3.5b1 Reset reason: StuckInSpinLoop?

Diamondback

Hey,

just playing around with an endless loop in daemon.g to increase its execution frequency (to 1Hz)
After a while I came across a sudden reset with this reason: StuckInSpinLoop

What does it mean? What have I done wrong?

daemon.g

while global.daemonActive == true		
	M98 P"/macros/Misc/ToolheadDisplay/UpdateToolheadDisplay"
		
	G4 S1

UpdateToolheadDisplay (this is supposed to contain more later on)

M98 P"/macros/Misc/ToolheadDisplay/DisplayActiveTool"

DisplayActiveTool

if global.displayActiveToolOnHead == true
	var activeTool = state.currentTool
	if exists(param.T)
		set var.activeTool = param.T
	if var.activeTool < 0 
		M98 P"/macros/Misc/ToolheadDisplay/Off"
	elif var.activeTool == 0
		M98 P"/macros/Misc/ToolheadDisplay/0"
	elif var.activeTool == 1
		M98 P"/macros/Misc/ToolheadDisplay/1"
	elif var.activeTool == 2
		M98 P"/macros/Misc/ToolheadDisplay/2"
	elif var.activeTool == 3
		M98 P"/macros/Misc/ToolheadDisplay/3"
	else
		M98 P"/macros/Misc/ToolheadDisplay/Off"

Of the above macros, only the "0" is being executed, which looks like this:

if !exists(global.displayChar0)
	global displayChar0 = {{0,1,1,1,1,1,1,0},{1,1,1,1,1,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,1,1,1,1,1},{0,1,1,1,1,1,1,0}}
M98 P"/macros/Misc/ToolheadDisplay/8x8Grid" S{global.displayChar0}

And lastly the 8x8Grid

var states = param.S
var brightness = 10
if exists(param.B)
	set var.brightness = param.B
while iterations < #var.states
	var lineData = var.states[iterations]
	while iterations < #var.lineData
		M150 R255 U0 B0 P{var.lineData[iterations] > 0 ? var.brightness : 0} S1 F1
M150 R0 U0 B0 P0 S1 F0 ;announce last LED with a dummy

(if someone notices the differences to my other thread about an OoM reset, they are there because I was testing if indeed the arrays caused that OoM error and they did)

Not sure if related, but currently running 3.5b1+.

Diamondback

Here's an M122

M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5beta1+ (2023-01-20 09:47:33) running on Duet 3 MB6HC v1.02 or later (standalone mode)
Board ID: 08DJM-9P63L-DJ3T0-6J1F4-3S06S-9A1V9
Used output buffers: 1 of 40 (19 max)
=== RTOS ===
Static ram: 151340
Dynamic ram: 113364 of which 0 recycled
Never used RAM 83112, free system stack 200 words
Tasks: NETWORK(ready,26.8%,219) ETHERNET(notifyWait,0.1%,442) ACCEL(notifyWait,0.0%,348) HEAT(notifyWait,0.0%,328) Move(notifyWait,0.0%,350) CanReceiv(notifyWait,0.0%,798) CanSender(notifyWait,0.0%,335) CanClock(delaying,0.0%,349) TMC(notifyWait,7.2%,90) MAIN(running,64.6%,953) IDLE(ready,1.3%,30), total 100.0%
Owned mutexes: LwipCore(NETWORK)
=== Platform ===
Last reset 00:00:09 ago, cause: software
Last software reset at 2023-01-20 14:45, reason: StuckInSpinLoop, Gcodes spinning, available RAM 79056, slot 2
Software reset code 0x4083 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a80f BFAR 0x00000000 SP 0x20419664 Task IDLE Freestk 44 ok
Stack: 004901dd 00490bb2 61000000 a5a5a5a5 004901dd a5a5a5a5 2041aea4 0047d053 20424e2c 2041f370 2041967c 20424e24 00000004 20419100 20419100 2041967c 00000000 00000001 204196d8 4e49414d 00000000 00000000 00000001 00000001 2561e5ea 00000000 00000000
Error status: 0x00
Step timer max interval 126
MCU temperature: min 40.9, current 41.0, max 41.9
Supply voltage: min 23.8, current 23.8, max 23.9, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.3, current 12.4, max 12.4, under voltage events: 0
Heap OK, handles allocated/used 99/38, heap memory allocated/used/recyclable 2048/1644/996, gc cycles 0
Events: 3 queued, 3 completed
Driver 0: standstill, SG min n/a, mspos 8, reads 52187, writes 14 timeouts 0
Driver 1: standstill, SG min n/a, mspos 8, reads 52187, writes 14 timeouts 0
Driver 2: standstill, SG min n/a, mspos 8, reads 52187, writes 14 timeouts 0
Driver 3: standstill, SG min n/a, mspos 8, reads 52187, writes 14 timeouts 0
Driver 4: standstill, SG min n/a, mspos 8, reads 52188, writes 14 timeouts 0
Driver 5: standstill, SG min n/a, mspos 8, reads 52188, writes 14 timeouts 0
Date/time: 2023-01-20 14:46:04
Slowest loop: 5.61ms; fastest: 0.06ms
=== Storage ===
Free file entries: 9
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 2.5ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 0, maxWait 0ms, bed compensation in use: none, comp offset 0.000
no step interrupt scheduled
=== DDARing 0 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is doing "G4 S1" in state(s) 0 0, running macro
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0
Queue2 is idle in state(s) 0
Q0 segments left 0, axes/extruders owned 0x0000000
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== Filament sensors ===
Extruder 0: no data received
Extruder 1: no data received
Extruder 2: no data received
Extruder 3: no data received
=== CAN ===
Messages queued 118, received 246, lost 0, boc 0
Longest wait 1ms for reply type 6018, peak Tx sync delay 347, free buffers 50 (min 49), ts 48/47/0
Tx timeouts 0,0,0,0,0,0
=== Network ===
Slowest loop: 7.33ms; fastest: 0.03ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 1 of 8
= Ethernet =
State: active
Error counts: 0 0 0 0 0 0
Socket states: 5 2 2 2 2 0 0 0
= WiFi =
Network state is disabled
WiFi module is disabled
Failed messages: pending 0, notready 0, noresp 0
Socket states: 0 0 0 0 0 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

Diamondback

Hm, is this maybe related to some overall error counter in a loop or so? I feel like it does this after creating a number of errors within my infinite daemon loop.

Diamondback

Hm, now it also happens without errors, but it sure feels like "time" is some component to this...

dc42

@Diamondback from the M122 report it appears that the main task is waiting for a resource to be come free. Are you able to produce a script that reproduces this? For this purpose, you can reduce the delay to less than 1 second if it helps.

Diamondback

@dc42 Will se if I can get something to happen without all the dotstar LEDs and stuff. If I can, I will also test 3.4.5, but since the main work here is related to an 8x8 dotstar display, I can't easily run that without the custom array stuff.
I will see what happens.

dc42

@Diamondback no need to test 3.4.5.

The odd thing is that the M122 report indicates that the MAIN task is running, but the stack trace reports that the IDLE task is running. These two are not consistent.

Diamondback

@dc42 So, when I increase the frequency of the endless loop iterations, the issue certainly happens quicker. It also only appears to happen when I use my 8x8 dotstar grid code, but not when I directly control the dotstars with just very simple code.

I'll try to minimize the needed code as much as possible, but my guess atm would be something to do with the arrays I use.

dc42

@Diamondback a few more M122 reports after unexpected resets may be useful too.

You could also test whether reducing the DWC polling interval provokes the problem more quickly.

Diamondback

@dc42 Alright, so far I have not been successful at replicating it at will, sometimes it happens five times in a row just seconds after starting the board, sometimes things work fine seemingly forever.
Will continue to test and get more M122.

dc42

@Diamondback in that case it's probably an interaction between different tasks that's provoking the problem. Try reducing the DWC polling interval and/or having several instances of DWC attached.

Diamondback

@dc42 some more M122, I think I figured out why it didn't want to crash anymore yesterday (removed too much code from daemon), trying to reduce the code less now.

=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5beta1+ (2023-01-20 09:47:33) running on Duet 3 MB6HC v1.02 or later (standalone mode)
Board ID: 08DJM-9P63L-DJ3T0-6J1F4-3S06S-9A1V9
Used output buffers: 3 of 40 (19 max)
=== RTOS ===
Static ram: 151340
Dynamic ram: 113468 of which 0 recycled
Never used RAM 80952, free system stack 200 words
Tasks: NETWORK(ready,29.8%,211) ETHERNET(notifyWait,0.2%,558) ACCEL(notifyWait,0.0%,348) HEAT(notifyWait,0.0%,328) Move(notifyWait,0.0%,350) CanReceiv(notifyWait,0.0%,798) CanSender(notifyWait,0.0%,335) CanClock(delaying,0.0%,352) TMC(notifyWait,7.3%,90) MAIN(running,61.6%,953) IDLE(ready,1.1%,30), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:00:11 ago, cause: software
Last software reset at 2023-01-21 13:31, reason: StuckInSpinLoop, Gcodes spinning, available RAM 80196, slot 0
Software reset code 0x4083 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0040080f BFAR 0x00000000 SP 0x2042025c Task TMC Freestk 98 ok
Stack: 004914df 0043059a 41000000 39690453 40c38800 7b79718d 3f8dae65 00000000 42e80000 33c36300 3f859c60 de14b3bb 3f1d3074 ff0c52d6 42880303 38800000 42c80000 43fa0000 44fa0000 20000010 0043057b 00000001 20414f29 2041fe08 004307b9 20420075 2041fd8c
Error status: 0x00
Step timer max interval 133
MCU temperature: min 40.5, current 40.6, max 41.4
Supply voltage: min 23.8, current 23.8, max 23.9, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.3, current 12.4, max 12.4, under voltage events: 0
Heap OK, handles allocated/used 99/90, heap memory allocated/used/recyclable 4096/3584/180, gc cycles 4
Events: 4 queued, 4 completed
Driver 0: standstill, SG min n/a, mspos 744, reads 61452, writes 14 timeouts 0
Driver 1: standstill, SG min n/a, mspos 360, reads 61452, writes 14 timeouts 0
Driver 2: standstill, SG min n/a, mspos 56, reads 61453, writes 14 timeouts 0
Driver 3: standstill, SG min n/a, mspos 248, reads 61453, writes 14 timeouts 0
Driver 4: standstill, SG min n/a, mspos 520, reads 61453, writes 14 timeouts 0
Driver 5: standstill, SG min n/a, mspos 952, reads 61453, writes 14 timeouts 0
Date/time: 2023-01-21 13:31:45
Slowest loop: 5.50ms; fastest: 0.06ms
=== Storage ===
Free file entries: 9
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 2.4ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 0, maxWait 0ms, bed compensation in use: none, comp offset 0.000
no step interrupt scheduled
=== DDARing 0 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is doing "G4 P500" in state(s) 0 0, running macro
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0
Queue2 is idle in state(s) 0
Q0 segments left 0, axes/extruders owned 0x0000000
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== Filament sensors ===
Extruder 0: no data received
Extruder 1: no data received
Extruder 2: no data received
Extruder 3: no data received
=== CAN ===
Messages queued 133, received 282, lost 0, boc 0
Longest wait 1ms for reply type 6018, peak Tx sync delay 157, free buffers 50 (min 49), ts 56/55/0
Tx timeouts 0,0,0,0,0,0
=== Network ===
Slowest loop: 9.31ms; fastest: 0.03ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 1 of 8
= Ethernet =
State: active
Error counts: 0 0 0 0 0 0
Socket states: 2 5 2 2 2 0 0 0
= WiFi =
Network state is disabled
WiFi module is disabled
Failed messages: pending 0, notready 0, noresp 0
Socket states: 0 0 0 0 0 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5beta1+ (2023-01-20 09:47:33) running on Duet 3 MB6HC v1.02 or later (standalone mode)
Board ID: 08DJM-9P63L-DJ3T0-6J1F4-3S06S-9A1V9
Used output buffers: 3 of 40 (28 max)
=== RTOS ===
Static ram: 151340
Dynamic ram: 113468 of which 0 recycled
Never used RAM 80952, free system stack 200 words
Tasks: NETWORK(ready,28.3%,227) ETHERNET(notifyWait,0.2%,558) ACCEL(notifyWait,0.0%,348) HEAT(notifyWait,0.0%,322) Move(notifyWait,0.0%,350) CanReceiv(notifyWait,0.0%,773) CanSender(notifyWait,0.0%,335) CanClock(delaying,0.0%,352) TMC(notifyWait,7.2%,90) MAIN(running,62.9%,953) IDLE(ready,1.3%,30), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:00:09 ago, cause: software
Last software reset at 2023-01-21 13:31, reason: StuckInSpinLoop, Gcodes spinning, available RAM 80952, slot 1
Software reset code 0x4083 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a80f BFAR 0x00000000 SP 0x20419664 Task IDLE Freestk 44 ok
Stack: 004901dd 00490bb4 61000000 a5a5a5a5 004901dd a5a5a5a5 2041aea4 00007dfa 2041f370 20424e2c 2041967c 20424e24 00000004 20424ec8 20424ec8 2041967c 00000000 00000001 204196d8 4e49414d 00000000 00000000 00000001 00000001 00079777 00000000 00000000
Error status: 0x00
Step timer max interval 126
MCU temperature: min 40.5, current 40.6, max 41.5
Supply voltage: min 23.8, current 23.8, max 23.9, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.3, current 12.3, max 12.4, under voltage events: 0
Heap OK, handles allocated/used 99/90, heap memory allocated/used/recyclable 4096/3884/480, gc cycles 3
Events: 4 queued, 4 completed
Driver 0: standstill, SG min n/a, mspos 744, reads 52669, writes 14 timeouts 0
Driver 1: standstill, SG min n/a, mspos 360, reads 52669, writes 14 timeouts 0
Driver 2: standstill, SG min n/a, mspos 56, reads 52669, writes 14 timeouts 0
Driver 3: standstill, SG min n/a, mspos 248, reads 52669, writes 14 timeouts 0
Driver 4: standstill, SG min n/a, mspos 520, reads 52670, writes 14 timeouts 0
Driver 5: standstill, SG min n/a, mspos 952, reads 52670, writes 14 timeouts 0
Date/time: 2023-01-21 13:32:16
Slowest loop: 5.50ms; fastest: 0.06ms
=== Storage ===
Free file entries: 9
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 2.5ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 0, maxWait 0ms, bed compensation in use: none, comp offset 0.000
no step interrupt scheduled
=== DDARing 0 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is doing "G4 P500" in state(s) 0 0, running macro
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0
Queue2 is idle in state(s) 0
Q0 segments left 0, axes/extruders owned 0x0000000
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== Filament sensors ===
Extruder 0: no data received
Extruder 1: no data received
Extruder 2: no data received
Extruder 3: no data received
=== CAN ===
Messages queued 119, received 252, lost 0, boc 0
Longest wait 1ms for reply type 6018, peak Tx sync delay 174, free buffers 50 (min 49), ts 48/47/0
Tx timeouts 0,0,0,0,0,0
=== Network ===
Slowest loop: 7.19ms; fastest: 0.03ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 1 of 8
= Ethernet =
State: active
Error counts: 0 0 0 0 0 0
Socket states: 5 2 2 2 2 0 0 0
= WiFi =
Network state is disabled
WiFi module is disabled
Failed messages: pending 0, notready 0, noresp 0
Socket states: 0 0 0 0 0 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5beta1+ (2023-01-20 09:47:33) running on Duet 3 MB6HC v1.02 or later (standalone mode)
Board ID: 08DJM-9P63L-DJ3T0-6J1F4-3S06S-9A1V9
Used output buffers: 3 of 40 (28 max)
=== RTOS ===
Static ram: 151340
Dynamic ram: 113468 of which 0 recycled
Never used RAM 80952, free system stack 200 words
Tasks: NETWORK(ready,31.5%,244) ETHERNET(notifyWait,0.3%,558) ACCEL(notifyWait,0.0%,348) HEAT(notifyWait,0.0%,328) Move(notifyWait,0.0%,350) CanReceiv(notifyWait,0.0%,798) CanSender(notifyWait,0.0%,335) CanClock(delaying,0.0%,340) TMC(notifyWait,7.3%,90) MAIN(running,59.9%,953) IDLE(ready,0.9%,30), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:00:13 ago, cause: software
Last software reset at 2023-01-21 13:32, reason: StuckInSpinLoop, Gcodes spinning, available RAM 80024, slot 0
Software reset code 0x4083 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a80f BFAR 0x00000000 SP 0x20419664 Task IDLE Freestk 44 ok
Stack: 004901dd 00490bb8 61000000 a5a5a5a5 004901dd a5a5a5a5 2041aea4 00006c61 2041f370 20424e2c 2041967c 20424e24 00000004 20424ec8 20424ec8 2041967c 00000000 00000001 204196d8 4e49414d 00000000 00000000 00000001 00000001 003a0da3 00000000 00000000
Error status: 0x00
Step timer max interval 127
MCU temperature: min 40.5, current 40.8, max 41.7
Supply voltage: min 23.8, current 23.8, max 23.9, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.3, current 12.4, max 12.4, under voltage events: 0
Heap OK, handles allocated/used 99/90, heap memory allocated/used/recyclable 4096/3932/528, gc cycles 4
Events: 3 queued, 3 completed
Driver 0: standstill, SG min n/a, mspos 744, reads 10492, writes 14 timeouts 0
Driver 1: standstill, SG min n/a, mspos 360, reads 10492, writes 14 timeouts 0
Driver 2: standstill, SG min n/a, mspos 56, reads 10493, writes 14 timeouts 0
Driver 3: standstill, SG min n/a, mspos 248, reads 10493, writes 14 timeouts 0
Driver 4: standstill, SG min n/a, mspos 520, reads 10493, writes 14 timeouts 0
Driver 5: standstill, SG min n/a, mspos 952, reads 10493, writes 14 timeouts 0
Date/time: 2023-01-21 13:33:21
Slowest loop: 5.49ms; fastest: 0.06ms
=== Storage ===
Free file entries: 9
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 2.4ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 0, maxWait 0ms, bed compensation in use: none, comp offset 0.000
no step interrupt scheduled
=== DDARing 0 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is doing "G4 P500" in state(s) 0 0, running macro
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0
Queue2 is idle in state(s) 0
Q0 segments left 0, axes/extruders owned 0x0000000
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== Filament sensors ===
Extruder 0: no data received
Extruder 1: no data received
Extruder 2: no data received
Extruder 3: no data received
=== CAN ===
Messages queued 156, received 335, lost 0, boc 0
Longest wait 2ms for reply type 6048, peak Tx sync delay 401, free buffers 50 (min 49), ts 69/68/0
Tx timeouts 0,0,0,0,0,0
=== Network ===
Slowest loop: 7.44ms; fastest: 0.03ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 1 of 8
= Ethernet =
State: active
Error counts: 0 0 0 0 0 0
Socket states: 5 2 2 2 2 0 0 0
= WiFi =
Network state is disabled
WiFi module is disabled
Failed messages: pending 0, notready 0, noresp 0
Socket states: 0 0 0 0 0 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5beta1+ (2023-01-20 09:47:33) running on Duet 3 MB6HC v1.02 or later (standalone mode)
Board ID: 08DJM-9P63L-DJ3T0-6J1F4-3S06S-9A1V9
Used output buffers: 3 of 40 (21 max)
=== RTOS ===
Static ram: 151340
Dynamic ram: 113596 of which 0 recycled
Never used RAM 80024, free system stack 202 words
Tasks: NETWORK(ready,24.8%,244) ETHERNET(notifyWait,0.3%,558) ACCEL(notifyWait,0.0%,348) HEAT(notifyWait,0.0%,328) Move(notifyWait,0.0%,350) CanReceiv(notifyWait,0.0%,798) CanSender(notifyWait,0.0%,335) CanClock(delaying,0.0%,352) TMC(notifyWait,7.2%,90) MAIN(running,65.9%,953) IDLE(ready,1.8%,30), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:00:06 ago, cause: software
Last software reset at 2023-01-21 13:34, reason: StuckInSpinLoop, Gcodes spinning, available RAM 80952, slot 2
Software reset code 0x4083 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a80f BFAR 0x00000000 SP 0x20419664 Task IDLE Freestk 44 ok
Stack: 004901dd 00490bb8 61000000 a5a5a5a5 004901dd a5a5a5a5 2041aea4 00007dc0 2041f370 20424e2c 2041967c 20424e24 00000004 20424ec8 20424ec8 2041967c 00000000 00000001 204196d8 4e49414d 00000000 00000000 00000001 00000001 005554bf 00000000 00000000
Error status: 0x00
Step timer max interval 132
MCU temperature: min 40.8, current 40.8, max 41.6
Supply voltage: min 23.8, current 23.9, max 23.9, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.3, current 12.3, max 12.4, under voltage events: 0
Heap OK, handles allocated/used 198/90, heap memory allocated/used/recyclable 4096/4016/612, gc cycles 2
Events: 4 queued, 4 completed
Driver 0: standstill, SG min n/a, mspos 744, reads 38237, writes 14 timeouts 0
Driver 1: standstill, SG min n/a, mspos 360, reads 38237, writes 14 timeouts 0
Driver 2: standstill, SG min n/a, mspos 56, reads 38237, writes 14 timeouts 0
Driver 3: standstill, SG min n/a, mspos 248, reads 38237, writes 14 timeouts 0
Driver 4: standstill, SG min n/a, mspos 520, reads 38238, writes 14 timeouts 0
Driver 5: standstill, SG min n/a, mspos 952, reads 38238, writes 14 timeouts 0
Date/time: 2023-01-21 13:34:27
Slowest loop: 5.62ms; fastest: 0.06ms
=== Storage ===
Free file entries: 9
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 2.4ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 0, maxWait 0ms, bed compensation in use: none, comp offset 0.000
no step interrupt scheduled
=== DDARing 0 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is doing "G4 P500" in state(s) 0 0, running macro
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0
Queue2 is idle in state(s) 0
Q0 segments left 0, axes/extruders owned 0x0000000
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== Filament sensors ===
Extruder 0: no data received
Extruder 1: no data received
Extruder 2: no data received
Extruder 3: no data received
=== CAN ===
Messages queued 95, received 195, lost 0, boc 0
Longest wait 1ms for reply type 6018, peak Tx sync delay 62, free buffers 50 (min 49), ts 35/34/0
Tx timeouts 0,0,0,0,0,0
=== Network ===
Slowest loop: 9.56ms; fastest: 0.03ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 1 of 8
= Ethernet =
State: active
Error counts: 0 0 0 0 0 0
Socket states: 5 2 2 2 2 0 0 0
= WiFi =
Network state is disabled
WiFi module is disabled
Failed messages: pending 0, notready 0, noresp 0
Socket states: 0 0 0 0 0 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

Diamondback

@dc42
Ok, so here's the most minimalistic version I can create:

daemon.g

while global.daemonActive == true
	set global.deactivateToolAfterFilamentChange = false

	while iterations < #global.displayChar0
		var lineIndex = iterations ;cache iterations value here since we have a 2D array and need this line counter later again
		while iterations < #(global.displayChar0[var.lineIndex])
			M150 R{global.RGBWhite[0]} U{global.RGBWhite[1]} B{global.RGBWhite[2]} P{global.displayChar0[var.lineIndex][iterations] > 0 ? global.displayDefaultBrightness : 0} S1 F1
		
	M150 R0 U0 B0 P0 S1 F0 ;announce last LED with a dummy
	
	G4 P500

Most notably, if I remove the set global.deactivateToolAfterFilamentChange = false line, things work fine... However, that piece of code has been running for months just fine, this issue only started appearing with my use of LEDs and/or custom arrays.

And the globals (these are created inside a macro that is called from config.g)

if !exists(global.displayChar0)
	global displayChar0 = {{0,1,1,1,1,1,1,0},{1,1,1,1,1,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,1,1,1,1,1},{0,1,1,1,1,1,1,0}}
	global displayChar1 = {{0,0,1,1,1,0,0,0},{0,0,1,1,1,1,0,0},{0,0,1,1,1,1,1,0},{0,0,1,1,1,0,0,0},{0,0,1,1,1,0,0,0},{0,0,1,1,1,0,0,0},{0,0,1,1,1,0,0,0},{0,0,1,1,1,0,0,0}}	
	global displayChar2 = {{0,1,1,1,1,1,1,0},{1,1,1,1,1,1,1,1},{1,1,1,0,0,1,1,1},{0,1,1,1,0,0,0,0},{0,0,0,1,1,1,0,0},{0,0,0,0,0,1,1,1},{1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1}}
	global displayChar3 = {{0,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1},{1,1,1,0,0,0,0,0},{0,1,1,1,1,1,1,1},{0,1,1,1,1,1,1,1},{1,1,1,0,0,0,0,0},{1,1,1,1,1,1,1,1},{0,1,1,1,1,1,1,1}}
	
	global RGBRed = {255,0,0}
	global RGBGreen = {0,255,0}
	global RGBBlue = {0,0,255}
	global RGBWhite = {255,255,255}

All of the above code has been copied together from various macros, it's usually a lot more generic and this is just the smallest version of the overall stuff that I can produce.

Here's another M122 from that minimal code:

M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5beta1+ (2023-01-20 09:47:33) running on Duet 3 MB6HC v1.02 or later (standalone mode)
Board ID: 08DJM-9P63L-DJ3T0-6J1F4-3S06S-9A1V9
Used output buffers: 3 of 40 (19 max)
=== RTOS ===
Static ram: 151340
Dynamic ram: 113436 of which 0 recycled
Never used RAM 80984, free system stack 200 words
Tasks: NETWORK(ready,27.2%,241) ETHERNET(notifyWait,0.2%,434) ACCEL(notifyWait,0.0%,348) HEAT(notifyWait,0.0%,342) Move(notifyWait,0.0%,350) CanReceiv(notifyWait,0.0%,798) CanSender(notifyWait,0.0%,335) CanClock(delaying,0.0%,352) TMC(notifyWait,7.1%,90) MAIN(running,64.5%,953) IDLE(ready,1.0%,30), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:00:12 ago, cause: software
Last software reset at 2023-01-21 14:42, reason: StuckInSpinLoop, Gcodes spinning, available RAM 80984, slot 2
Software reset code 0x4083 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a80f BFAR 0x00000000 SP 0x20419664 Task IDLE Freestk 44 ok
Stack: 004901dd 00490bb2 61000000 a5a5a5a5 004901dd a5a5a5a5 2041aea4 0003f273 20424e2c 2041f370 2041967c 20424e24 00000004 20424ec8 20424ec8 2041967c 00000000 00000001 204196d8 4e49414d 00000000 00000000 00000001 00000001 014858ad 00000000 00000000
Error status: 0x00
Step timer max interval 126
MCU temperature: min 41.4, current 41.5, max 42.4
Supply voltage: min 23.8, current 23.8, max 23.9, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.3, current 12.4, max 12.4, under voltage events: 0
Heap OK, handles allocated/used 99/89, heap memory allocated/used/recyclable 4096/3548/156, gc cycles 1
Events: 3 queued, 3 completed
Driver 0: standstill, SG min n/a, mspos 744, reads 3000, writes 14 timeouts 0
Driver 1: standstill, SG min n/a, mspos 360, reads 3000, writes 14 timeouts 0
Driver 2: standstill, SG min n/a, mspos 56, reads 3000, writes 14 timeouts 0
Driver 3: standstill, SG min n/a, mspos 248, reads 3000, writes 14 timeouts 0
Driver 4: standstill, SG min n/a, mspos 520, reads 3001, writes 14 timeouts 0
Driver 5: standstill, SG min n/a, mspos 952, reads 3001, writes 14 timeouts 0
Date/time: 2023-01-21 14:43:16
Slowest loop: 5.40ms; fastest: 0.06ms
=== Storage ===
Free file entries: 10
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 2.4ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 0, maxWait 0ms, bed compensation in use: none, comp offset 0.000
no step interrupt scheduled
=== DDARing 0 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0
Queue2 is idle in state(s) 0
Q0 segments left 0, axes/extruders owned 0x0000000
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== Filament sensors ===
Extruder 0: no data received
Extruder 1: no data received
Extruder 2: no data received
Extruder 3: no data received
=== CAN ===
Messages queued 144, received 308, lost 0, boc 0
Longest wait 1ms for reply type 6018, peak Tx sync delay 157, free buffers 50 (min 49), ts 62/61/0
Tx timeouts 0,0,0,0,0,0
=== Network ===
Slowest loop: 9.07ms; fastest: 0.03ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 1 of 8
= Ethernet =
State: active
Error counts: 0 0 0 0 0 0
Socket states: 5 2 2 2 2 0 0 0
= WiFi =
Network state is disabled
WiFi module is disabled
Failed messages: pending 0, notready 0, noresp 0
Socket states: 0 0 0 0 0 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

Diamondback

@dc42
Hm, i think I might have created a macro that causes this all on its own without daemon.g ( I just call this macro as is without any params for this test)

var brightness = global.displayDefaultBrightness
if exists(param.B)
	set var.brightness = param.B

var activeLEDs = 0
if exists(param.S)
	set var.activeLEDs = floor(param.S * global.displayLEDCount)
	
var displayContent = "progress" ^ var.activeLEDs
if global.lastDisplayContent != var.displayContent
	set global.lastDisplayContent = var.displayContent
	while iterations < global.displayLEDCount
		;M150 R{param.C[0]} U{param.C[1]} B{param.C[2]} P{iterations < var.activeLEDs ? var.brightness : 0} S1 F1 ;3.5+
		var isFrame = iterations < 8 || iterations > 55
		var isProgress = false ;todo
		var isActive = var.isFrame || var.isProgress
		M150 R255 U0 B0 P{var.isActive ? var.brightness : 0} S1 F1

	M150 R0 U0 B0 P0 S1 F0 ;announce last LED with a dummy

This immediately makes the board crash every time, here's an M122 for this:

M122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.5beta1+ (2023-01-20 09:47:33) running on Duet 3 MB6HC v1.02 or later (standalone mode)
Board ID: 08DJM-9P63L-DJ3T0-6J1F4-3S06S-9A1V9
Used output buffers: 3 of 40 (22 max)
=== RTOS ===
Static ram: 151340
Dynamic ram: 113436 of which 0 recycled
Never used RAM 80984, free system stack 200 words
Tasks: NETWORK(ready,32.2%,221) ETHERNET(notifyWait,0.3%,432) ACCEL(notifyWait,0.0%,348) HEAT(notifyWait,0.0%,328) Move(notifyWait,0.0%,350) CanReceiv(notifyWait,0.0%,796) CanSender(notifyWait,0.0%,335) CanClock(delaying,0.0%,340) TMC(notifyWait,7.2%,90) MAIN(running,60.2%,953) IDLE(ready,0.2%,30), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:01:09 ago, cause: software
Last software reset at 2023-01-21 14:56, reason: StuckInSpinLoop, Gcodes spinning, available RAM 80920, slot 2
Software reset code 0x4083 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a80f BFAR 0x00000000 SP 0x20419664 Task IDLE Freestk 44 ok
Stack: 004901dd 00490bba 61000000 a5a5a5a5 004901dd a5a5a5a5 2041aea4 00021363 20424e2c 2041f370 2041967c 20424e24 00000004 20419100 20419100 2041967c 00000000 00000001 204196d8 4e49414d 00000000 00000000 00000001 00000001 02b69a1b 00000000 00000000
Error status: 0x00
Step timer max interval 139
MCU temperature: min 41.1, current 41.3, max 42.3
Supply voltage: min 23.8, current 23.9, max 23.9, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.3, current 12.4, max 12.4, under voltage events: 0
Heap OK, handles allocated/used 99/89, heap memory allocated/used/recyclable 4096/3776/384, gc cycles 1
Events: 4 queued, 4 completed
Driver 0: standstill, SG min n/a, mspos 744, reads 61186, writes 14 timeouts 0
Driver 1: standstill, SG min n/a, mspos 360, reads 61186, writes 14 timeouts 0
Driver 2: standstill, SG min n/a, mspos 56, reads 61186, writes 14 timeouts 0
Driver 3: standstill, SG min n/a, mspos 248, reads 61186, writes 14 timeouts 0
Driver 4: standstill, SG min n/a, mspos 520, reads 61186, writes 14 timeouts 0
Driver 5: standstill, SG min n/a, mspos 952, reads 61186, writes 14 timeouts 0
Date/time: 2023-01-21 14:57:41
Slowest loop: 5.51ms; fastest: 0.06ms
=== Storage ===
Free file entries: 10
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 2.4ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 0, maxWait 0ms, bed compensation in use: none, comp offset 0.000
no step interrupt scheduled
=== DDARing 0 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== DDARing 1 ===
Scheduled moves 0, completed 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamber heaters -1 -1 -1 -1, ordering errs 0
=== GCodes ===
Movement locks held by null, null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
File2 is idle in state(s) 0
Queue2 is idle in state(s) 0
Q0 segments left 0, axes/extruders owned 0x0000000
Code queue 0 is empty
Q1 segments left 0, axes/extruders owned 0x0000000
Code queue 1 is empty
=== Filament sensors ===
Extruder 0: no data received
Extruder 1: no data received
Extruder 2: no data received
Extruder 3: no data received
=== CAN ===
Messages queued 657, received 1476, lost 0, boc 0
Longest wait 1ms for reply type 6042, peak Tx sync delay 276, free buffers 50 (min 49), ts 347/346/0
Tx timeouts 0,0,0,0,0,0
=== Network ===
Slowest loop: 9.82ms; fastest: 0.03ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0) Telnet(0)
HTTP sessions: 1 of 8
= Ethernet =
State: active
Error counts: 0 0 0 1 0 0
Socket states: 5 2 2 2 2 0 0 0
= WiFi =
Network state is disabled
WiFi module is disabled
Failed messages: pending 0, notready 0, noresp 0
Socket states: 0 0 0 0 0 0 0 0
=== Multicast handler ===
Responder is inactive, messages received 0, responses 0

Diamondback

@dc42
~~It looks like this line is the culprit: var isActive = var.isFrame || var.isProgress, when I remove it (and directly use that expression below), it works fine...~~

Disregard, now that line works fine, so probably some random component to it again...

Diamondback

@dc42 Now I prevented it from crashing by moving a global set to a later place...

if global.lastDisplayContent != var.displayContent
	set global.lastDisplayContent = var.displayContent
	while iterations < global.displayLEDCount
		;M150 R{param.C[0]} U{param.C[1]} B{param.C[2]} P{iterations < var.activeLEDs ? var.brightness : 0} S1 F1 ;3.5+
		var isFrame = iterations < 8 || iterations > 55
		var isProgress = false ;todo
		var isActive = var.isFrame || var.isProgress
		M150 R255 U0 B0 P{var.isActive ? var.brightness : 0} S1 F1
 
	M150 R0 U0 B0 P0 S1 F0 ;announce last LED with a dummy

becomes:

if global.lastDisplayContent != var.displayContent
	while iterations < global.displayLEDCount
		;M150 R{param.C[0]} U{param.C[1]} B{param.C[2]} P{iterations < var.activeLEDs ? var.brightness : 0} S1 F1 ;3.5+
		var isFrame = iterations < 8 || iterations > 55
		var isProgress = false ;todo
		var isActive = var.isFrame || var.isProgress
		M150 R255 U0 B0 P{var.isActive ? var.brightness : 0} S1 F1
 
	M150 R0 U0 B0 P0 S1 F0 ;announce last LED with a dummy
        set global.lastDisplayContent = var.displayContent

Note how line #2 moved. This somewhat aligns with the crash in daemon.g where a global set also had critical impact on it...

dc42

@Diamondback what values do you set for the global variables before running this macro? I tried the following values, but it doesn't crash.

global displayLEDCount=20
global lastDisplayContent="none"
global displayDefaultBrightness=10

Diamondback

@dc42

global displayLEDCount = 64
global displayDefaultBrightness = 10
global lastDisplayContent = ""

The more I play around with it, the more I think it's a timing issue... Sometimes I can do things fine by updating the 64 dotstar pixels with 500ms delay between them but not with 100ms etc.

dc42

@Diamondback said in 3.5b1 Reset reason: StuckInSpinLoop?:

global displayLEDCount = 64
global displayDefaultBrightness = 10
global lastDisplayContent = ""

It still doesn't crash for me. Perhaps it depends on what global variables you have created already? Can you share your whole config.g file and any macros that it calls?

Diamondback

@dc42
config.g

;M929 S3                                        ;enable debug logging
;M575 P1 S1 B57600                              ;Enable PanelDue Port
G90                                             ; send absolute coordinates...
M83                                             ; ...but relative extruder moves
M550 P"V-Core Toolchanger"                      ; set printer name

; Enable network
M552 P0.0.0.0 S1

M669 K1                                         ; select CoreXY mode

G4 S2 ; wait for expansion boards to start

; Drives
;XY1: back left
;XY2: back right
M569 P0.2 S0                                      ; stepper XY1
M569 P0.3 S0                                      ; stepper XY2
M569 P0.4 S1                                      ; stepper Coupler
M569 P100.0 S0                                    ; stepper E0
M569 P100.1 S0                                    ; stepper E1
M569 P100.2 S0                                    ; stepper E2
M569 P100.3 S0                                    ; stepper E3
M569 P0.0 S0                                      ; stepper Z1
M569 P0.1 S0                                      ; stepper Z2
M569 P0.5 S0                                      ; stepper Z3

M584 X0.3 Y0.2 C0.4                               ; set drive mapping (motion system X Y C)
M584 E100.0:100.1:100.2:100.3                     ; set drive mapping (extruders)
M584 Z0.0:0.1:0.5                                 ; set drive mapping (motion system Z)
;Leadscrew order (starting back center, then clockwise):
;1: back center
;2: front right
;3: front left
M671 X-12:216:-203 Y222:-179:-179 S30             ; set Z leadscrew positions


; Axis Limits
if !exists(global.hasRunInit)
	global minY = -266
	global maxY = 115

M208 X-148:160 Y{global.minY,global.maxY}       ; set axis minima & maxima
M208 C0:250 Z-2:270                             ; set axis minima & maxima

M92 X80.00 Y80.00                               ; X/Y: 1.8°/step
;M92 X160.00 Y160.00                            ; X/Y: 0.9°/step
M92 C200.00                                     ; C: E3D coupler
M92 Z800.00                                     ; Z: TR8x4 leadscrews
M350 X16 Y16 I1                                 ; configure microstepping with interpolation
M350 C16 Z16 I1                                 ; configure microstepping with interpolation
M566 X600 Y600 C2 Z50                           ; set maximum instantaneous speed changes (mm/min)
M203 X30000 Y30000 C10000 Z2000                 ; set maximum speeds (mm/min)
M201 X5000 Y5000 C500 Z350                      ; set accelerations (mm/s^2)
M204 P500 T5000
;M204 P5000 T5000

M906 X2000 Y2000                            ; set motor currents (mA) and motor idle factor in per cent
M906 C700                                    ; set motor currents (mA) and motor idle factor in per cent
M906 Z1500                                   ; set motor currents (mA) and motor idle factor in per cent
M906 E500:500:500:500                       ; set motor currents (mA) and motor idle factor in per cent (4x LGX)
M906 I50                                   ;only a single idle factor allowed for ALL steppers
M84 S30                                         ; Set idle timeout    

;=================== Extruder ======================
M92 E408:408:408:408                            ; set steps per mm 
M350 E16:16:16:16 I1                            ; configure microstepping 
M566 E500:500:500:500                           ; set maximum instantaneous speed changes (mm/min) ; used to be at 1200
M203 E15000:15000:15000:15000                   ; set maximum speeds (mm/min) 
M201 E3000:3000:3000:3000                       ; set accelerations (mm/s^2)
;====================================================

; Endstops
M574 X2 S1 P"0.io0.in"                          ; configure active-high endstop for high end on X via pin xstop
M574 Y1 S1 P"0.io1.in"                          ; configure active-high endstop for high end on Y via pin ystop
M574 Z0                                         ; No Z-Endstop (use as probe instead)

; Z-Probe
if !exists(global.hasRunInit)
	global zProbeSpeedFeed = 300
	global zProbeSpeedFeedLevel = 1500
	global zProbeSpeedTravel = 20000
	global zProbeDiveHeightLevel = 30
	global zProbeDiveHeightMesh = 3
	global zProbePin = "0.io2.in"
	global zProbeType = 8
	global zProbeTriggerValue = 200
	global minXMesh = -146 
	global maxXMesh = 150
	global minYMesh = -150
	global maxYMesh = 150
	global meshPointSpacing = 30

M558 K0 P{global.zProbeType} C{global.zProbePin} H{global.zProbeDiveHeightMesh} F{global.zProbeSpeedFeed} T{global.zProbeSpeedTravel}  ; Z Endstop/probe
M558 K2 P8 C"0.io4.in" H10 F100 T20000  ; tool length switch

G31 K0 X0 Y0 Z0 P200 
;G31 K1 X0 Y0 Z0 P200
G31 K2 X0 Y0 Z0 P200 

;G31 K0 X0 Y0 Z0 P{global.zProbeTriggerValue}                               ; set Z probe trigger value, offset and trigger height, offsets here are hardcoded in leveling macro as well

M557 X{global.minXMesh, global.maxXMesh} Y{global.minYMesh, global.maxYMesh} S{global.meshPointSpacing}   ; define mesh grid
M376 H30                                        ; Set bed correction taper

; Heaters
M308 S0 P"100.temp0" Y"thermistor" T100000 B3950           ; configure sensor 0 as thermistor 
M950 H0 C"100.out0" T0 Q10                                 ; create bed heater output and map it to sensor 0
M143 H0 S121                                               ; set temperature limit for heater 0 to 121C
M307 H0 B0 R0.676 C345.1 D2.68 S1.00 V24.3                 ; Bed PID Tuning
M140 H0                                                    ; map heated bed to heater 0

M308 S1 P"0.temp1" Y"thermistor" T100000 B4725 C7.06e-8    ; configure sensor 1 as thermistor
M950 H1 C"0.out1" T1                                       ; create nozzle heater output and map it to sensor 1
M143 H1 S301                                               ; set temperature limit for heater 1 to 301C

M308 S2 P"0.temp2" Y"thermistor" T100000 B4725 C7.06e-8    ; configure sensor 2 as thermistor
M950 H2 C"0.out2" T2                                       ; create nozzle heater output and map it to sensor 2
M143 H2 S301                                               ; set temperature limit for heater 2 to 301C

M308 S3 P"100.temp1" Y"thermistor" T100000 B4725 C7.06e-8  ; configure sensor 3 as thermistor
M950 H3 C"100.out1" T3                                     ; create nozzle heater output and map it to sensor 3
M143 H3 S301                                               ; set temperature limit for heater 3 to 301C

M308 S4 P"100.temp2" Y"thermistor" T100000 B4725 C7.06e-8  ; configure sensor 2 as thermistor
M950 H4 C"100.out2" T4                                     ; create nozzle heater output and map it to sensor 2
M143 H4 S301                                               ; set temperature limit for heater 2 to 301C

M302 S190 R190                                             ;Cold extrusion settings

M307 H1 R4.637 K0.673:0.218 D2.31 E1.35 S1.00 B0 V24.2     ; PID Tuning T0
M307 H2 R4.174 K0.555:0.276 D1.96 E1.35 S1.00 B0 V24.2     ; PID Tuning T1
M307 H3 R4.301 K0.536:0.105 D1.89 E1.35 S1.00 B0 V24.2     ; PID Tuning T2
M307 H4 R3.780 K0.576:0.060 D1.57 E1.35 S1.00 B0 V24.2     ; PID Tuning T3

; Fans
M950 F0 C"0.out7"                                 ; Hotend Fan Tool 0
M106 P0 S255 L255 H1 T50 C"T0 Hotend"             ; Hotend Fan Tool 0
M950 F1 C"0.out4" Q50                             ; Layer Fan Tool 0
M106 P1 S0 H-1 C"T0"                              ; Layer Fan Tool 0

M950 F2 C"0.out8"                                 ; Hotend Fan Tool 1
M106 P2 S255 L255 H2 T50 C"T1 Hotend"             ; Hotend Fan Tool 1
M950 F3 C"0.out5" Q50                             ; Layer Fan Tool 1
M106 P3 S0 H-1 C"T1"                              ; Layer Fan Tool 1

M950 F4 C"100.out5"                               ; Hotend Fan Tool 2
M106 P4 S255 L255 H3 T50 C"T2 Hotend"             ; Hotend Fan Tool 2
M950 F5 C"100.out3" Q50                           ; Layer Fan Tool 2
M106 P5 S0 H-1 C"T2"                              ; Layer Fan Tool 2

M950 F6 C"100.out6"                               ; Hotend Fan Tool 3
M106 P6 S255 L255 H4 T50 C"T3 Hotend"             ; Hotend Fan Tool 3
M950 F7 C"100.out4" Q50                           ; Layer Fan Tool 3
M106 P7 S0 H-1 C"T3"                              ; Layer Fan Tool 3

;Static layer fan
M950 F8 C"0.out0" Q65535                          ; static layer fan
M106 P8 S0 H-1 I1 L0.2 C"RSCS"

; Tools
M563 P0 D0 H1 F1                                 ; define tool 0
G10 P0 R0 S0                                     ; set initial tool 0 active and standby temperatures to 0C

M563 P1 D1 H2 F3                                 ; define tool 1
G10 P1 R0 S0                                     ; set initial tool 1 active and standby temperatures to 0C

M563 P2 D2 H3 F5                                 ; define tool 2
G10 P2 R0 S0                                     ; set initial tool 2 active and standby temperatures to 0C

M563 P3 D3 H4 F7                                 ; define tool 3
G10 P3 R0 S0                                     ; set initial tool 3 active and standby temperatures to 0C

M563 P4 S"Pen"                                   ; define tool 4 (Pen)

;Dock present switches
M950 J0 C"0.io7.in"                              ; Tool 0 Dock switch
M950 J1 C"0.io8.in"                              ; Tool 1 Dock switch
M950 J2 C"100.io5.in"                            ; Tool 2 Dock switch
M950 J3 C"100.io6.in"                            ; Tool 3 Dock switch

;additional tool related switches
M950 J4 C"0.io3.in"                             ;potential toolhead tool present switch, not installed atm, but already wired up inside the box

;Filament sensors, not installed atm, but already wired up inside the box
M591 D0 P4 C"100.io0.in" S1 L23.2 R70:150 E5
M591 D1 P4 C"100.io1.in" S1 L23.2 R70:150 E5
M591 D2 P4 C"100.io2.in" S1 L23.2 R70:150 E5
M591 D3 P4 C"100.io3.in" S1 L23.2 R70:150 E5

M950 S0 C"0.out9" Q333                          ;PebbleWiper Servo
M280 P0 S70                                     ;Servo in idle position
M950 P1 C"0.io5.out"                            ;Light switch PWM

;Toolhead Dotstar
M150 X0

;Accelerometer
M955 P0 C"spi.cs2+spi.cs3"

;Inputshaping
;M593 P"zvddd" F70 S0.2 

; Miscellaneous
M98 P"/macros/Misc/ToolheadDisplay/InitToolheadDisplay"
M98 P"/macros/Misc/Lights/On"
M98 P"/sys/config-tools.g"

if !exists(global.hasRunInit)
	global pebbleFeedSpeedDefault = 300
	global pebbleFeedSpeed = global.pebbleFeedSpeedDefault	
	global deactivateToolAfterFilamentChange = false
	global displayActiveToolOnHead = true
	global hasRunInit = true
	global daemonActive = false

InitToolheadDisplay

if !exists(global.displayLEDCount)
	global displayLEDCount = 64
	global displayDefaultBrightness = 10
	global lastDisplayContent = ""
	;global displayDigit = {null, null, null, null, null, null, null, null, null, null} ;enable once we can set individual elements of arrays
	;set global.displayDigit[0] = {{0,1,1,1,1,1,1,0},{1,1,1,1,1,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,1,1,1,1,1},{0,1,1,1,1,1,1,0}}
	;set global.displayDigit[1] = {{0,0,1,1,1,0,0,0},{0,0,1,1,1,1,0,0},{0,0,1,1,1,1,1,0},{0,0,1,1,1,0,0,0},{0,0,1,1,1,0,0,0},{0,0,1,1,1,0,0,0},{0,0,1,1,1,0,0,0},{0,0,1,1,1,0,0,0}}
	;set global.displayDigit[2] = {{0,1,1,1,1,1,1,0},{1,1,1,1,1,1,1,1},{1,1,1,0,0,1,1,1},{0,1,1,1,0,0,0,0},{0,0,0,1,1,1,0,0},{0,0,0,0,0,1,1,1},{1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1}}
	;set global.displayDigit[3] = {{0,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1},{1,1,1,0,0,0,0,0},{0,1,1,1,1,1,1,1},{0,1,1,1,1,1,1,1},{1,1,1,0,0,0,0,0},{1,1,1,1,1,1,1,1},{0,1,1,1,1,1,1,1}}
	
if !exists(global.displayChar0) && boards[0].firmwareVersion != "3.4.5"
	global displayChar0 = {{0,1,1,1,1,1,1,0},{1,1,1,1,1,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,0,0,1,1,1},{1,1,1,1,1,1,1,1},{0,1,1,1,1,1,1,0}}
	global displayChar1 = {{0,0,1,1,1,0,0,0},{0,0,1,1,1,1,0,0},{0,0,1,1,1,1,1,0},{0,0,1,1,1,0,0,0},{0,0,1,1,1,0,0,0},{0,0,1,1,1,0,0,0},{0,0,1,1,1,0,0,0},{0,0,1,1,1,0,0,0}}	
	global displayChar2 = {{0,1,1,1,1,1,1,0},{1,1,1,1,1,1,1,1},{1,1,1,0,0,1,1,1},{0,1,1,1,0,0,0,0},{0,0,0,1,1,1,0,0},{0,0,0,0,0,1,1,1},{1,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1}}
	global displayChar3 = {{0,1,1,1,1,1,1,1},{1,1,1,1,1,1,1,1},{1,1,1,0,0,0,0,0},{0,1,1,1,1,1,1,1},{0,1,1,1,1,1,1,1},{1,1,1,0,0,0,0,0},{1,1,1,1,1,1,1,1},{0,1,1,1,1,1,1,1}}
	
	global RGBOff = {0,0,0,0}
	global RGBRed = {255,0,0,25}
	global RGBGreen = {0,255,0,10}
	global RGBBlue = {0,0,255,45}
	global RGBWhite = {255,255,255,10}

Lights/On

M42 P1 S230

config-tools.g

if !exists(global.hasRunInit)
	;global toolNozzleSizes = {0,0,0,0}
	;global toolNozzleMaterials = {"brass","brass","brass","brass"}
	
	global tool0NozzleSize = "0.0"
	global tool1NozzleSize = "0.0"
	global tool2NozzleSize = "0.0"
	global tool3NozzleSize = "0.0"
	
	global tool0NozzleMaterial = ""
	global tool1NozzleMaterial = ""
	global tool2NozzleMaterial = ""
	global tool3NozzleMaterial = ""

M98 P"/sys/config-tools-size.g"
M98 P"/sys/config-tools-material.g"


;Z-Offset: 	If nozzle is too close to bed _reduce_ offset (negative number becomes more negative)
;			If nozzle is too far away, _increase_ offset (negative number becomes less negative)
;Tool offsets
G10 P0 X-8.340 Y39.270 Z-4.190
G10 P1 X-8.480 Y39.310 Z-4.020
G10 P2 X-8.180 Y38.930 Z-4.200
G10 P3 X-8.360 Y39.060 Z-4.506

G10 P4 X0 Y46.5 Z-20.000                        ; set tool 4 axis offsets



;    Filament     Nozzle   PA    R-Distance   R-Speed  
; -------------- -------- ----- ------------ --------- 
;  Generic PETG     0.25   0.175        0.6      2100  
;  ---               0.3   0.13         0.6      2100  
;  ---               0.4   0.1          0.6      2100  
;  ---               0.6   0.05         0.6      2100 
;  ---               0.8   0.03         0.6      2100  
;  Generic PLA      0.25   0.0          0.6      2100  
;  ---               0.3   0.0          0.6      2100  
;  ---               0.4   0.08         0.6      2100  
;  ---               0.6   0.0          0.6      2100 
;  ---               0.8   0.0          0.6      2100  
;  BioFusion         0.25  0.0          0.6      2100  
;  ---               0.3   0.09         0.6      2100  
;  ---               0.4   0.07         0.6      2100  
;  ---               0.6   0.0          0.6      2100 
;  ---               0.8   0.035        0.6      2100  
;  PA-CF             0.3   0.0          0.6      2100  
;  ---               0.4   0.0          0.6      2100  
;  PC-CF             0.3   0.0          0.6      2100  
;  ---               0.4   0.0          0.6      2100  
;  PA12              0.25  0.0          0.6      2100  
;  ---               0.3   0.0          0.6      2100  
;  ---               0.4   0.13         0.6      2100  
;  ---               0.6   0.0          0.6      2100 
;  ---               0.8   0.0          0.6      2100  
;  Wood              0.8   0.04         0.6      2100
;  TPU               0.4   0.0          1.0      2100


;https://ozh.github.io/ascii-tables/

config-tools-size.g

set global.tool0NozzleSize = "0.4"
set global.tool1NozzleSize = "0.4"
set global.tool2NozzleSize = "0.4"
set global.tool3NozzleSize = "0.6"

config-tools-material.g

set global.tool0NozzleMaterial = "brass"
set global.tool1NozzleMaterial = "brass"
set global.tool2NozzleMaterial = "brass"
set global.tool3NozzleMaterial = "nozzlex"
;set global.toolNozzleMaterials = {"brass","brass","brass","nozzlex"}