Version 1.17c+2
Fixed bug in G2 and G3 commands (I and J parameters were not always being assumed to be relative to current X and Y) Hard fauld handler now stores the faulting PC and status registers in the software reset data
This commit is contained in:
David Crocker
parent
8963082a38
commit
af25fb286e
8 changed files with 100 additions and 39 deletions
Binary file not shown.
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@ -1359,7 +1359,9 @@ bool GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise)
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}
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}
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float initialDx = 0.0;
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// The I and J parameters are always relative to present position
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arcCentre[Y_AXIS] = moveBuffer.initialCoords[Y_AXIS] + jParam;
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if (currentTool != nullptr)
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{
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// Record which axes behave like an X axis
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@ -1369,30 +1371,25 @@ bool GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise)
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if (axesRelative)
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{
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moveBuffer.coords[Y_AXIS] += yParam;
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arcCentre[Y_AXIS] = moveBuffer.initialCoords[Y_AXIS] + jParam;
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}
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else
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{
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moveBuffer.coords[Y_AXIS] = yParam - currentTool->GetOffset()[Y_AXIS];
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arcCentre[Y_AXIS] = jParam - currentTool->GetOffset()[Y_AXIS];
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}
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// Deal with the X axes
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for (size_t axis = 0; axis < numAxes; ++axis)
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{
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arcCentre[axis] = moveBuffer.initialCoords[axis] + iParam;
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if ((arcAxesMoving & (1 << axis)) != 0)
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{
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if (axesRelative)
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{
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moveBuffer.coords[axis] += xParam;
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arcCentre[axis] = moveBuffer.initialCoords[axis] + iParam;
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initialDx = -iParam;
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}
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else
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{
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moveBuffer.coords[axis] = xParam - currentTool->GetOffset()[axis];
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arcCentre[axis] = iParam + currentTool->GetOffset()[axis];
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initialDx = moveBuffer.initialCoords[axis] - arcCentre[axis];
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}
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}
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}
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@ -1400,21 +1397,16 @@ bool GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise)
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else
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{
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arcAxesMoving = (1 << X_AXIS);
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arcCentre[X_AXIS] = moveBuffer.initialCoords[X_AXIS] + iParam;
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if (axesRelative)
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{
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moveBuffer.coords[X_AXIS] += xParam;
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arcCentre[X_AXIS] = moveBuffer.initialCoords[X_AXIS] + iParam;
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moveBuffer.coords[Y_AXIS] += yParam;
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arcCentre[Y_AXIS] = moveBuffer.initialCoords[Y_AXIS] + jParam;;
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initialDx = -iParam;
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}
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else
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{
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moveBuffer.coords[X_AXIS] = xParam;
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arcCentre[X_AXIS] = iParam;
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moveBuffer.coords[Y_AXIS] = yParam;
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arcCentre[Y_AXIS] = jParam;
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initialDx = moveBuffer.initialCoords[X_AXIS] - arcCentre[X_AXIS];
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}
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}
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@ -1423,10 +1415,9 @@ bool GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise)
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moveBuffer.xAxes = reprap.GetCurrentXAxes();
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if (LoadExtrusionAndFeedrateFromGCode(gb, moveBuffer.moveType)) // this reports an error if necessary, so no need to return true if it fails
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{
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const float initialDy = moveBuffer.initialCoords[Y_AXIS] - arcCentre[Y_AXIS];
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arcRadius = sqrtf(initialDx * initialDx + initialDy * initialDy);
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arcCurrentAngle = atan2(initialDy, initialDx);
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const float finalTheta = atan2(yParam - jParam, xParam - iParam);
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arcRadius = sqrtf(iParam * iParam + jParam * jParam);
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arcCurrentAngle = atan2(-jParam, -iParam);
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const float finalTheta = atan2(moveBuffer.coords[Y_AXIS] - arcCentre[Y_AXIS], moveBuffer.coords[X_AXIS] - arcCentre[X_AXIS]);
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// Calculate the total angle moved, which depends on which way round we are going
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float totalArc = (clockwise) ? arcCurrentAngle - finalTheta : finalTheta - arcCurrentAngle;
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@ -554,7 +554,10 @@ pre(state == provisional)
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// Still going up
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laDDA = laDDA->prev;
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++laDepth;
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if (reprap.Debug(moduleDda)) debugPrintf("Recursion start %u\n", laDepth);
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if (reprap.Debug(moduleDda))
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{
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debugPrintf("Recursion start %u\n", laDepth);
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}
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}
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else
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{
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@ -84,7 +84,7 @@ void UrgentInit()
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{
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#ifdef DUET_NG
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// When the reset button is pressed on pre-production Duet WiFi boards, if the TMC2660 drivers were previously enabled then we get
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// uncommanded motor movements if the STEP lines pick up any noise. Try to reduce that by initialising the drivers early here.
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// uncommanded motor movements if the STEP lines pick up any noise. Try to reduce that by initialising the pins that control the drivers early here.
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// On the production boards the ENN line is pulled high and that prevents motor movements.
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for (size_t drive = 0; drive < DRIVES; ++drive)
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{
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@ -107,6 +107,16 @@ void setup()
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*heapend++ = memPattern;
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}
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// Trap integer divide-by-zero.
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// We could also trap unaligned memory access, if we change the gcc options to not generate code that uses unaligned memory access.
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SCB->CCR |= SCB_CCR_DIV_0_TRP_Msk;
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// When doing a software reset, we disable the NRST input (User reset) to prevent the negative-going pulse that gets generated on it
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// being held in the capacitor and changing the reset reason form Software to User. So enable it again here. We hope that the reset signal
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// will have gone away by now.
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RSTC->RSTC_MR = RSTC_MR_KEY_PASSWD | RSTC_MR_URSTEN; // ignore any signal on the NRST pin for now so that the reset reason will show as Software
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// Go on and do the main initialisation
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reprap.Init();
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}
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@ -124,18 +134,42 @@ extern "C"
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return 0;
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}
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// Exception handlers
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// By default the Usage Fault, Bus Fault and Memory Management fault handlers are not enabled,
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// so they escalate to a Hard Fault and we don't need to provide separate exception handlers for them.
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// We can get information on what caused a Hard Fault form the status registers.
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// Also get the program counter when the exception occurred.
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void prvGetRegistersFromStack(const uint32_t *pulFaultStackAddress)
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{
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const uint32_t pc = pulFaultStackAddress[6];
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reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::hardFault, pc);
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}
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// The fault handler implementation calls a function called prvGetRegistersFromStack()
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void HardFault_Handler() __attribute__((naked));
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void HardFault_Handler()
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{
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__asm volatile
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(
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" tst lr, #4 \n"
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" ite eq \n"
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" mrseq r0, msp \n"
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" mrsne r0, psp \n"
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" ldr r1, [r0, #24] \n"
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" ldr r2, handler2_address_const \n"
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" bx r2 \n"
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" handler2_address_const: .word prvGetRegistersFromStack \n"
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);
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}
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// We could set up the following fault handlers to retrieve the program counter in the same way as for a Hard Fault,
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// however these exceptions are unlikely to occur, so for now we just report the exception type.
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void NMI_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::NMI); }
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void HardFault_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::hardFault); }
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void MemManage_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::memManage); }
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void BusFault_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::busFault); }
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void UsageFault_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::usageFault); }
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void SVC_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::otherFault); }
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void DebugMon_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::otherFault); }
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void PendSV_Handler () { reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::otherFault); }
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}
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// ZProbeParameters class
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void ZProbeParameters::Init(float h)
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@ -1181,7 +1215,7 @@ void Platform::Spin()
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ClassReport(longWait);
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}
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void Platform::SoftwareReset(uint16_t reason)
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void Platform::SoftwareReset(uint16_t reason, uint32_t pc)
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{
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wdt_restart(WDT); // kick the watchdog
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if (reason == (uint16_t)SoftwareResetReason::erase)
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@ -1240,6 +1274,9 @@ void Platform::SoftwareReset(uint16_t reason)
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srdBuf[slot].magic = SoftwareResetData::magicValue;
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srdBuf[slot].resetReason = reason;
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GetStackUsage(NULL, NULL, &srdBuf[slot].neverUsedRam);
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srdBuf[slot].hfsr = SCB->HFSR;
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srdBuf[slot].cfsr = SCB->CFSR;
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srdBuf[slot].pc = pc;
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// Save diagnostics data to Flash
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#ifdef DUET_NG
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@ -1248,13 +1285,13 @@ void Platform::SoftwareReset(uint16_t reason)
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DueFlashStorage::write(SoftwareResetData::nvAddress, srdBuf, sizeof(srdBuf));
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#endif
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}
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RSTC->RSTC_MR = RSTC_MR_KEY_PASSWD; // ignore any signal on the NRST pin for now so that the reset reason will show as Software
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Reset();
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for(;;) {}
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}
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//*****************************************************************************************************************
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// Interrupts
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#ifndef DUET_NG
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@ -1401,10 +1438,11 @@ void Platform::Diagnostics(MessageType mtype)
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}
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}
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Message(mtype, "Last software reset code: ");
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Message(mtype, "Last software reset code ");
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if (slot >= 0 && srdBuf[slot].magic == SoftwareResetData::magicValue)
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{
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MessageF(mtype, "0x%04x, available RAM %u bytes (slot %d)\n", srdBuf[slot].resetReason, srdBuf[slot].neverUsedRam, slot);
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MessageF(mtype, "0x%04x, PC 0x%08x, HFSR 0x%08x, CFSR 0x%08x, available RAM %u bytes (slot %d)\n",
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srdBuf[slot].resetReason, srdBuf[slot].pc, srdBuf[slot].hfsr, srdBuf[slot].cfsr, srdBuf[slot].neverUsedRam, slot);
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MessageF(mtype, "Spinning module during software reset: %s\n", moduleName[srdBuf[slot].resetReason & 0x0F]);
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}
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else
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@ -1512,6 +1550,8 @@ void Platform::Diagnostics(MessageType mtype)
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void Platform::DiagnosticTest(int d)
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{
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static const uint32_t dummy[2] = { 0, 0 };
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switch (d)
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{
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case (int)DiagnosticTestType::TestWatchdog:
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@ -1526,6 +1566,15 @@ void Platform::DiagnosticTest(int d)
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debugPrintf("Diagnostic Test\n");
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break;
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case (int)DiagnosticTestType::DivideByZero: // do an integer divide by zero to test exception handling
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(void)RepRap::DoDivide(1, 0); // call function in another module so it can't be optimised away
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break;
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case (int)DiagnosticTestType::UnalignedMemoryAccess: // do an unaligned memory access to test exception handling
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SCB->CCR |= SCB_CCR_UNALIGN_TRP_Msk; // by default, unaligned memory accesses are allowed, so change that
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(void)RepRap::ReadDword(reinterpret_cast<const char*>(dummy) + 1); // call function in another module so it can't be optimised away
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break;
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case (int)DiagnosticTestType::PrintMoves:
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DDA::PrintMoves();
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break;
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@ -160,9 +160,6 @@ enum class SoftwareResetReason : uint16_t
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erase = 0x10, // special M999 command to erase firmware and reset
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NMI = 0x20,
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hardFault = 0x30,
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memManage = 0x40,
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busFault = 0x50,
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usageFault = 0x60,
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otherFault = 0x70,
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inAuxOutput = 0x0800, // this bit is or'ed in if we were in aux output at the time
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stuckInSpin = 0x1000, // we got stuck in a Spin() function for too long
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@ -176,6 +173,9 @@ enum class DiagnosticTestType : int
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TestWatchdog = 1001, // test that we get a watchdog reset if the tick interrupt stops
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TestSpinLockup = 1002, // test that we get a software reset if a Spin() function takes too long
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TestSerialBlock = 1003, // test what happens when we write a blocking message via debugPrintf()
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DivideByZero = 1004, // do an integer divide by zero to test exception handling
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UnalignedMemoryAccess = 1005, // do an unaligned memory access to test exception handling
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PrintMoves = 100, // print summary of recent moves
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#ifdef DUET_NG
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PrintExpanderStatus = 101, // print DueXn expander status
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@ -326,7 +326,7 @@ public:
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void ClassReport(float &lastTime); // Called on Spin() return to check everything's live.
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void LogError(ErrorCode e) { errorCodeBits |= (uint32_t)e; }
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void SoftwareReset(uint16_t reason);
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void SoftwareReset(uint16_t reason, uint32_t pc = 0);
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bool AtxPower() const;
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void SetAtxPower(bool on);
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void SetBoardType(BoardType bt);
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@ -606,10 +606,10 @@ private:
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// The SAM4E has a large page erase size (8K). For this reason we store the software reset data in the 512-byte user signature area
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// instead, which doesn't get cleared when the Erase button is pressed. The SoftareResetData struct must have at least one 32-bit
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// field to guarantee that values of this type will be 32-bit aligned. It must have no virtual members because it is read/written
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// directly form/to flash memory.
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// directly from/to flash memory.
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struct SoftwareResetData
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{
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static const uint16_t versionValue = 2; // increment this whenever this struct changes
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static const uint16_t versionValue = 4; // increment this whenever this struct changes
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static const uint16_t magicValue = 0x7D00 | versionValue; // value we use to recognise that all the flash data has been written
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static const uint32_t nvAddress = 0; // must be 4-byte aligned
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static const size_t numberOfSlots = 8; // number of storage slots used to implement wear levelling
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@ -617,10 +617,14 @@ private:
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uint16_t magic; // the magic number, including the version
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uint16_t resetReason; // this records why we did a software reset, for diagnostic purposes
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uint32_t neverUsedRam; // the amount of never used RAM at the last abnormal software reset
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uint32_t hfsr; // hard fault status register
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uint32_t cfsr; // configurable fault status register
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uint32_t pc; // program counter when the exception occurred
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bool isVacant() const // return true if this struct can be written without erasing it first
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{
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return magic == 0xFFFF && resetReason == 0xFFFF && neverUsedRam == 0xFFFFFFFF;
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return magic == 0xFFFF && resetReason == 0xFFFF && neverUsedRam == 0xFFFFFFFF
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&& hfsr == 0xFFFFFFFF && cfsr == 0xFFFFFFFF && pc == 0xFFFFFFFF;
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}
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};
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@ -1576,4 +1576,16 @@ uint32_t RepRap::GetCurrentXAxes() const
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return (currentTool == nullptr) ? DefaultXAxisMapping : currentTool->GetXAxisMap();
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}
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// Helper function for diagnostic tests in Platform.cpp, to cause a deliberate divide-by-zero
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/*static*/ uint32_t RepRap::DoDivide(uint32_t a, uint32_t b)
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{
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return a/b;
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}
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// Helper function for diagnostic tests in Platform.cpp, to cause a deliberate unaligned memory read
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/*static*/ uint32_t RepRap::ReadDword(const char* p)
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{
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return *reinterpret_cast<const uint32_t*>(p);
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}
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// End
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@ -99,6 +99,8 @@ public:
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void SetMessage(const char *msg);
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static void CopyParameterText(const char* src, char *dst, size_t length);
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static uint32_t DoDivide(uint32_t a, uint32_t b); // helper function for diagnostic tests
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static uint32_t ReadDword(const char* p); // helper function for diagnostic tests
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private:
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@ -9,11 +9,11 @@
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#define SRC_VERSION_H_
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#ifndef VERSION
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# define VERSION "1.17c+1"
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# define VERSION "1.17c+2"
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#endif
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#ifndef DATE
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# define DATE "2017-01-20"
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# define DATE "2017-01-24"
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#endif
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#define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman"
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