Add M101 command for RTOS

Marlin/src/gcode/calibrate/M101_Task_Free_Mem_Chk.cpp

@@ -0,0 +1,84 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M101 Task Free Memory Watcher
+ *
+ * This code watches the free memory defined for each task in the FreeRTOS environment
+ * It is useful to determine how much memory each task has available.
+ * 
+ * Initial version...  More Marlin-specific information to be added.
+ */
+
+#include "../../inc/MarlinConfig.h"
+#include "../gcode.h"
+#include "../../Marlin.h"
+#include <Arduino_FreeRTOS.h>
+#include "../../libs/hex_print_routines.h"
+
+#define MAX_TASKS 10
+
+void GcodeSuite::M101() {
+  TaskStatus_t TaskStatArray[MAX_TASKS];
+
+  unsigned n_tasks = uxTaskGetNumberOfTasks();
+  if (n_tasks > MAX_TASKS) {
+    SERIAL_PROTOCOLLNPAIR("?Too many tasks: ", n_tasks);
+    SERIAL_EOL();
+    return;
+  }
+
+  SERIAL_PROTOCOLLNPGM("M101 RTOS Task Info:");
+  /* Generate raw status information about each task. */
+  n_tasks = uxTaskGetSystemState( TaskStatArray, MAX_TASKS, NULL);
+
+  SERIAL_PROTOCOLLNPAIR("n_tasks: ", n_tasks);
+
+  /* For each populated position in the TaskStatArray array,
+     format the raw data as human readable ASCII data. */
+  for (unsigned x = 0; x < n_tasks; x++) {
+    char t_name[configMAX_TASK_NAME_LEN + 1];         // Pad out the task name so everything lines up nicely
+    strcpy(t_name, TaskStatArray[x].pcTaskName);
+    while (strlen(t_name) < configMAX_TASK_NAME_LEN)
+      strcat(t_name, "_");
+
+    SERIAL_PROTOCOL(x);
+    SERIAL_PROTOCOLPAIR(":", t_name);
+    SERIAL_PROTOCOLPAIR(" Task #: ", TaskStatArray[x].xTaskNumber);
+    SERIAL_PROTOCOLPAIR(" Current_Priority: ", TaskStatArray[x].uxCurrentPriority);
+    SERIAL_PROTOCOLPAIR(" Base_Priority: ", TaskStatArray[x].uxBasePriority);
+
+    SERIAL_PROTOCOLPGM(" Stack: ");
+    print_hex_address((const void * const) TaskStatArray[x].pxStackBase);
+    SERIAL_PROTOCOLPAIR(" Free_Mem: ", (unsigned int) TaskStatArray[x].usStackHighWaterMark);
+    SERIAL_PROTOCOLPGM(" State: ");
+    switch( TaskStatArray[x].eCurrentState ) {
+      case eRunning:   SERIAL_PROTOCOLLNPGM("Running");   break;
+      case eReady:     SERIAL_PROTOCOLLNPGM("Ready");     break;
+      case eBlocked:   SERIAL_PROTOCOLLNPGM("Blocked");   break;
+      case eSuspended: SERIAL_PROTOCOLLNPGM("Suspended"); break;
+      case eDeleted:   SERIAL_PROTOCOLLNPGM("Deleted");   break;
+      default:         SERIAL_PROTOCOLLNPAIR("Corrupted:", TaskStatArray[x].eCurrentState);
+                       break;
+    }
+  }
+}

Marlin/src/gcode/gcode.cpp

@@ -353,6 +353,7 @@ void GcodeSuite::process_parsed_command(
       #if ENABLED(M100_FREE_MEMORY_WATCHER)
         case 100: M100(); break;                                  // M100: Free Memory Report
       #endif
+      case 101: M101(); break;                                    // M101: RTOS Task Free Memory Report
 
       case 104: M104(); break;                                    // M104: Set hot end temperature
       case 109: M109(); break;                                    // M109: Wait for hotend temperature to reach target

Marlin/src/gcode/gcode.h

@@ -114,6 +114,7 @@
  * M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  * M92  - Set planner.axis_steps_per_mm for one or more axes.
  * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER)
+ * M101 - RTOS Task Free Memory report (for debugging)
  * M104 - Set extruder target temp.
  * M105 - Report current temperatures.
  * M106 - Set print fan speed.
@@ -513,6 +514,7 @@ private:
     static void M100();
   #endif
 
+  static void M101();
   static void M104();
   static void M105();
   static void M106();

Marlin/src/libs/hex_print_routines.cpp

@@ -23,7 +23,10 @@
 #include "../inc/MarlinConfig.h"
 #include "../gcode/parser.h"
 
-#if ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(M100_FREE_MEMORY_WATCHER) || ENABLED(DEBUG_GCODE_PARSER)
+// Needed for M101 - RTOS Task Report.   We can collapse this later, but for now it is nice to 
+// always have the hex print functions available.
+//
+//#if ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(M100_FREE_MEMORY_WATCHER) || ENABLED(DEBUG_GCODE_PARSER)
 
   #include "hex_print_routines.h"
 
@@ -78,4 +81,4 @@
   void print_hex_word(const uint16_t w)        { SERIAL_ECHO(hex_word(w));    }
   void print_hex_address(const void * const w) { SERIAL_ECHO(hex_address(w)); }
 
-#endif // AUTO_BED_LEVELING_UBL || M100_FREE_MEMORY_WATCHER || DEBUG_GCODE_PARSER
+//#endif // AUTO_BED_LEVELING_UBL || M100_FREE_MEMORY_WATCHER || DEBUG_GCODE_PARSER