f->Position();
// Skip white space
do
{
++p;
} while (*p == ' ' || *p == '\t');
// Check for end of thumbnail
const unsigned int charsLeft = (unsigned int)charsRead - (p - lineBuffer);
if (charsLeft == 0 || StringStartsWith(p, "thumbnail end"))
{
offset = 0; // reached end of encoded thumbnail, so return 0 for 'next'
break;
}
// Copy the data
response->cat(p, charsLeft);
charsWritten += charsLeft;
}
response->catf("\",\"next\":%" PRIu32 ",", offset);
}
f->Close();
}
else
{
err = 1;
}
response->catf("\"err\":%u}\n", err);
return response;
}
#endif
// Get information for the specified file, or the currently printing file (if 'filename' is null or empty), in JSON format
// Return GCodeResult::Warning if the file doesn't exist, else GCodeResult::ok or GCodeResult::notFinished
GCodeResult RepRap::GetFileInfoResponse(const char *filename, OutputBuffer *&response, bool quitEarly) noexcept
{
const bool specificFile = (filename != nullptr && filename[0] != 0);
GCodeFileInfo info;
if (specificFile)
{
#if HAS_MASS_STORAGE || HAS_EMBEDDED_FILES
// Poll file info for a specific file
String<MaxFilenameLength> filePath;
if (!MassStorage::CombineName(filePath.GetRef(), platform->GetGCodeDir(), filename))
{
info.isValid = false;
}
else if (MassStorage::GetFileInfo(filePath.c_str(), info, quitEarly) == GCodeResult::notFinished)
{
// This may take a few runs...
return GCodeResult::notFinished;
}
#else
return GCodeResult::warning;
#endif
}
else if (!printMonitor->GetPrintingFileInfo(info))
{
return GCodeResult::notFinished;
}
if (!OutputBuffer::Allocate(response))
{
return GCodeResult::notFinished;
}
if (info.isValid)
{
response->printf("{\"err\":0,\"fileName\":\"%.s\",\"size\":%lu,", ((specificFile) ? filename : printMonitor->GetPrintingFilename()), info.fileSize);
tm timeInfo;
gmtime_r(&info.lastModifiedTime, &timeInfo);
if (timeInfo.tm_year > /*19*/80)
{
response->catf("\"lastModified\":\"%04u-%02u-%02uT%02u:%02u:%02u\",",
timeInfo.tm_year + 1900, timeInfo.tm_mon + 1, timeInfo.tm_mday, timeInfo.tm_hour, timeInfo.tm_min, timeInfo.tm_sec);
}
response->catf("\"height\":%.2f,\"layerHeight\":%.2f,", (double)info.objectHeight, (double)info.layerHeight);
if (info.printTime != 0)
{
response->catf("\"printTime\":%" PRIu32 ",", info.printTime);
}
if (info.simulatedTime != 0)
{
response->catf("\"simulatedTime\":%" PRIu32 ",", info.simulatedTime);
}
response->cat("\"filament\":");
char ch = '[';
if (info.numFilaments == 0)
{
response->cat(ch);
}
else
{
for (size_t i = 0; i < info.numFilaments; ++i)
{
response->catf("%c%.1f", ch, (double)info.filamentNeeded[i]);
ch = ',';
}
}
response->cat(']');
if (!specificFile)
{
response->catf(",\"printDuration\":%d", (int)printMonitor->GetPrintDuration());
}
// See if we have any thumbnails
if (info.thumbnails[0].IsValid())
{
response->cat(",\"thumbnails\":");
size_t index = 0;
do
{
const GCodeFileInfo::ThumbnailInfo& inf = info.thumbnails[index];
response->catf("%c{\"width\":%u,\"height\":%u,\"fmt\":\"%s\",\"offset\":%" PRIu32 ",\"size\":%" PRIu32 "}",
((index == 0) ? '[' : ','), inf.height, inf.width, inf.format.ToString(), inf.offset, inf.size);
++index;
}
while (index < GCodeFileInfo::MaxThumbnails && info.thumbnails[index].IsValid());
response->cat(']');
}
response->catf(",\"generatedBy\":\"%.s\"}\n", info.generatedBy.c_str());
return GCodeResult::ok;
}
response->copy("{\"err\":1}\n");
return GCodeResult::warning;
}
// Helper functions to write JSON arrays
// Append float array using 1 decimal place
void RepRap::AppendFloatArray(OutputBuffer *buf, const char *name, size_t numValues, function_ref<float(size_t)> func, unsigned int numDecimalDigits) noexcept
{
if (name != nullptr)
{
buf->catf("\"%s\":", name);
}
buf->cat('[');
for (size_t i = 0; i < numValues; ++i)
{
if (i != 0)
{
buf->cat(',');
}
buf->catf(GetFloatFormatString(numDecimalDigits), HideNan(func(i)));
}
buf->cat(']');
}
void RepRap::AppendIntArray(OutputBuffer *buf, const char *name, size_t numValues, function_ref<int(size_t)> func) noexcept
{
if (name != nullptr)
{
buf->catf("\"%s\":", name);
}
buf->cat('[');
for (size_t i = 0; i < numValues; ++i)
{
if (i != 0)
{
buf->cat(',');
}
buf->catf("%d", func(i));
}
buf->cat(']');
}
void RepRap::AppendStringArray(OutputBuffer *buf, const char *name, size_t numValues, function_ref<const char *(size_t)> func) noexcept
{
if (name != nullptr)
{
buf->catf("\"%s\":", name);
}
buf->cat('[');
for (size_t i = 0; i < numValues; ++i)
{
if (i != 0)
{
buf->cat(',');
}
buf->catf("\"%.s\"", func(i));
}
buf->cat(']');
}
#if SUPPORT_OBJECT_MODEL
// Return a query into the object model, or return nullptr if no buffer available
// We append a newline to help PanelDue resync after receiving corrupt or incomplete data. DWC ignores it.
OutputBuffer *RepRap::GetModelResponse(const char *key, const char *flags) const THROWS(GCodeException)
{
OutputBuffer *outBuf;
if (OutputBuffer::Allocate(outBuf))
{
if (key == nullptr) { key = ""; }
if (flags == nullptr) { flags = ""; }
outBuf->printf("{\"key\":\"%.s\",\"flags\":\"%.s\",\"result\":", key, flags);
const bool wantArrayLength = (*key == '#');
if (wantArrayLength)
{
++key;
}
try
{
reprap.ReportAsJson(outBuf, key, flags, wantArrayLength);
outBuf->cat("}\n");
if (outBuf->HadOverflow())
{
OutputBuffer::ReleaseAll(outBuf);
}
}
catch (...)
{
OutputBuffer::ReleaseAll(outBuf);
throw;
}
}
return outBuf;
}
#endif
// Send a beep. We send it to both PanelDue and the web interface.
void RepRap::Beep(unsigned int freq, unsigned int ms) noexcept
{
// Limit the frequency and duration to sensible values
freq = constrain<unsigned int>(freq, 50, 10000);
ms = constrain<unsigned int>(ms, 10, 60000);
// If there is an LCD device present, make it beep
bool bleeped = false;
#if SUPPORT_12864_LCD
if (display->IsPresent())
{
display->Beep(freq, ms);
bleeped = true;
}
#endif
if (platform->IsAuxEnabled(0) && !platform->IsAuxRaw(0))
{
platform->PanelDueBeep(freq, ms);
bleeped = true;
}
if (!bleeped)
{
beepFrequency = freq;
beepDuration = ms;
beepTimer = millis();
StateUpdated();
}
}
// Send a short message. We send it to both PanelDue and the web interface.
void RepRap::SetMessage(const char *msg) noexcept
{
message.copy(msg);
#if SUPPORT_12864_LCD
++messageSequence;
#endif
StateUpdated();
if (platform->IsAuxEnabled(0) && !platform->IsAuxRaw(0))
{
platform->SendPanelDueMessage(0, msg);
}
platform->Message(MessageType::LogInfo, msg);
}
// Display a message box on the web interface
void RepRap::SetAlert(const char *msg, const char *title, int mode, float timeout, AxesBitmap controls) noexcept
{
MutexLocker lock(messageBoxMutex);
mbox.message.copy(msg);
mbox.title.copy(title);
mbox.mode = mode;
mbox.timer = (timeout <= 0.0) ? 0 : millis();
mbox.timeout = round(max<float>(timeout, 0.0) * 1000.0);
mbox.controls = controls;
mbox.active = true;
++mbox.seq;
StateUpdated();
}
// Clear pending message box
void RepRap::ClearAlert() noexcept
{
MutexLocker lock(messageBoxMutex);
mbox.active = false;
StateUpdated();
}
// Get the status index
size_t RepRap::GetStatusIndex() const noexcept
{
return (processingConfig) ? 0 // Reading the configuration file
#if HAS_SBC_INTERFACE && SUPPORT_CAN_EXPANSION
: (gCodes->IsFlashing() || expansion->IsFlashing()) ? 1 // Flashing a new firmware binary
#else
: (gCodes->IsFlashing()) ? 1 // Flashing a new firmware binary
#endif
: (IsStopped()) ? 2 // Halted
#if HAS_VOLTAGE_MONITOR
: (!platform->HasVinPower() && !gCodes->IsSimulating()) ? 3 // Off i.e. powered down
#endif
: (gCodes->GetPauseState() == PauseState::pausing) ? 4 // Pausing
: (gCodes->GetPauseState() == PauseState::resuming) ? 5 // Resuming
: (gCodes->GetPauseState() == PauseState::paused) ? 6 // Paused
: (gCodes->GetPauseState() == PauseState::cancelling) ? 7 // Paused
: (printMonitor->IsPrinting())
? ((gCodes->IsSimulating()) ? 8 // Simulating
: 9 // Printing
)
: (gCodes->IsDoingToolChange()) ? 10 // Changing tool
: (gCodes->DoingFileMacro() || !move->NoLiveMovement() ||
gCodes->WaitingForAcknowledgement()) ? 11 // Busy
: 12; // Idle
}
// Get the status character for the new-style status response
char RepRap::GetStatusCharacter() const noexcept
{
return "CFHODRSAMPTBI"[GetStatusIndex()];
}
const char* RepRap::GetStatusString() const noexcept
{
static const char *const StatusStrings[] =
{
"starting",
"updating",
"halted",
"off",
"pausing",
"resuming",
"paused",
"cancelling",
"simulating",
"processing",
"changingTool",
"busy",
"idle"
};
return StatusStrings[GetStatusIndex()];
}
bool RepRap::NoPasswordSet() const noexcept
{
return (password[0] == 0 || CheckPassword(DEFAULT_PASSWORD));
}
bool RepRap::CheckPassword(const char *pw) const noexcept
{
String<RepRapPasswordLength> copiedPassword;
copiedPassword.CopyAndPad(pw);
return password.ConstantTimeEquals(copiedPassword);
}
void RepRap::SetPassword(const char* pw) noexcept
{
password.CopyAndPad(pw);
}
const char *RepRap::GetName() const noexcept
{
return myName.c_str();
}
void RepRap::SetName(const char* nm) noexcept
{
myName.copy(nm);
// Set new DHCP hostname
network->SetHostname(myName.c_str());
NetworkUpdated();
}
// Given that we want to extrude/retract the specified extruder drives, check if they are allowed.
// For each disallowed one, log an error to report later and return a bit in the bitmap.
// This may be called by an ISR!
unsigned int RepRap::GetProhibitedExtruderMovements(unsigned int extrusions, unsigned int retractions) noexcept
{
if (GetHeat().ColdExtrude())
{
return 0;
}
Tool * const tool = currentTool;
if (tool == nullptr)
{
// This should not happen, but if no tool is selected then don't allow any extruder movement
return extrusions | retractions;
}
unsigned int result = 0;
for (size_t driveNum = 0; driveNum < tool->DriveCount(); driveNum++)
{
const unsigned int extruderDrive = (unsigned int)(tool->GetDrive(driveNum));
const unsigned int mask = 1 << extruderDrive;
if (extrusions & mask)
{
if (!tool->ToolCanDrive(true))
{
result |= mask;
}
}
else if (retractions & mask)
{
if (!tool->ToolCanDrive(false))
{
result |= mask;
}
}
}
return result;
}
void RepRap::FlagTemperatureFault(int8_t dudHeater) noexcept
{
ReadLocker lock(toolListLock);
if (toolList != nullptr)
{
toolList->FlagTemperatureFault(dudHeater);
}
}
GCodeResult RepRap::ClearTemperatureFault(int8_t wasDudHeater, const StringRef& reply) noexcept
{
const GCodeResult rslt = heat->ResetFault(wasDudHeater, reply);
ReadLocker lock(toolListLock);
if (toolList != nullptr)
{
toolList->ClearTemperatureFault(wasDudHeater);
}
return rslt;
}
#if HAS_MASS_STORAGE || HAS_SBC_INTERFACE
// Save some resume information, returning true if successful
// We assume that the tool configuration doesn't change, only the temperatures and the mix
bool RepRap::WriteToolSettings(FileStore *f) noexcept
{
// First write the settings of all tools except the current one and the command to select them if they are on standby
bool ok = true;
ReadLocker lock(toolListLock);
for (const Tool *t = toolList; t != nullptr && ok; t = t->Next())
{
if (t != currentTool)
{
ok = t->WriteSettings(f);
}
}
// Finally write the settings of the active tool and the commands to select it. If no current tool, just deselect all tools.
if (ok)
{
if (currentTool == nullptr)
{
ok = f->Write("T-1 P0\n");
}
else
{
ok = currentTool->WriteSettings(f);
if (ok)
{
String<StringLength20> buf;
buf.printf("T%u P0\n", currentTool->Number());
ok = f->Write(buf.c_str());
}
}
}
return ok;
}
// Save some information in config-override.g
bool RepRap::WriteToolParameters(FileStore *f, const bool forceWriteOffsets) noexcept
{
bool ok = true, written = false;
ReadLocker lock(toolListLock);
for (const Tool *t = toolList; ok && t != nullptr; t = t->Next())
{
const AxesBitmap axesProbed = t->GetAxisOffsetsProbed();
if (axesProbed.IsNonEmpty() || forceWriteOffsets)
{
String<StringLength256> scratchString;
if (!written)
{
scratchString.copy("; Probed tool offsets\n");
written = true;
}
scratchString.catf("G10 P%d", t->Number());
for (size_t axis = 0; axis < MaxAxes; ++axis)
{
if (forceWriteOffsets || axesProbed.IsBitSet(axis))
{
scratchString.catf(" %c%.2f", gCodes->GetAxisLetters()[axis], (double)(t->GetOffset(axis)));
}
}
scratchString.cat('\n');
ok = f->Write(scratchString.c_str());
}
}
return ok;
}
#endif
// Firmware update operations
#ifdef __LPC17xx__
#include "LPC/FirmwareUpdate.hpp"
#else
// Check the prerequisites for updating the main firmware. Return True if satisfied, else print a message to 'reply' and return false.
bool RepRap::CheckFirmwareUpdatePrerequisites(const StringRef& reply, const StringRef& filenameRef) noexcept
{
#if HAS_MASS_STORAGE
FileStore * const firmwareFile = platform->OpenFile(FIRMWARE_DIRECTORY, filenameRef.IsEmpty() ? IAP_FIRMWARE_FILE : filenameRef.c_str(), OpenMode::read);
if (firmwareFile == nullptr)
{
String<MaxFilenameLength> firmwareBinaryLocation;
MassStorage::CombineName(firmwareBinaryLocation.GetRef(), FIRMWARE_DIRECTORY, filenameRef.IsEmpty() ? IAP_FIRMWARE_FILE : filenameRef.c_str());
reply.printf("Firmware binary \"%s\" not found", firmwareBinaryLocation.c_str());
return false;
}
// Check that the binary looks sensible. The first word is the initial stack pointer, which should be the top of RAM.
uint32_t firstDword;
bool ok =
#if SAME5x
// We use UF2 file format, so look inside the payload
firmwareFile->Seek(32) &&
#endif
firmwareFile->Read(reinterpret_cast<char*>(&firstDword), sizeof(firstDword)) == (int)sizeof(firstDword);
firmwareFile->Close();
if (!ok || firstDword !=
#if SAME5x
HSRAM_ADDR + HSRAM_SIZE
#elif SAM3XA
IRAM1_ADDR + IRAM1_SIZE
#else
IRAM_ADDR + IRAM_SIZE
#endif
)
{
reply.printf("Firmware binary \"%s\" is not valid for this electronics", FIRMWARE_DIRECTORY IAP_FIRMWARE_FILE);
return false;
}
if (!platform->FileExists(FIRMWARE_DIRECTORY, IAP_UPDATE_FILE) && !platform->FileExists(DEFAULT_SYS_DIR, IAP_UPDATE_FILE))
{
reply.printf("In-application programming binary \"%s\" not found", FIRMWARE_DIRECTORY IAP_UPDATE_FILE);
return false;
}
#endif
return true;
}
// Update the firmware. Prerequisites should be checked before calling this.
void RepRap::UpdateFirmware(const StringRef& filenameRef) noexcept
{
#if HAS_MASS_STORAGE
FileStore * iapFile = platform->OpenFile(FIRMWARE_DIRECTORY, IAP_UPDATE_FILE, OpenMode::read);
if (iapFile == nullptr)
{
iapFile = platform->OpenFile(DEFAULT_SYS_DIR, IAP_UPDATE_FILE, OpenMode::read);
if (iapFile == nullptr)
{
// This should not happen because we already checked that the file exists, so use a simplified error message
platform->Message(FirmwareUpdateMessage, "Missing IAP");
return;
}
}
PrepareToLoadIap();
// Use RAM-based IAP
iapFile->Read(reinterpret_cast<char *>(IAP_IMAGE_START), iapFile->Length());
iapFile->Close();
StartIap(filenameRef.c_str());
#endif
}
void RepRap::PrepareToLoadIap() noexcept
{
#if SUPPORT_12864_LCD
display->UpdatingFirmware(); // put the firmware update message on the display and stop polling the display
#endif
// Send this message before we start using RAM that may contain message buffers
platform->Message(AuxMessage, "Updating main firmware\n");
platform->Message(UsbMessage, "Shutting down USB interface to update main firmware. Try reconnecting after 30 seconds.\n");
// Allow time for the firmware update message to be sent
const uint32_t now = millis();
while (platform->FlushMessages() && millis() - now < 2000) { }
// The machine will be unresponsive for a few seconds, don't risk damaging the heaters.
// This also shuts down tasks and interrupts that might make use of the RAM that we are about to load the IAP binary into.
EmergencyStop(); // this also stops Platform::Tick being called, which is necessary because it access Z probe object in RAM used by IAP
network->Exit(); // kill the network task to stop it overwriting RAM that we use to hold the IAP
SmartDrivers::Exit(); // stop the drivers being polled via SPI or UART because it may use data in the last 64Kb of RAM
FilamentMonitor::Exit(); // stop the filament monitors generating interrupts, we may be about to overwrite them
fansManager->Exit(); // stop the fan tachos generating interrupts, we may be about to overwrite them
#if SUPPORT_ACCELEROMETERS
Accelerometers::Exit(); // terminate the accelerometer task, if any
#endif
if (RTOSIface::GetCurrentTask() != Tasks::GetMainTask())
{
Tasks::TerminateMainTask(); // stop the main task if IAP is being written from another task
}
#ifdef DUET_NG
DuetExpansion::Exit(); // stop the DueX polling task
#endif
StopAnalogTask();
Cache::Disable(); // disable the cache because it interferes with flash memory access
#if USE_MPU
ARM_MPU_Disable(); // make sure we can execute from RAM
#endif
#if 0
// Debug
memset(reinterpret_cast<char *>(IAP_IMAGE_START), 0x7E, 60 * 1024);
delay(2000);
for (char* p = reinterpret_cast<char *>(IAP_IMAGE_START); p < reinterpret_cast<char *>(IAP_IMAGE_START + (60 * 1024)); ++p)
{
if (*p != 0x7E)
{
debugPrintf("At %08" PRIx32 ": %02x\n", reinterpret_cast<uint32_t>(p), *p);
}
}
debugPrintf("Scan complete\n");
#endif
}
void RepRap::StartIap(const char *filename) noexcept
{
// Disable all interrupts, then reallocate the vector table and program entry point to the new IAP binary
// This does essentially what the Atmel AT02333 paper suggests (see 3.2.2 ff)
// Disable all IRQs
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk; // disable the system tick exception
IrqDisable();
for (size_t i = 0; i < 8; i++)
{
NVIC->ICER[i] = 0xFFFFFFFF; // Disable IRQs
NVIC->ICPR[i] = 0xFFFFFFFF; // Clear pending IRQs
}
// Disable all PIO IRQs, because the core assumes they are all disabled when setting them up
#if !SAME5x
PIOA->PIO_IDR = 0xFFFFFFFF;
PIOB->PIO_IDR = 0xFFFFFFFF;
PIOC->PIO_IDR = 0xFFFFFFFF;
# ifdef PIOD
PIOD->PIO_IDR = 0xFFFFFFFF;
# endif
# ifdef ID_PIOE
PIOE->PIO_IDR = 0xFFFFFFFF;
# endif
#endif
#if HAS_MASS_STORAGE
if (filename != nullptr)
{
// Newer versions of IAP reserve space above the stack for us to pass the firmware filename
String<MaxFilenameLength> firmwareFileLocation;
MassStorage::CombineName(firmwareFileLocation.GetRef(), FIRMWARE_DIRECTORY, filename[0] == 0 ? IAP_FIRMWARE_FILE : filename);
const uint32_t topOfStack = *reinterpret_cast<uint32_t *>(IAP_IMAGE_START);
if (topOfStack + firmwareFileLocation.strlen() + 1 <=
# if SAME5x
HSRAM_ADDR + HSRAM_SIZE
# elif SAM3XA
IRAM1_ADDR + IRAM1_SIZE
# else
IRAM_ADDR + IRAM_SIZE
# endif
)
{
strcpy(reinterpret_cast<char*>(topOfStack), firmwareFileLocation.c_str());
}
}
#endif
#if defined(DUET_NG) || defined(DUET_M)
IoPort::WriteDigital(DiagPin, !DiagOnPolarity); // turn the DIAG LED off
#endif
WatchdogReset(); // kick the watchdog one last time
#if SAM4E || SAME70
WatchdogResetSecondary(); // kick the secondary watchdog
#endif
// Modify vector table location
__DSB();
__ISB();
SCB->VTOR = ((uint32_t)IAP_IMAGE_START & SCB_VTOR_TBLOFF_Msk);
__DSB();
__ISB();
IrqEnable();
__asm volatile ("mov r3, %0" : : "r" (IAP_IMAGE_START) : "r3");
// We are using separate process and handler stacks. Put the process stack 1K bytes below the handler stack.
__asm volatile ("ldr r1, [r3]");
__asm volatile ("msr msp, r1");
__asm volatile ("sub r1, #1024");
__asm volatile ("mov sp, r1");
__asm volatile ("isb");
__asm volatile ("ldr r1, [r3, #4]");
__asm volatile ("orr r1, r1, #1");
__asm volatile ("bx r1");
for (;;) { } // to keep gcc happy
}
#endif
// Helper function for diagnostic tests in Platform.cpp, to cause a deliberate divide-by-zero
/*static*/ uint32_t RepRap::DoDivide(uint32_t a, uint32_t b) noexcept
{
return a/b;
}
// Helper function for diagnostic tests in Platform.cpp, to cause a deliberate bus fault or memory protection error
/*static*/ void RepRap::GenerateBusFault() noexcept
{
#if SAME5x
(void)*(reinterpret_cast<const volatile char*>(0x30000000));
#elif SAME70
(void)*(reinterpret_cast<const volatile char*>(0x30000000));
#elif SAM4E || SAM4S
(void)*(reinterpret_cast<const volatile char*>(0x20800000));
#elif SAM3XA
(void)*(reinterpret_cast<const volatile char*>(0x20200000));
#elif defined(__LPC17xx__)
// The LPC176x/5x generates Bus Fault exception when accessing a reserved memory address
(void)*(reinterpret_cast<const volatile char*>(0x00080000));
#else
# error Unsupported processor
#endif
}
// Helper function for diagnostic tests in Platform.cpp, to calculate sine and cosine
/*static*/ float RepRap::SinfCosf(float angle) noexcept
{
return sinf(angle) + cosf(angle);
}
// Helper function for diagnostic tests in Platform.cpp, to calculate square root
/*static*/ float RepRap::FastSqrtf(float f) noexcept
{
return ::fastSqrtf(f);
}
// Report an internal error
void RepRap::ReportInternalError(const char *file, const char *func, int line) const noexcept
{
platform->MessageF(ErrorMessage, "Internal Error in %s at %s(%d)\n", func, file, line);
}
#if SUPPORT_12864_LCD
const char *RepRap::GetLatestMessage(uint16_t& sequence) const noexcept
{
sequence = messageSequence;
return message.c_str();
}
#endif
// End
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