Merge pull request #1013 from bdring/Devt

Devt

FluidNC/esp32/sdspi.cpp

@@ -12,7 +12,7 @@
 #define CHECK_EXECUTE_RESULT(err, str)                                                                                                     \
     do {                                                                                                                                   \
         if ((err) != ESP_OK) {                                                                                                             \
-            log_error(str << " code 0x" << to_hex(err));                                                                                   \
+            log_error(str << " code " << to_hex(err));                                                                                   \
             goto cleanup;                                                                                                                  \
         }                                                                                                                                  \
     } while (0)

FluidNC/esp32/tmc_spi.cpp

@@ -43,7 +43,7 @@
 // This is executed in the object context so it has access to class
 // data such as the CS pin that switchCSpin() uses
 void TMC2130Stepper::write(uint8_t reg, uint32_t data) {
-    log_verbose("TMC reg 0x" << to_hex(reg) << " write 0x" << to_hex(data));
+    log_verbose("TMC reg " << to_hex(reg) << " write " << to_hex(data));
     tmc_spi_bus_setup();
 
     switchCSpin(0);
@@ -88,7 +88,7 @@ uint32_t TMC2130Stepper::read(uint8_t reg) {
     data += (uint32_t)in[dummy_in_bytes + 4];
     switchCSpin(1);
 
-    log_verbose("TMC reg 0x" << to_hex(reg) << " read 0x" << to_hex(data) << " status 0x" << to_hex(status));
+    log_verbose("TMC reg " << to_hex(reg) << " read " << to_hex(data) << " status " << to_hex(status));
 
     return data;
 }

FluidNC/src/Error.cpp

@@ -68,6 +68,7 @@ std::map<Error, const char*> ErrorNames = {
     { Error::AuthenticationFailed, "Authentication failed!" },
     { Error::Eol, "End of line" },
     { Error::Eof, "End of file" },
+    { Error::Reset, "System Reset" },
     { Error::AnotherInterfaceBusy, "Another interface is busy" },
     { Error::BadPinSpecification, "Bad Pin Specification" },
     { Error::JogCancelled, "Jog Cancelled" },

FluidNC/src/Error.h

@@ -72,6 +72,7 @@ enum class Error : uint8_t {
     AuthenticationFailed        = 110,
     Eol                         = 111,
     Eof                         = 112,  // Not necessarily an error
+    Reset                       = 113,
     AnotherInterfaceBusy        = 120,
     JogCancelled                = 130,
     BadPinSpecification         = 150,

FluidNC/src/GCode.cpp

@@ -1620,6 +1620,9 @@ Error gc_execute_line(char* line) {
             // As far as the parser is concerned, the position is now == target. In reality the
             // motion control system might still be processing the action and the real tool position
             // in any intermediate location.
+            if (sys.abort) {
+                return Error::Reset;
+            }
             if (gc_update_pos == GCUpdatePos::Target) {
                 copyAxes(gc_state.position, gc_block.values.xyz);
             } else if (gc_update_pos == GCUpdatePos::System) {

FluidNC/src/I2SOut.cpp

@@ -887,7 +887,7 @@ int i2s_out_init(i2s_out_init_t& init_param) {
                             "I2SOutTask",
                             4096,
                             NULL,
-                            1,
+                            3,
                             nullptr,
                             CONFIG_ARDUINO_RUNNING_CORE  // must run the task on same core
     );

FluidNC/src/InputFile.cpp

@@ -88,6 +88,7 @@ void InputFile::stopJob() {
     //Report print stopped
     _notifyf("File print canceled", "Reset during file job at line: %d", getLineNumber());
     log_info("Reset during file job at line: " << getLineNumber());
+    _progress = "";
     allChannels.kill(this);
 }
 

FluidNC/src/Kinematics/ParallelDelta.cpp

@@ -60,10 +60,10 @@ namespace Kinematics {
     const float tan30  = 1.0 / sqrt3;
 
     // the geometry of the delta
-    float rf;                                           // radius of the fixed side (length of motor cranks)
-    float re;                                           // radius of end effector side (length of linkages)
-    float f;                                            // sized of fixed side triangel
-    float e;                                            // size of end effector side triangle
+    float rf;  // radius of the fixed side (length of motor cranks)
+    float re;  // radius of end effector side (length of linkages)
+    float f;   // sized of fixed side triangel
+    float e;   // size of end effector side triangle
 
     static float last_angle[MAX_N_AXIS]     = { 0.0 };  // A place to save the previous motor angles for distance/feed rate calcs
     static float last_cartesian[MAX_N_AXIS] = { 0.0 };  // A place to save the previous motor angles for distance/feed rate calcs
@@ -196,6 +196,9 @@ namespace Kinematics {
         float segment_dist = dist / ((float)segment_count);  // distance of each segment...will be used for feedrate conversion
 
         for (uint32_t segment = 1; segment <= segment_count; segment++) {
+            if (sys.abort) {
+                return true;
+            }
             //log_debug("Segment:" << segment << " of " << segment_count);
             // determine this segment's target
             seg_target[X_AXIS] = position[X_AXIS] + (dx / float(segment_count) * segment);

FluidNC/src/Kinematics/WallPlotter.cpp

@@ -99,6 +99,9 @@ namespace Kinematics {
 
         // Calculate desired cartesian feedrate distance ratio. Same for each seg.
         for (uint32_t segment = 1; segment <= segment_count; segment++) {
+            if (sys.abort) {
+                return true;
+            }
             // calculate the cartesian end point of the next segment
             for (size_t axis = X_AXIS; axis < n_axis; axis++) {
                 cartesian_segment_end[axis] += cartesian_segment_components[axis];

FluidNC/src/Machine/Macros.cpp

@@ -6,20 +6,17 @@
 #include "src/System.h"                 // sys
 #include "src/Machine/MachineConfig.h"  // config
 
+Macro::Macro(const char* name) : _name(name) {}
+
 void MacroEvent::run(void* arg) {
-    int n = int(arg);
-    if (sys.state != State::Idle) {
-        log_error("Macro can only be used in idle state");
-        return;
-    }
-    config->_macros->_macro[n].run();
+    config->_macros->_macro[_num].run();
 }
 
-Macro Macros::_startup_line[n_startup_lines] = { { "startup_line0" }, { "startup_line1" } };
-Macro Macros::_macro[n_macros]               = { { "macro0" }, { "macro1" }, { "macro2" }, { "macro3" } };
-Macro Macros::_after_homing                  = { "after_homing" };
-Macro Macros::_after_reset                   = { "after_reset" };
-Macro Macros::_after_unlock                  = { "after_unlock" };
+Macro Macros::_startup_line[n_startup_lines] = { "startup_line0", "startup_line1" };
+Macro Macros::_macro[n_macros]               = { "macro0", "macro1", "macro2", "macro3", "macro4" };
+Macro Macros::_after_homing { "after_homing" };
+Macro Macros::_after_reset { "after_reset" };
+Macro Macros::_after_unlock { "after_unlock" };
 
 MacroEvent macro0Event { 0 };
 MacroEvent macro1Event { 1 };
@@ -54,6 +51,11 @@ Cmd findOverride(std::string name) {
 }
 
 bool Macro::run() {
+    if (sys.state != State::Idle) {
+        log_error("Macro can only be used in idle state");
+        return false;
+    }
+
     const std::string& s = _gcode;
     if (_gcode == "") {
         return true;

FluidNC/src/Machine/Macros.h

@@ -27,15 +27,15 @@ namespace Machine {
     class Macro {
     public:
         std::string _gcode;
-        std::string _name;
-        Macro(const char* name) : _name(name) {}
+        const char* _name;
+        Macro(const char* name);
         bool run();
     };
 
     class Macros : public Configuration::Configurable {
     public:
         static const int n_startup_lines = 2;
-        static const int n_macros        = 4;
+        static const int n_macros        = 5;
 
         static Macro _macro[n_macros];
         static Macro _startup_line[n_startup_lines];
@@ -50,15 +50,15 @@ namespace Machine {
         // TODO: We could validate the startup lines
 
         void group(Configuration::HandlerBase& handler) override {
-            handler.item(_startup_line[0]._name.c_str(), _startup_line[0]._gcode);
-            handler.item(_startup_line[1]._name.c_str(), _startup_line[1]._gcode);
-            handler.item(_macro[0]._name.c_str(), _macro[0]._gcode);
-            handler.item(_macro[1]._name.c_str(), _macro[1]._gcode);
-            handler.item(_macro[2]._name.c_str(), _macro[2]._gcode);
-            handler.item(_macro[3]._name.c_str(), _macro[3]._gcode);
-            handler.item(_after_homing._name.c_str(), _after_homing._gcode);
-            handler.item(_after_reset._name.c_str(), _after_reset._gcode);
-            handler.item(_after_unlock._name.c_str(), _after_unlock._gcode);
+            handler.item(_startup_line[0]._name, _startup_line[0]._gcode);
+            handler.item(_startup_line[1]._name, _startup_line[1]._gcode);
+            handler.item(_macro[0]._name, _macro[0]._gcode);
+            handler.item(_macro[1]._name, _macro[1]._gcode);
+            handler.item(_macro[2]._name, _macro[2]._gcode);
+            handler.item(_macro[3]._name, _macro[3]._gcode);
+            handler.item(_after_homing._name, _after_homing._gcode);
+            handler.item(_after_reset._name, _after_reset._gcode);
+            handler.item(_after_unlock._name, _after_unlock._gcode);
         }
 
         ~Macros() {}

FluidNC/src/Main.cpp

@@ -138,6 +138,7 @@ void setup() {
 }
 
 void loop() {
+    vTaskPrioritySet(NULL, 2);
     static int tries = 0;
     try {
         // Start the main loop. Processes program inputs and executes them.

FluidNC/src/MotionControl.h

@@ -19,12 +19,6 @@ extern bool probe_succeeded;  // Tracks if last probing cycle was successful.
 // System motion commands must have a line number of zero.
 const int PARKING_MOTION_LINE_NUMBER = 0;
 
-// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
-// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
-// (1 minute)/feed_rate time.
-bool cartesian_to_motors(float* target, plan_line_data_t* pl_data, float* position);
-void motors_to_cartesian(float* cartesian, float* motors, int n_axis);
-
 // Execute a linear motion in cartesian space.
 bool mc_linear(float* target, plan_line_data_t* pl_data, float* position);
 

FluidNC/src/Motors/TMC2209Driver.cpp

@@ -80,13 +80,13 @@ namespace MotorDrivers {
         }
 
         // dump the registers. This is helpful for people migrating to the Pro version
-        log_verbose("CHOPCONF: 0x" << to_hex(tmc2209->CHOPCONF()));
-        log_verbose("COOLCONF: 0x" << to_hex(tmc2209->COOLCONF()));
-        log_verbose("TPWMTHRS: 0x" << to_hex(tmc2209->TPWMTHRS()));
-        log_verbose("TCOOLTHRS: 0x" << to_hex(tmc2209->TCOOLTHRS()));
-        log_verbose("GCONF: 0x" << to_hex(tmc2209->GCONF()));
-        log_verbose("PWMCONF: 0x" << to_hex(tmc2209->PWMCONF()));
-        log_verbose("IHOLD_IRUN: 0x" << to_hex(tmc2209->IHOLD_IRUN()));
+        log_verbose("CHOPCONF: " << to_hex(tmc2209->CHOPCONF()));
+        log_verbose("COOLCONF: " << to_hex(tmc2209->COOLCONF()));
+        log_verbose("TPWMTHRS: " << to_hex(tmc2209->TPWMTHRS()));
+        log_verbose("TCOOLTHRS: " << to_hex(tmc2209->TCOOLTHRS()));
+        log_verbose("GCONF: " << to_hex(tmc2209->GCONF()));
+        log_verbose("PWMCONF: " << to_hex(tmc2209->PWMCONF()));
+        log_verbose("IHOLD_IRUN: " << to_hex(tmc2209->IHOLD_IRUN()));
 
         _cs_pin.synchronousWrite(false);
     }

FluidNC/src/Motors/TMC5160Driver.cpp

@@ -80,13 +80,13 @@ namespace MotorDrivers {
                 }
         }
         // dump the registers. This is helpful for people migrating to the Pro version
-        log_verbose("CHOPCONF: 0x" << to_hex(tmc5160->CHOPCONF()));
-        log_verbose("COOLCONF: 0x" << to_hex(tmc5160->COOLCONF()));
-        log_verbose("THIGH: 0x" << to_hex(tmc5160->THIGH()));
-        log_verbose("TCOOLTHRS: 0x" << to_hex(tmc5160->TCOOLTHRS()));
-        log_verbose("GCONF: 0x" << to_hex(tmc5160->GCONF()));
-        log_verbose("PWMCONF: 0x" << to_hex(tmc5160->PWMCONF()));
-        log_verbose("IHOLD_IRUN: 0x" << to_hex(tmc5160->IHOLD_IRUN()));
+        log_verbose("CHOPCONF: " << to_hex(tmc5160->CHOPCONF()));
+        log_verbose("COOLCONF: " << to_hex(tmc5160->COOLCONF()));
+        log_verbose("THIGH: " << to_hex(tmc5160->THIGH()));
+        log_verbose("TCOOLTHRS: " << to_hex(tmc5160->TCOOLTHRS()));
+        log_verbose("GCONF: " << to_hex(tmc5160->GCONF()));
+        log_verbose("PWMCONF: " << to_hex(tmc5160->PWMCONF()));
+        log_verbose("IHOLD_IRUN: " << to_hex(tmc5160->IHOLD_IRUN()));
     }
 
     // Report diagnostic and tuning info

FluidNC/src/Motors/TrinamicBase.cpp

@@ -106,7 +106,7 @@ namespace MotorDrivers {
 
     bool TrinamicBase::checkVersion(uint8_t expected, uint8_t got) {
         if (expected != got) {
-            log_error(axisName() << " TMC driver not detected - expected 0x" << to_hex(expected) << " got 0x" << to_hex(got));
+            log_error(axisName() << " TMC driver not detected - expected " << to_hex(expected) << " got " << to_hex(got));
             return false;
         }
         log_info(axisName() << " driver test passed");
@@ -146,7 +146,7 @@ namespace MotorDrivers {
         // Display the stepper library version message once, before the first
         // TMC config message.
         if (_instances.empty()) {
-            log_debug("TMCStepper Library Ver. 0x" << to_hex(TMCSTEPPER_VERSION));
+            log_debug("TMCStepper Library Ver. " << to_hex(TMCSTEPPER_VERSION));
             auto timer = xTimerCreate("Stallguard", 200, true, nullptr, read_sg);
             // Timer failure is not fatal because you can still use the system
             if (!timer) {

FluidNC/src/OLED.cpp

@@ -67,7 +67,7 @@ void OLED::init() {
     if (_error) {
         return;
     }
-    log_info("OLED I2C address:" << to_hex(_address) << " width: " << _width << " height: " << _height);
+    log_info("OLED I2C address: " << to_hex(_address) << " width: " << _width << " height: " << _height);
     _oled = new SSD1306_I2C(_address, _geometry, config->_i2c[_i2c_num], 400000);
     _oled->init();
 

FluidNC/src/Protocol.cpp

@@ -156,8 +156,9 @@ void send_line(Channel& channel, const std::string& line) {
 
 void output_loop(void* unused) {
     while (true) {
+        // Block until a message is received
         LogMessage message;
-        if (xQueueReceive(message_queue, &message, 0)) {
+        if (xQueueReceive(message_queue, &message, portMAX_DELAY)) {
             if (message.isString) {
                 std::string* s = static_cast<std::string*>(message.line);
                 message.channel->println(s->c_str());
@@ -167,7 +168,6 @@ void output_loop(void* unused) {
                 message.channel->println(cp);
             }
         }
-        vTaskDelay(0);
     }
 }
 
@@ -222,7 +222,7 @@ void start_polling() {
                                 16000,
                                 // 8192,              // size of task stack
                                 0,                 // parameters
-                                1,                 // priority
+                                2,                 // priority
                                 &outputTask,       // task handle
                                 SUPPORT_TASK_CORE  // core
         );
@@ -239,7 +239,9 @@ static void check_startup_state() {}
 
 const uint32_t heapWarnThreshold = 15000;
 
-uint32_t heapLowWater = UINT_MAX;
+uint32_t heapLowWater           = UINT_MAX;
+uint32_t heapLowWaterReported   = UINT_MAX;
+int32_t  heapLowWaterReportTime = 0;
 void     protocol_main_loop() {
     start_polling();
 
@@ -257,7 +259,10 @@ void     protocol_main_loop() {
             Error status_code = execute_line(activeLine, *activeChannel, WebUI::AuthenticationLevel::LEVEL_GUEST);
 
             // Tell the channel that the line has been processed.
-            activeChannel->ack(status_code);
+            // If the line was aborted, the channel could be invalid
+            if (!sys.abort) {
+                activeChannel->ack(status_code);
+            }
 
             // Tell the input polling task that the line has been processed,
             // so it can give us another one when available
@@ -268,8 +273,7 @@ void     protocol_main_loop() {
         protocol_auto_cycle_start();
         protocol_execute_realtime();  // Runtime command check point.
         if (sys.abort) {
-            stop_polling();
-            return;  // Bail to main() program loop to reset system.
+            sys.abort = false;
         }
 
         // check to see if we should disable the stepper drivers
@@ -290,8 +294,20 @@ void     protocol_main_loop() {
         uint32_t newHeapSize = xPortGetFreeHeapSize();
         if (newHeapSize < heapLowWater) {
             heapLowWater = newHeapSize;
-            if (heapLowWater < heapWarnThreshold) {
+        }
+        // Consider reporting when the minimum has not yet been reported and it is low enough.
+        if (heapLowWater < heapLowWaterReported && heapLowWater < heapWarnThreshold) {
+            // typecast to uint32_t handles roll-over for this case
+            uint32_t ticksSinceReported = (getCpuTicks() - heapLowWaterReportTime);
+            uint32_t tickLimit          = usToCpuTicks(200000);
+            // Report only if it has been a while since the last report or if the memory has
+            // dropped significantly (2k bytes) since the last report.
+            // This prevents a cycle where the reporting itself consumes some heap and triggers another
+            // report, but the true minimum is reported eventually, and large drops are reported immediately.
+            if ((heapLowWater < heapLowWaterReported - 2048) || (ticksSinceReported > tickLimit)) {
                 log_warn("Low memory: " << heapLowWater << " bytes");
+                heapLowWaterReported   = heapLowWater;
+                heapLowWaterReportTime = getCpuTicks();
             }
         }
     }
@@ -795,6 +811,7 @@ static void protocol_do_late_reset() {
 
     // do we need to stop a running file job?
     allChannels.stopJob();
+    sys.abort = true;
 }
 
 void protocol_exec_rt_system() {