RepRapFirmware 2.0 with RTOS in development

Danal

2.0(RTOS)alpha1 (2018-04-03b2) loaded successfully through DWC.

Successfully simulated a print, and uploaded a file at the same time. About 454 K/Sec.

Danal

After the sim and upload in parallel.

[[language]]
8:51:45 AMM122
=== Diagnostics ===
=== RTOS ===
Static ram used: 26196
Dynamic ram used: 95116
Recycled dynamic ram: 1568
Handler stack ram used: 280
Never used ram: 7912
Task NETWORK: state 0 stack rem 676
Task HEAT: state 2 stack rem 172
Task MAIN: state 1 stack rem 428
=== Platform ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 2.0(RTOS)alpha1 running on Duet WiFi 1.02 or later
Board ID: 08DGM-9568A-F23SD-6JTDJ-3SD6S-TTNMF
Last reset 00:10:41 ago, cause: software
Last software reset at 2018-04-02 21:44, reason: Hard fault, spinning module GCodes, available RAM 3488 bytes (slot 0)
Software reset code 0x4033 HFSR 0x40000000, CFSR 0x00008200, ICSR 0x0441f803, BFAR 0x41010000, SP 0x20001fb4
Stack: 0040a643 00432e5c 01070000 ffffffff 20002524 ffffffff 0040ac2d 004384e4 a1070000 200091f0 00443477 20002008 ffffffff 00000000 00000000 200091f0 00000000 ffffffff a0000001 2000219c 0044352b 20002020 20002064 20007cb0
Used output buffers: 10 of 32 (23 max)
Error status: 0
Free file entries: 10
SD card 0 detected, interface speed: 20.0MBytes/sec
SD card longest block write time: 168.9ms
MCU temperature: min 37.2, current 38.1, max 39.1
Supply voltage: min 12.1, current 12.2, max 12.3, under voltage events: 0, over voltage events: 0
Driver 0: standstill, SG min/max not available
Driver 1: standstill, SG min/max not available
Driver 2: standstill, SG min/max not available
Driver 3: standstill, SG min/max not available
Driver 4: standstill, SG min/max not available
Date/time: 2018-04-03 08:51:45
Slowest main loop (seconds): 0.219054; fastest: 0.000065
=== Move ===
MaxReps: 0, StepErrors: 0, LaErrors: 0, FreeDm: 240, MinFreeDm 240, MaxWait: 0ms, Underruns: 0, 0
Scheduled moves: 0, completed moves: 0
Bed compensation in use: none
Bed probe heights: 0.000 0.000 0.000 0.000 0.000
=== Heat ===
Bed heaters = 0 -1 -1 -1, chamberHeaters = -1 -1
=== GCodes ===
Segments left: 0
Stack records: 1 allocated, 0 in use
Movement lock held by null
http is idle in state(s) 0
telnet is idle in state(s) 0
file is idle in state(s) 0
serial is idle in state(s) 0
aux is idle in state(s) 0
daemon is idle in state(s) 0
queue is idle in state(s) 0
autopause is idle in state(s) 0
Code queue is empty.
=== Network ===
Responder states: HTTP(1) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 1 of 8
- WiFi -
Network state is running
WiFi module is connected to access point 
Failed messages: pending 0, notready 0, noresp 0
WiFi firmware version 1.21
WiFi MAC address 2c:3a:e8:0a:ec:ba
WiFi Vcc 3.38, reset reason Turned on by main processor
WiFi flash size 4194304, free heap 15952
WiFi IP address 192.168.86.110
WiFi signal strength -45dBm, reconnections 0, sleep mode modem
Socket states: 2 0 0 0 0 0 0 0
=== Expansion ===

dc42

Danal, thanks.

Which time zone are you in? The software reset data says:

Last reset 00:10:41 ago, cause: software
Last software reset at 2018-04-02 21:44, reason: Hard fault, spinning module GCodes, available RAM 3488 bytes (slot 0)

but I don't think they can refer to the same reset unless your computer clock is more than 16 hours behind mine.

EDIT: now that I think about it, the automatic reset after uploading new firmware won't update the software reset data, so that explains it.

cgcafer

I have another duet wifi and i updated RTOS firmware via DWC. After that duet wifi continuously reset

NOTE : Duet wifi board connected usb port and no any other connection (any motor, any sensor etc only duet wifi board v1.02)

DaveA

Things are not going so well after the latest build.
I've been getting a number of disconnects due to syntax errors in the JSON. I wasn't getting these in the previous build.
I've not been able to print Benchy with the new build. It will start printing and then some random time later it will just stop with a 100% complete message. I've not been able to print beyond 40-50 layers before stopping.
I reinstalled the 1.21 build and Benchy is now almost complete without error. I didn't keep the previous RTOS build so I can't try it.

I did try to cancel a print and it seemed to work but it had to complete the bed warming before it would it cancel. Maybe this is expected behavior.

S1lencer

Hi, i think i found a kink in the new RTOS Firmware, if you try to run an autocalibration "M302 H1 S240" DWC said the usual stuff but not long after that the Board reboots.

dc42

I've just pushed a new version to github. I've fixed some issues with the C library not being reentrant, which were causing occasional crashes.

@S1lencer, thanks for your report. Did you mean M303? I haven't tried heater tuning with v2 yet, and as the heater control is now a separate process it may be that the stack for that process is too small to handle heater tuning. I'll add this to the bug list.

@DaveA, I've seen that DWC will disconnect after a while with a JSON parse error too. Do you have a PanelDue? I suspect that this may not happen without one. Putting the PanelDue on the Setup page (so that it stops polling) may avoid it.

I've fixed a couple of issues unrelated to RTOS:

If multiple devices are connected to a Duet via the network and DWC, and one of them goes to sleep without disconnecting first, this will be recognised after 8 seconds so the other device will no longer receive repeated messages.
M114 reports user coordinates first and machine coordinates at the end.

S1lencer

Jep did mean M303

DaveA

I do have a PanelDue. I disconnected it and had no further disconnects. Didn't try putting it in Setup.
Tried three prints today. All Benchys.
First print completed successfully.
Second print never starting printing before claiming 100% done and returning to idle. Don't know if heating completed.
Third print completed successfully.
I didn't reset between these prints. Just picked the print again button.

dc42

Thanks. I put my Panel Due on the Setup page and had no further disconnects. I thought I had protected all the critical places in the output buffer management system with a mutex, but it looks like I must have missed one.

Captain_sq

Exiting!

I'll be following this closely. We had an earlier discussion about G code look-ahead to enable rising/lowering of extruder temperature according to the current extrusion speed. I hope this is on the list somewhere.

Another thing I have been pondering is a "predictive" and self-adjusting start time for the heating up of the hotend in relation to the timeline of the heating of the bed in order to save some time when starting a print. With the PID parameters resulting from the auto-tune of the heated bed, one should be able to estimate the time when the bed reaches the target temperature. The same goes for the hotend. With these estimated predictions, one should be able to start the heating of the hotend at a certain time during the heating of the bed so that both the bed and hotend reaches the target temperature at the same time.
Small adjustment to this factors can be made by measuring the actual time each print. Over time, the prediction factors will "home in" on the correct value as the printer is being used.

dc42

I've just released another 2.0 alpha. The two bugs in the previous release (crash if you tune a heater, and DWC disconnecting after a while if a PanelDue is also connected) are believed fixed. Nevertheless, I caution against using this release for doing long-running prints. The DWC disconnects were caused by printf in the GNU C library not being re-entrant if you use floating point formats. There may be other issues in the library with lack of reentrancy that I haven't mitigated yet.

cgcafer

Hi David,
This is the first run for me with RTOS, here you can find M122 result

M122
=== Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 2.0(RTOS)alpha1 running on Duet WiFi 1.02 or later
Board ID: 08DAM-9K9K2-NGNSN-6J9D6-3S46J-TPSMJ
Used output buffers: 2 of 40 (31 max)
=== RTOS ===
Static ram: 28484
Dynamic ram: 97188 of which 0 recycled
Exception stack ram used: 384
Never used ram: 5016
Task NETWORK ready, free stack 316
Task HEAT blocked, free stack 572
Task MAIN running, free stack 3808

dc42

Thanks, those figures look good, but let me know if you get any unexplained behaviour.

AS-3D Druck

Quick Question on this point.
What exactly will change if you're done with Version 2.0?

Is it just more compact or can it operate faster?
Is it a performance jump like from Windows Vista to Windows 7?
Sry but i don't get it.

dc42

The use of RTOS will make it much easier for us to implement some types of new feature. I hope it will also allow us to improve file upload speed a little.

Captain_sq

@AS-3D:

Quick Question on this point.
What exactly will change if you're done with Version 2.0?

Is it just more compact or can it operate faster?
Is it a performance jump like from Windows Vista to Windows 7?
Sry but i don't get it.

In short: More efficient use of the microcontrollers and development resources.

Which means that you can do more things with the resources you have at your disposal without sacrificing performance. In plain english that means that you can add more features, speed up certain parts and shorten development times.

For the developer a lot of things becomes easier as the abstraction level is significantly raised. Code becomes more robust as you don't have to twiddle around with low-level error prone code that often incurs limitations that makes the entire code base hard to maintain. Hunting for bugs becomes somewhat easier too.

mhackney

Firmware Version: 2.0(RTOS)alpha1 (2018-04-05b2) installed on one of my Ultibots D300VS deltas. 1 print completed. Amazing progress David.

whosrdaddy

Completed 2 5 hour prints on 2.0 alpha without any issues, amazing stuff David!.

2 (minor) problems I found so far:

sometimes the ESP8266 would not boot a power up (blue led won't light up) ( a power cycle solves this).
DWC Disconnects at the end of an upload.

for reference:

Firmware Name: RepRapFirmware for Duet 2 WiFi/Ethernet
Firmware Electronics: Duet WiFi 1.02 or later
Firmware Version: 2.0(RTOS)alpha1 (2018-04-05b2)
WiFi Server Version: 1.21
Web Interface Version: 1.21.1-b1

Here is the last completed print on 2.0 alpha
alt text

mhackney

I've uploaded multiple files from DWC with no disconnects. I'll keep my eye open for this and if it happens, report back.