Version 0.78h

Added a few more improvements from RRP's dev branch
Corrected M201 output
Added a few more minor fixes

Configuration.h

@@ -24,8 +24,8 @@ Licence: GPL
 #define CONFIGURATION_H
 
 #define NAME "RepRapFirmware"
-#define VERSION "0.78g-dc42"
+#define VERSION "0.78h-dc42"
-#define DATE "2014-07-30"
+#define DATE "2014-08-01"
 #define AUTHORS "reprappro, dc42. zpl"
 
 // Other firmware that we might switch to be compatible with.
@@ -50,6 +50,8 @@ enum Compatibility
 
 #define TEMPERATURE_CLOSE_ENOUGH (2.5) 		// Celsius
 #define TEMPERATURE_LOW_SO_DONT_CARE (40.0)	// Celsius
+#define HOT_ENOUGH_TO_EXTRUDE (160.0)       // Celsius
+#define TIME_TO_HOT (120.0)					// Seconds
 
 // If temperatures fall outside this range, something nasty has happened.
 

GCodes.cpp

@@ -246,18 +246,15 @@ void GCodes::Diagnostics()
 bool GCodes::AllMovesAreFinishedAndMoveBufferIsLoaded()
 {
 	// Last one gone?
-
 	if(moveAvailable)
 		return false;
 
 	// Wait for all the queued moves to stop so we get the actual last position and feedrate
-      
 	if(!reprap.GetMove()->AllMovesAreFinished())
 		return false;
 	reprap.GetMove()->ResumeMoving();
 
 	// Load the last position; If Move can't accept more, return false - should never happen
-  
 	if(!reprap.GetMove()->GetCurrentUserPosition(moveBuffer))
 		return false;
 
@@ -346,8 +343,8 @@ bool GCodes::LoadMoveBufferFromGCode(GCodeBuffer *gb, bool doingG92, bool applyL
 			platform->Message(BOTH_ERROR_MESSAGE, "Attempting to extrude with no tool selected.\n");
 			return false;
 		}
-		float eMovement[DRIVES-AXES];
 		int eMoveCount = tool->DriveCount();
+		float eMovement[DRIVES-AXES];
 		gb->GetFloatArray(eMovement, eMoveCount);
 		if(tool->DriveCount() != eMoveCount)
 		{
@@ -386,7 +383,7 @@ bool GCodes::LoadMoveBufferFromGCode(GCodeBuffer *gb, bool doingG92, bool applyL
 	{
 		if(gb->Seen(axisLetters[axis]))
 		{
-			float moveArg = gb->GetFValue()*distanceScale;
+			float moveArg = gb->GetFValue() * distanceScale;
 			if (axesRelative && !doingG92)
 			{
 				moveArg += moveBuffer[axis];
@@ -550,7 +547,7 @@ bool GCodes::FileCannedCyclesReturn()
 
 // To execute any move, call this until it returns true.
 // moveToDo[] entries corresponding with false entries in action[] will
-// be ignored.  Recall that moveToDo[DRIVES] should contain the feed rate
+// be ignored.  Recall that moveToDo[DRIVES] should contain the feedrate
 // you want (if action[DRIVES] is true).
 
 bool GCodes::DoCannedCycleMove(EndstopChecks ce)
@@ -1661,13 +1658,13 @@ void GCodes::SetToolHeaters(Tool *tool, float temperature)
 bool GCodes::ActOnCode(GCodeBuffer *gb)
 {
 	// M-code parameters might contain letters T and G, e.g. in filenames.
-	// I assume that G-and T-code parameters never contain the letter M.
+	// dc42 assumes that G-and T-code parameters never contain the letter M.
 	// Therefore we must check for an M-code first.
 	if (gb->Seen('M'))
 	{
 		return HandleMcode(gb);
 	}
-	// I don't think a G-code parameter ever contains letter T, or a T-code ever contains letter G.
+	// dc42 doesn't think a G-code parameter ever contains letter T, or a T-code ever contains letter G.
 	// So it doesn't matter in which order we look for them.
 	if (gb->Seen('G'))
 	{
@@ -1913,7 +1910,7 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 		break;
 
 	case 82:	// Use absolute extruder positioning
-		if (drivesRelative)
+		if (drivesRelative)		// don't reset the absolute extruder position if it was already absolute
 		{
 			for (int8_t extruder = AXES; extruder < DRIVES; extruder++)
 			{
@@ -2048,7 +2045,8 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 			f = max<float>(f, 0.0);
 			if (coolingInverted)
 			{
-				platform->CoolingFan(255.0 - f);
+				// Check if 1.0 or 255.0 may be used as the maximum value
+				platform->CoolingFan((f <= 1.0 ? 1.0 : 255.0) - f);
 			}
 			else
 			{
@@ -2153,7 +2151,6 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 		}
 		break;
 
-    	//TODO M119
     case 119:
 		{
 			snprintf(reply, STRING_LENGTH, "Endstops - ");
@@ -2311,16 +2308,16 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 
 			if(!seen)
 			{
-				snprintf(reply, STRING_LENGTH, "Axis limits - ");
+				snprintf(reply, STRING_LENGTH, "Accelerations: X: %f, Y: %f, Z: %f, E: ",
-				char comma = ',';
+						platform->Acceleration(X_AXIS)/distanceScale, platform->Acceleration(Y_AXIS)/distanceScale,
-				for(int8_t axis = 0; axis < AXES; axis++)
+						platform->Acceleration(Z_AXIS)/distanceScale);
+				for(int8_t drive = AXES; drive < DRIVES; drive++)
 				{
-					if(axis == AXES - 1)
+					sncatf(reply, STRING_LENGTH, "%f", platform->Acceleration(drive)/distanceScale);
+					if(drive < DRIVES-1)
 					{
-						comma = ' ';
+						sncatf(reply, STRING_LENGTH, ":");
 					}
-					sncatf(reply, STRING_LENGTH, "%c: %.1f min, %.1f max%c ", axisLetters[axis],
-							platform->AxisMinimum(axis), platform->AxisMaximum(axis), comma);
 				}
 			}
     	}
@@ -2383,7 +2380,7 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
     	result = OffsetAxes(gb);
     	break;
 
-	case 208: // Set/print maximum axis lengths. If there is an S parameter with value 1 then we set the min value, alse we set the max value.
+	case 208: // Set/print maximum axis lengths. If there is an S parameter with value 1 then we set the min value, else we set the max value.
 		{
 			bool setMin = (gb->Seen('S') ? (gb->GetIValue() == 1): false);
 			bool seen = false;
@@ -2406,11 +2403,17 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 
 			if (!seen)
 			{
-				snprintf(reply, STRING_LENGTH, "X:%.1f Y:%.1f Z:%.1f",
+				snprintf(reply, STRING_LENGTH, "Axis limits - ");
-							(setMin) ? platform->AxisMinimum(X_AXIS) : platform->AxisMaximum(X_AXIS),
+				char comma = ',';
-							(setMin) ? platform->AxisMinimum(Y_AXIS) : platform->AxisMaximum(Y_AXIS),
+				for(int8_t axis = 0; axis < AXES; axis++)
-							(setMin) ? platform->AxisMinimum(Z_AXIS) : platform->AxisMaximum(Z_AXIS)
+				{
-						);
+					if(axis == AXES - 1)
+					{
+						comma = ' ';
+					}
+					sncatf(reply, STRING_LENGTH, "%c: %.1f min, %.1f max%c ", axisLetters[axis],
+							platform->AxisMinimum(axis), platform->AxisMaximum(axis), comma);
+				}
 			}
 		}
 		break;
@@ -2494,7 +2497,23 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 		SetPidParameters(gb, 1, reply);
 		break;
 
-	case 302: // Allow cold extrudes
+	case 302: // Allow, deny or report cold extrudes
+		if (gb->Seen('P'))
+		{
+			if (gb->GetIValue() > 0)
+			{
+				reprap.AllowColdExtrude();
+			}
+			else
+			{
+				reprap.DenyColdExtrude();
+			}
+		}
+		else
+		{
+			snprintf(reply, STRING_LENGTH, "Cold extrudes are %s, use M302 P[1/0] to allow or deny them",
+					reprap.ColdExtrude() ? "enabled" : "disabled");
+		}
 		break;
 
 	case 304: // Set/report heated bed PID values
@@ -2661,28 +2680,47 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 		}
 		break;
 
-    case 558: // Set Z probe type
+    case 558: // Set or report Z probe type and for which axes it is used
+		{
+			bool seen = false;
 			if(gb->Seen('P'))
 			{
 				platform->SetZProbeType(gb->GetIValue());
+				seen = true;
+			}
+
+			bool zProbeAxes[AXES];
+			platform->GetZProbeAxes(zProbeAxes);
+			for(int axis=0; axis<AXES; axis++)
+			{
+				if (gb->Seen(axisLetters[axis]))
+				{
+					zProbeAxes[axis] = (gb->GetIValue() > 0);
+					seen = true;
+				}
+			}
+
+			if (seen)
+			{
+				platform->SetZProbeAxes(zProbeAxes);
 			}
 			else
 			{
-    		snprintf(reply, STRING_LENGTH, "Z Probe: %d", platform->GetZProbeType());
+				snprintf(reply, STRING_LENGTH, "Z Probe type is %d and it is used for these axes:", platform->GetZProbeType());
+				for(int axis=0; axis<AXES; axis++)
+				{
+					if (zProbeAxes[axis])
+					{
+						sncatf(reply, STRING_LENGTH, " %c", axisLetters[axis]);
+					}
+				}
+			}
 		}
     	break;
 
 	case 559: // Upload config.g or another gcode file to put in the sys directory
 		{
-			const char* str;
+			const char* str = (gb->Seen('P') ? gb->GetString() : platform->GetConfigFile());
-			if (gb->Seen('P'))
-			{
-				str = gb->GetString();
-			}
-			else
-			{
-				str = platform->GetConfigFile();
-			}
 			bool ok = OpenFileToWrite(platform->GetSysDir(), str, gb);
 			if (ok)
 			{
@@ -2698,15 +2736,7 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 
 	case 560: // Upload reprap.htm or another web interface file
 		{
-			const char* str;
+			const char* str = (gb->Seen('P') ? gb->GetString() : INDEX_PAGE);
-			if (gb->Seen('P'))
-			{
-				str = gb->GetString();
-			}
-			else
-			{
-				str = INDEX_PAGE;
-			}
 			bool ok = OpenFileToWrite(platform->GetWebDir(), str, gb);
 			if (ok)
 			{
@@ -2899,7 +2929,8 @@ bool GCodes::ChangeTool(int newToolNumber)
     		{
     			toolChangeSequence++;
     		}
-    	} else
+    	}
+    	else
     	{
     		toolChangeSequence++;
     	}
@@ -2921,7 +2952,8 @@ bool GCodes::ChangeTool(int newToolNumber)
     		{
     			toolChangeSequence++;
     		}
-    	} else
+    	}
+    	else
     	{
     		toolChangeSequence++;
     	}
@@ -2940,7 +2972,8 @@ bool GCodes::ChangeTool(int newToolNumber)
     		{
     			toolChangeSequence++;
     		}
-    	} else
+    	}
+    	else
     	{
     		toolChangeSequence++;
     	}
@@ -3057,7 +3090,9 @@ bool GCodeBuffer::Put(char c)
 			// Strip out the line number and checksum
 
 			while (gcodeBuffer[gcodePointer] != ' ' && gcodeBuffer[gcodePointer])
+			{
 				gcodePointer++;
+			}
 
 			// Anything there?
 
@@ -3181,7 +3216,8 @@ const void GCodeBuffer::GetFloatArray(float a[], int& returnedLength)
 		{
 			a[i] = a[0];
 		}
-	} else
+	}
+	else
 	{
 		returnedLength = length;
 	}

Heat.cpp

@@ -32,7 +32,9 @@ Heat::Heat(Platform* p, GCodes* g)
 void Heat::Init()
 {
   for(int8_t heater=0; heater < HEATERS; heater++)
+  {
     pids[heater]->Init();
+  }
   lastTime = platform->Time();
   longWait = lastTime;
   active = true;
@@ -41,7 +43,9 @@ void Heat::Init()
 void Heat::Exit()
 {
   for(int8_t heater=0; heater < HEATERS; heater++)
+  {
 	 pids[heater]->SwitchOff();
+  }
   platform->Message(HOST_MESSAGE, "Heat class exited.\n");
   active = false;
 }
@@ -116,6 +120,7 @@ void PID::Init()
   temperatureFault = false;
   active = false; 		// Default to standby temperature
   switchedOff = true;
+  heatingUp = false;
 }
 
 void PID::SwitchOn()
@@ -147,7 +152,8 @@ void PID::Spin()
 	  return;
   }
 
-  // We are switched on.  Check for faults.
+  // We are switched on.  Check for faults.  Temperature silly-low or silly-high mean open-circuit
+  // or shorted thermistor respectively.
 
   if(temperature < BAD_LOW_TEMPERATURE || temperature > BAD_HIGH_TEMPERATURE)
   {
@@ -157,8 +163,9 @@ void PID::Spin()
 		  platform->SetHeater(heater, 0.0);
 		  temperatureFault = true;
 		  switchedOff = true;
-		  snprintf(scratchString, STRING_LENGTH, "Temperature measurement fault on heater %d, T = %.1f\n", heater, temperature);
+		  snprintf(scratchString, STRING_LENGTH, "Temperature fault on heater %d, T = %.1f\n", heater, temperature);
 		  platform->Message(BOTH_MESSAGE, scratchString);
+		  reprap.FlagTemperatureFault(heater);
 	  }
   }
   else
@@ -166,6 +173,36 @@ void PID::Spin()
 	  badTemperatureCount = 0;
   }
 
+  // Now check how long it takes to warm up.  If too long, maybe the thermistor is not in contact with the heater
+
+  if(heatingUp && heater != HOT_BED) // FIXME - also check bed warmup time?
+  {
+	  float tmp = standbyTemperature;
+	  if(active)
+	  {
+		  tmp = activeTemperature;
+	  }
+	  tmp -= TEMPERATURE_CLOSE_ENOUGH;
+	  if(temperature < tmp)
+	  {
+		  float tim = platform->Time() - timeSetHeating;
+		  if(tim > TIME_TO_HOT)
+		  {
+			  platform->SetHeater(heater, 0.0);
+			  temperatureFault = true;
+			  switchedOff = true;
+			  snprintf(scratchString, STRING_LENGTH, "Heating fault on heater %d, T = %.1f C; still not at temperature after %f seconds.\n",
+					  heater, temperature, tim);
+			  platform->Message(BOTH_MESSAGE, scratchString);
+			  reprap.FlagTemperatureFault(heater);
+		  }
+	  }
+	  else
+	  {
+		  heatingUp = false;
+	  }
+  }
+
   float targetTemperature = (active) ? activeTemperature : standbyTemperature;
   float error = targetTemperature - temperature;
   const PidParameters& pp = platform->GetPidParameters(heater);

Heat.h

@@ -60,6 +60,8 @@ class PID
     int8_t heater;									// The index of our heater
     int8_t badTemperatureCount;						// Count of sequential dud readings
     bool temperatureFault;							// Has our heater developed a fault?
+    float timeSetHeating;							// When we were switched on
+    bool heatingUp;									// Are we heating up?
 };
 
 /**
@@ -139,12 +141,22 @@ inline void PID::Activate()
 {
   SwitchOn();
   active = true;
+  if(!heatingUp)
+  {
+    timeSetHeating = platform->Time();
+  }
+  heatingUp = activeTemperature > temperature;
 }
 
 inline void PID::Standby()
 {
   SwitchOn();
   active = false;
+  if(!heatingUp)
+  {
+    timeSetHeating = platform->Time();
+  }
+  heatingUp = standbyTemperature > temperature;
 }
 
 inline void PID::ResetFault()
@@ -158,6 +170,7 @@ inline void PID::SwitchOff()
 	platform->SetHeater(heater, 0.0);
 	active = false;
 	switchedOff = true;
+	heatingUp = false;
 }
 
 

Platform.cpp

@@ -134,6 +134,7 @@ void Platform::Init()
 		nvData.macAddress = MAC_ADDRESS;
 
 		nvData.zProbeType = 0;	// Default is to use the switch
+		nvData.zProbeAxes = Z_PROBE_AXES;
 		nvData.switchZProbeParameters.Init(0.0);
 		nvData.irZProbeParameters.Init(Z_PROBE_STOP_HEIGHT);
 		nvData.alternateZProbeParameters.Init(Z_PROBE_STOP_HEIGHT);
@@ -232,21 +233,21 @@ void Platform::Init()
 	{
 		if (stepPins[i] >= 0)
 		{
-		  if(i == E0_DRIVE || i == E3_DRIVE) //STEP_PINS {14, 25, 5, X2, 41, 39, X4, 49}
+		  if(i == E0_DRIVE || i == E3_DRIVE) // STEP_PINS {14, 25, 5, X2, 41, 39, X4, 49}
 				pinModeNonDue(stepPins[i], OUTPUT);
 			else
 				pinMode(stepPins[i], OUTPUT);
 		}
 		if (directionPins[i] >= 0)
 		{
-		  if(i == E0_DRIVE) //DIRECTION_PINS {15, 26, 4, X3, 35, 53, 51, 48}
+		  if(i == E0_DRIVE) // DIRECTION_PINS {15, 26, 4, X3, 35, 53, 51, 48}
 				pinModeNonDue(directionPins[i], OUTPUT);
 			else
 				pinMode(directionPins[i], OUTPUT);
 		}
 		if (enablePins[i] >= 0)
 		{
-		  if(i == Z_AXIS || i==E0_DRIVE || i==E2_DRIVE) //ENABLE_PINS {29, 27, X1, X0, 37, X8, 50, 47}
+		  if(i == Z_AXIS || i == E0_DRIVE || i == E2_DRIVE) // ENABLE_PINS {29, 27, X1, X0, 37, X8, 50, 47}
 				pinModeNonDue(enablePins[i], OUTPUT);
 			else
 				pinMode(enablePins[i], OUTPUT);
@@ -272,7 +273,7 @@ void Platform::Init()
 	{
 		if (heatOnPins[i] >= 0)
 		{
-    		if(i == E0_HEATER || i==E1_HEATER) //HEAT_ON_PINS {6, X5, X7, 7, 8, 9}
+			if(i == E0_HEATER || i == E1_HEATER) // HEAT_ON_PINS {6, X5, X7, 7, 8, 9}
 			{
 				digitalWriteNonDue(heatOnPins[i], HIGH);	// turn the heater off
 				pinModeNonDue(heatOnPins[i], OUTPUT);
@@ -391,6 +392,23 @@ int Platform::GetZProbeType() const
 	return nvData.zProbeType;
 }
 
+void Platform::SetZProbeAxes(const bool axes[AXES])
+{
+	for(int axis=0; axis<AXES; axis++)
+	{
+		nvData.zProbeAxes[axis] = axes[axis];
+	}
+	WriteNvData();
+}
+
+void Platform::GetZProbeAxes(bool (&axes)[AXES])
+{
+	for(int axis=0; axis<AXES; axis++)
+	{
+		axes[axis] = nvData.zProbeAxes[axis];
+	}
+}
+
 float Platform::ZProbeStopHeight() const
 {
 	switch (nvData.zProbeType)
@@ -793,11 +811,13 @@ void Platform::Diagnostics()
 	AppendMessage(BOTH_MESSAGE, scratchString);
 	reprap.Timing();
 
+#if LWIP_STATS
 	// Normally we should NOT try to display LWIP stats here, because it uses debugPrintf(), which will hang the system is no USB cable is connected.
 	if (reprap.Debug())
 	{
 		stats_display();
 	}
+#endif
 }
 
 void Platform::DiagnosticTest(int d)
@@ -930,9 +950,7 @@ void Platform::SetHeater(size_t heater, const float& power)
 
 EndStopHit Platform::Stopped(int8_t drive)
 {
-	if (nvData.zProbeType > 0)
+	if (nvData.zProbeType > 0 && drive < AXES && nvData.zProbeAxes[drive])
-	{  // Z probe is used for both X and Z.
-		if (drive != Y_AXIS)
 	{
 		int zProbeVal = ZProbe();
 		int zProbeADValue =
@@ -945,7 +963,6 @@ EndStopHit Platform::Stopped(int8_t drive)
 		else
 			return noStop;
 	}
-	}
 
 	if (lowStopPins[drive] >= 0)
 	{
@@ -965,9 +982,13 @@ void Platform::SetDirection(byte drive, bool direction)
 	if(directionPins[drive] < 0)
 		return;
 	if(drive == E0_DRIVE) //DIRECTION_PINS {15, 26, 4, X3, 35, 53, 51, 48}
+	{
 		digitalWriteNonDue(directionPins[drive], direction);
+	}
 	else
+	{
 		digitalWrite(directionPins[drive], direction);
+	}
 }
 
 void Platform::Disable(byte drive)
@@ -1041,13 +1062,28 @@ float Platform::MotorCurrent(byte drive)
 	return (float)pot * maxStepperDigipotVoltage / (0.256 * 8.0 * senseResistor);
 }
 
-//Changed to be compatible with existing gcode norms
+// This is a bit of a compromise - old RepRaps used fan speeds in the range
-// M106 S0 = fully off M106 S255 = fully on
+// [0, 255], which is very hardware dependent.  It makes much more sense
+// to specify speeds in [0.0, 1.0].  This looks at the value supplied (which
+// the G Code reader will get right for a float or an int) and attempts to
+// do the right thing whichever the user has done.  This will only not work
+// for an old-style fan speed of 1/255...
+
 void Platform::CoolingFan(float speed)
 {
 	if(coolingFanPin >= 0)
 	{
-		byte p =(byte)speed;
+		byte p;
+
+		if(speed <= 1.0)
+		{
+			p = (byte)(255.0 * max<float>(0.0, speed));
+		}
+		else
+		{
+			p = (byte)speed;
+		}
+
 		// The cooling fan output pin gets inverted if HEAT_ON == 0
 		analogWriteNonDue(coolingFanPin, (HEAT_ON == 0) ? (255 - p) : p);
 	}

Platform.h

@@ -99,6 +99,7 @@ Licence: GPL
 #define Z_PROBE_STOP_HEIGHT (0.7) // mm
 #define Z_PROBE_PIN (10) 						// Analogue pin number
 #define Z_PROBE_MOD_PIN (52)					// Digital pin number to turn the IR LED on (high) or off (low)
+#define Z_PROBE_AXES {true, false, true}		// Axes for which the Z-probe is normally used
 const unsigned int numZProbeReadingsAveraged = 8;	// we average this number of readings with IR on, and the same number with IR off
 
 #define MAX_FEEDRATES {100.0, 100.0, 3.0, 20.0, 20.0, 20.0, 20.0, 20.0} // mm/sec
@@ -107,6 +108,12 @@ const unsigned int numZProbeReadingsAveraged = 8;	// we average this number of r
 #define INSTANT_DVS {15.0, 15.0, 0.2, 2.0, 2.0, 2.0, 2.0, 2.0} // (mm/sec)
 #define NUM_MIXING_DRIVES 1; //number of mixing drives
 
+#define E0_DRIVE 3 //the index of the first Extruder drive
+#define E1_DRIVE 4 //the index of the second Extruder drive
+#define E2_DRIVE 5 //the index of the third Extruder drive
+#define E3_DRIVE 6 //the index of the fourth Extruder drive
+#define E4_DRIVE 7 //the index of the fifth Extruder drive
+
 // AXES
 
 #define AXIS_MAXIMA {220, 200, 200} 			// mm
@@ -118,12 +125,6 @@ const unsigned int numZProbeReadingsAveraged = 8;	// we average this number of r
 #define Y_AXIS 1  								// The index of the Y axis
 #define Z_AXIS 2  								// The index of the Z axis
 
-#define E0_DRIVE 3 //the index of the first Extruder drive
-#define E1_DRIVE 4 //the index of the second Extruder drive
-#define E2_DRIVE 5 //the index of the third Extruder drive
-#define E3_DRIVE 6 //the index of the fourth Extruder drive
-#define E4_DRIVE 7 //the index of the fifth Extruder drive
-
 // HEATERS - The bed is assumed to be the at index 0
 
 #define TEMP_SENSE_PINS {5, 4, 0, 7, 8, 9} // Analogue pin numbers
@@ -168,11 +169,6 @@ const float defaultFullBand[HEATERS] = {5.0, 30.0, 30.0, 30.0, 30.0, 30.0};		//
 const float defaultPidMin[HEATERS] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};			// minimum value of I-term
 const float defaultPidMax[HEATERS] = {255, 180, 180, 180, 180, 180};			// maximum value of I-term, must be high enough to reach 245C for ABS printing
 
-#define STANDBY_TEMPERATURES {ABS_ZERO, ABS_ZERO} // We specify one for the bed, though it's not needed
-#define ACTIVE_TEMPERATURES {ABS_ZERO, ABS_ZERO}
-#define COOLING_FAN_PIN X6 										// pin D34 is PWM capable but not an Arduino PWM pin - use X6 instead
-#define HEAT_ON 0 												// 0 for inverted heater (eg Duet v0.6) 1 for not (e.g. Duet v0.4)
-
 #define STANDBY_TEMPERATURES {ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO} // We specify one for the bed, though it's not needed
 #define ACTIVE_TEMPERATURES {ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO}
 #define COOLING_FAN_PIN X6 														//pin D34 is PWM capable but not an Arduino PWM pin - use X6 instead
@@ -191,10 +187,10 @@ const unsigned int adDisconnectedVirtual = adDisconnectedReal << adOversampleBit
 
 #define HOT_BED 0 	// The index of the heated bed; set to -1 if there is no heated bed
 #define E0_HEATER 1 //the index of the first extruder heater
-#define E1_HEATER 2 //the index of the first extruder heater
+#define E1_HEATER 2 //the index of the second extruder heater
-#define E2_HEATER 3 //the index of the first extruder heater
+#define E2_HEATER 3 //the index of the third extruder heater
-#define E3_HEATER 4 //the index of the first extruder heater
+#define E3_HEATER 4 //the index of the fourth extruder heater
-#define E4_HEATER 5 //the index of the first extruder heater
+#define E4_HEATER 5 //the index of the fifth extruder heater
 
 /****************************************************************************************************/
 
@@ -346,17 +342,17 @@ class FileStore //: public InputOutput
 public:
 
 	int8_t Status(); // Returns OR of IOStatus
-	bool Read(char& b);
+	bool Read(char& b);								// Read 1 byte
-	int Read(char* buf, unsigned int nBytes);
+	int Read(char* buf, unsigned int nBytes);		// Read a block of nBytes length
-	bool Write(char b);
+	bool Write(char b);								// Write 1 byte
-	bool Write(const char *s, unsigned int len);
+	bool Write(const char *s, unsigned int len);	// Write a block of len bytes
-	bool Write(const char* s);
+	bool Write(const char* s);						// Write a string
-	bool Close();
+	bool Close();									// Shut the file and tidy up
-	bool Seek(unsigned long pos);
+	bool Seek(unsigned long pos);					// Jump to pos in the file
 	bool GoToEnd();									// Position the file at the end (so you can write on the end).
 	unsigned long Length();							// File size in bytes
-	void Duplicate();
+	void Duplicate();								// Create a second reference to this file
-	bool Flush();
+	bool Flush();									// Write remaining buffer data
 
 friend class Platform;
 
@@ -610,6 +606,8 @@ public:
   int GetZProbeSecondaryValues(int& v1, int& v2);
   void SetZProbeType(int iZ);
   int GetZProbeType() const;
+  void SetZProbeAxes(const bool axes[AXES]);
+  void GetZProbeAxes(bool (&axes)[AXES]);
   void SetZProbing(bool starting);
   bool GetZProbeParameters(struct ZProbeParameters& params) const;
   bool SetZProbeParameters(const struct ZProbeParameters& params);
@@ -617,8 +615,8 @@ public:
   
   // Mixing support
 
-  void SetMixingDrives(int);
+//  void SetMixingDrives(int);
-  int GetMixingDrives();
+//  int GetMixingDrives();
 
   int8_t SlowestDrive() const;
 
@@ -655,6 +653,7 @@ private:
 	  ZProbeParameters irZProbeParameters;			// Z probe values for the IR sensor
 	  ZProbeParameters alternateZProbeParameters;	// Z probe values for the alternate sensor
 	  int zProbeType;								// the type of Z probe we are currently using
+	  bool zProbeAxes[AXES];						// Z probe is used for these axes
 	  PidParameters pidParams[HEATERS];
 	  byte ipAddress[4];
 	  byte netMask[4];
@@ -991,21 +990,6 @@ inline float Platform::AxisTotalLength(int8_t axis) const
 	return axisMaxima[axis] - axisMinima[axis];
 }
 
-inline void Platform::SetMixingDrives(int num_drives)
-{
-	if(num_drives>(DRIVES-AXES))
-	{
-		Message(HOST_MESSAGE, "More mixing extruder drives set with M160 than exist in firmware configuration\n");
-		return;
-	}
-	numMixingDrives = num_drives;
-}
-
-inline int Platform::GetMixingDrives()
-{
-	return numMixingDrives;
-}
-
 //********************************************************************************************************
 
 // Drive the RepRap machine - Heat and temperature

RepRapFirmware.cpp

@@ -189,13 +189,12 @@ void RepRap::Init()
   currentTool = NULL;
   const uint32_t wdtTicks = 256;	// number of watchdog ticks @ 32768Hz/128 before the watchdog times out (max 4095)
   WDT_Enable(WDT, (wdtTicks << WDT_MR_WDV_Pos) | (wdtTicks << WDT_MR_WDD_Pos) | WDT_MR_WDRSTEN);	// enable watchdog, reset the mcu if it times out
+  coldExtrude = true;		// DC42 changed default to true for compatibility because for now we are aiming for copatibility with RRP 0.78
   active = true;			// must do this before we start the network, else the watchdog may time out
 
-  platform->Message(HOST_MESSAGE, NAME);
+  snprintf(scratchString, STRING_LENGTH, "%s Version %s dated %s\n", NAME, VERSION, DATE);
-  platform->Message(HOST_MESSAGE, " Version ");
+  platform->Message(HOST_MESSAGE, scratchString);
-  platform->Message(HOST_MESSAGE, VERSION);
+
-  platform->Message(HOST_MESSAGE, ", dated ");
-  platform->Message(HOST_MESSAGE, DATE);
   platform->Message(HOST_MESSAGE, ".\n\nExecuting ");
   platform->Message(HOST_MESSAGE, platform->GetConfigFile());
   platform->Message(HOST_MESSAGE, "...\n\n");

Reprap.h

@@ -41,7 +41,12 @@ class RepRap
     Tool* GetCurrentTool();
     Tool* GetTool(int toolNumber);
     void SetToolVariables(int toolNumber, float* standbyTemperatures, float* activeTemperatures);
+    void AllowColdExtrude();
+    void DenyColdExtrude();
+    bool ColdExtrude() const;
     void PrintTool(int toolNumber, char* reply) const;
+    void FlagTemperatureFault(int8_t dudHeater);
+    void ClearTemperatureFault(int8_t wasDudHeater);
     Platform* GetPlatform() const;
     Move* GetMove() const;
     Heat* GetHeat() const;
@@ -74,6 +79,7 @@ class RepRap
     bool resetting;
     uint16_t activeExtruders;
     uint16_t activeHeaters;
+    bool coldExtrude;
 };
 
 inline Platform* RepRap::GetPlatform() const { return platform; }
@@ -86,6 +92,26 @@ inline bool RepRap::Debug() const { return debug; }
 inline Tool* RepRap::GetCurrentTool() { return currentTool; }
 inline uint16_t RepRap::GetExtrudersInUse() const { return activeExtruders; }
 inline uint16_t RepRap::GetHeatersInUse() const { return activeHeaters; }
+inline bool RepRap::ColdExtrude() const { return coldExtrude; }
+inline void RepRap::AllowColdExtrude() { coldExtrude = true; }
+inline void RepRap::DenyColdExtrude() { coldExtrude = false; }
+
+inline void RepRap::FlagTemperatureFault(int8_t dudHeater)
+{
+	if(toolList != NULL)
+	{
+		toolList->FlagTemperatureFault(dudHeater);
+	}
+}
+
+inline void RepRap::ClearTemperatureFault(int8_t wasDudHeater)
+{
+	reprap.GetHeat()->ResetFault(wasDudHeater);
+	if(toolList != NULL)
+	{
+		toolList->ClearTemperatureFault(wasDudHeater);
+	}
+}
 
 inline void RepRap::SetDebug(bool d)
 {

Tool.cpp

@@ -32,6 +32,8 @@ Tool::Tool(int toolNumber, long d[], int dCount, long h[], int hCount)
 	active = false;
 	driveCount = dCount;
 	heaterCount = hCount;
+	heaterFault = false;
+	mixing = false;
 
 	if(driveCount > 0)
 	{
@@ -43,9 +45,12 @@ Tool::Tool(int toolNumber, long d[], int dCount, long h[], int hCount)
 			return;
 		}
 		drives = new int[driveCount];
+		mix = new float[driveCount];
+		float r = 1.0/(float)driveCount;
 		for(int8_t drive = 0; drive < driveCount; drive++)
 		{
 			drives[drive] = d[drive];
+			mix[drive] = r;
 		}
 	}
 
@@ -70,7 +75,7 @@ Tool::Tool(int toolNumber, long d[], int dCount, long h[], int hCount)
 	}
 }
 
-void Tool::Print(char* reply) const
+void Tool::Print(char* reply)
 {
 	snprintf(reply, STRING_LENGTH, "Tool %d - drives: ", myNumber);
 	char comma = ',';
@@ -97,6 +102,7 @@ void Tool::Print(char* reply) const
 
 	sncatf(reply, STRING_LENGTH, " status: %s", active ? "selected" : "standby");
 }
+
 float Tool::MaxFeedrate() const
 {
 	if(driveCount <= 0)
@@ -138,17 +144,83 @@ float Tool::InstantDv() const
 // Add a tool to the end of the linked list.
 // (We must already be in it.)
 
-void Tool::AddTool(Tool* t)
+void Tool::AddTool(Tool* tool)
 {
-	Tool* last = this;
+	Tool* t = this;
-	Tool* n = next;
+	Tool* last;
+	while(t != NULL)
+	{
+		if(t->Number() == tool->Number())
+		{
+			reprap.GetPlatform()->Message(HOST_MESSAGE, "Add tool: tool number already in use.\n");
+			return;
+		}
+		last = t;
+		t = t->Next();
+	}
+	tool->next = NULL; // Defensive...
+	last->next = tool;
+}
+
+// There is a temperature fault on a heater.
+// Disable all tools using that heater.
+// This function must be called for the first
+// entry in the linked list.
+
+void Tool::FlagTemperatureFault(int8_t heater)
+{
+	Tool* n = this;
 	while(n != NULL)
 	{
-		last = n;
+		n->SetTemperatureFault(heater);
 		n = n->Next();
 	}
-	t->next = NULL; // Defensive...
+}
-	last->next = t;
+
+void Tool::ClearTemperatureFault(int8_t heater)
+{
+	Tool* n = this;
+	while(n != NULL)
+	{
+		n->ResetTemperatureFault(heater);
+		n = n->Next();
+	}
+}
+
+void Tool::SetTemperatureFault(int8_t dudHeater)
+{
+	for(int8_t heater = 0; heater < heaterCount; heater++)
+	{
+		if(dudHeater == heaters[heater])
+		{
+			heaterFault = true;
+			return;
+		}
+	}
+}
+
+void Tool::ResetTemperatureFault(int8_t wasDudHeater)
+{
+	for(int8_t heater = 0; heater < heaterCount; heater++)
+	{
+		if(wasDudHeater == heaters[heater])
+		{
+			heaterFault = false;
+			return;
+		}
+	}
+}
+
+bool Tool::AllHeatersAtHighTemperature() const
+{
+	for(int8_t heater = 0; heater < heaterCount; heater++)
+	{
+		if(reprap.GetHeat()->GetTemperature(heaters[heater]) < HOT_ENOUGH_TO_EXTRUDE)
+		{
+			return false;
+		}
+	}
+	return true;
 }
 
 void Tool::Activate(Tool* currentlyActive)
@@ -200,6 +272,17 @@ void Tool::GetVariables(float* standby, float* active) const
 	}
 }
 
+bool Tool::ToolCanDrive() const
+{
+	if(heaterFault)
+		return false;
+
+	if(reprap.ColdExtrude() || AllHeatersAtHighTemperature())
+		return true;
+
+	return false;
+}
+
 // Update the number of active drives and extruders in use to reflect what this tool uses
 void Tool::UpdateExtruderAndHeaterCount(uint16_t &numExtruders, uint16_t &numHeaters) const
 {

Tool.h

@@ -34,14 +34,20 @@ public:
 	void GetOffset(float& xx, float& yy, float& zz) const;
 	int DriveCount() const;
 	int Drive(int driveNumber) const;
+	bool ToolCanDrive() const;
 	int HeaterCount() const;
 	int Heater(int heaterNumber) const;
 	int Number() const;
 	void SetVariables(float* standby, float* active);
 	void GetVariables(float* standby, float* active) const;
+	void DefineMix(float* m);
+	float* GetMix() const;
+	void TurnMixingOn();
+	void TurnMixingOff();
+	bool Mixing() const;
 	float MaxFeedrate() const;
 	float InstantDv() const;
-	void Print(char* reply) const;
+	void Print(char* reply);
 
 	friend class RepRap;
 
@@ -50,13 +56,20 @@ protected:
 	Tool* Next() const;
 	void Activate(Tool* currentlyActive);
 	void Standby();
-	void AddTool(Tool* t);
+	void AddTool(Tool* tool);
+	void FlagTemperatureFault(int8_t dudHeater);
+	void ClearTemperatureFault(int8_t wasDudHeater);
 	void UpdateExtruderAndHeaterCount(uint16_t &extruders, uint16_t &heaters) const;
 
 private:
 
+	void SetTemperatureFault(int8_t dudHeater);
+	void ResetTemperatureFault(int8_t wasDudHeater);
+	bool AllHeatersAtHighTemperature() const;
 	int myNumber;
 	int* drives;
+	float* mix;
+	bool mixing;
 	int driveCount;
 	int* heaters;
 	float* activeTemperatures;
@@ -64,13 +77,9 @@ private:
 	int heaterCount;
 	Tool* next;
 	bool active;
+	bool heaterFault;
 };
 
-inline int Tool::DriveCount() const
-{
-	return driveCount;
-}
-
 inline int Tool::Drive(int driveNumber) const
 {
 	return drives[driveNumber];
@@ -96,7 +105,37 @@ inline int Tool::Number() const
 	return myNumber;
 }
 
+inline void Tool::DefineMix(float* m)
+{
+	for(int8_t drive = 0; drive < driveCount; drive++)
+	{
+		mix[drive] = m[drive];
+	}
+}
 
+inline float* Tool::GetMix() const
+{
+	return mix;
+}
 
+inline void Tool::TurnMixingOn()
+{
+	mixing = true;
+}
+
+inline void Tool::TurnMixingOff()
+{
+	mixing = false;
+}
+
+inline bool Tool::Mixing() const
+{
+	return mixing;
+}
+
+inline int Tool::DriveCount() const
+{
+	return driveCount;
+}
 
 #endif /* TOOL_H_ */

Webserver.cpp

@@ -495,7 +495,6 @@ void Webserver::ConnectionLost(const ConnectionState *cs)
 	if (interpreter->DebugEnabled())
 	{
 		debugPrintf("Webserver: ConnectionLost called with port %d\n", local_port);
-		platform->Message(DEBUG_MESSAGE, scratchString);
 	}
 
 	interpreter->ConnectionLost(local_port);