Post-merge fixes

Fixed M122 so that diagnostics are sent to the web interface as well as
USB
Fixed M220 command to respond to speed change requests faster
Count the number of active extruders and heaters, and only send their
values to the web interface, subject to a minimum of 2 heaters and 1
extruder

Configuration.h

@@ -24,7 +24,7 @@ Licence: GPL
 #define CONFIGURATION_H
 
 #define NAME "RepRapFirmware"
-#define VERSION "0.78-dc42"
+#define VERSION "0.78a-dc42"
 #define DATE "2014-07-06"
 #define LAST_AUTHOR "reprappro, dc42. zpl"
 

GCodes.cpp

@@ -91,6 +91,7 @@ void GCodes::Reset()
 	cannedCycleMoveCount = 0;
 	cannedCycleMoveQueued = false;
     speedFactor = 1.0/60.0;				// default is just to convert from mm/minute to mm/second
+    speedFactorChange = 1.0;
     for (size_t i = 0; i < DRIVES - AXES; ++i)
     {
     	extrusionFactors[i] = 1.0;
@@ -234,7 +235,7 @@ void GCodes::Spin()
 
 void GCodes::Diagnostics()
 {
-	platform->Message(BOTH_MESSAGE, "GCodes Diagnostics:\n");
+	platform->AppendMessage(BOTH_MESSAGE, "GCodes Diagnostics:\n");
 }
 
 // The wait till everything's done function.  If you need the machine to
@@ -367,12 +368,12 @@ bool GCodes::LoadMoveBufferFromGCode(GCodeBuffer *gb, bool doingG92, bool applyL
 			}
 			else if(drivesRelative)
 			{
-				moveBuffer[drive + AXES] = moveArg * extrusionFactors[eDrive];
+				moveBuffer[drive + AXES] = moveArg * extrusionFactors[drive];
 				lastPos[drive] += moveArg;
 			}
 			else
 			{
-				moveBuffer[drive + AXES] = (moveArg - lastPos[drive]) * extrusionFactors[eDrive];
+				moveBuffer[drive + AXES] = (moveArg - lastPos[drive]) * extrusionFactors[drive];
 				lastPos[drive] = moveArg;
 			}
 		}
@@ -430,10 +431,13 @@ int GCodes::SetUpMove(GCodeBuffer *gb)
 	if (moveAvailable)
 		return 0;
 
-	// Load the last position into moveBuffer; If Move can't accept more, return false
+	// Load the last position and feed rate into moveBuffer; If Move can't accept more, return false
 	if (!reprap.GetMove()->GetCurrentUserPosition(moveBuffer))
 		return 0;
 
+	moveBuffer[DRIVES] *= speedFactorChange;		// account for any change in the speed factor since the last move
+	speedFactorChange = 1.0;
+
 	// Check to see if the move is a 'homing' move that endstops are checked on.
 	checkEndStops = false;
 	if (gb->Seen('S'))
@@ -1367,21 +1371,22 @@ void GCodes::SetMACAddress(GCodeBuffer *gb)
 
 void GCodes::HandleReply(bool error, bool fromLine, const char* reply, char gMOrT, int code, bool resend)
 {
-	if (gMOrT != 'M' || code != 111)	// web server reply for M111 is handled before we get here
+	if (gMOrT != 'M' || (code != 111 && code != 122))	// web server reply for M111 and M122 is handled before we get here
 	{
-		if(error)
-			platform->Message(WEB_ERROR_MESSAGE, reply);
-		else
-			platform->Message(WEB_MESSAGE, reply);
+		platform->Message((error) ? WEB_ERROR_MESSAGE : WEB_MESSAGE, reply);
 	}
 
 	Compatibility c = platform->Emulating();
 	if (!fromLine)
+	{
 		c = me;
+	}
 
 	const char* response = "ok";
 	if (resend)
+	{
 		response = "rs ";
+	}
 
 	const char* s = 0;
 
@@ -1392,13 +1397,14 @@ void GCodes::HandleReply(bool error, bool fromLine, const char* reply, char gMOr
 		if (!reply[0])
 			return;
 		if (error)
+		{
 			platform->GetLine()->Write("Error: ");
+		}
 		platform->GetLine()->Write(reply);
 		platform->GetLine()->Write("\n");
 		return;
 
 	case marlin:
-
 		if (gMOrT == 'M' && code == 20)
 		{
 			platform->GetLine()->Write("Begin file list\n");
@@ -2273,7 +2279,7 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 			float newSpeedFactor = gb->GetFValue()/(60 * 100.0);		// include the conversion from mm/minute to mm/second
 			if (newSpeedFactor > 0)
 			{
-				moveBuffer[DRIVES] *= newSpeedFactor/speedFactor;
+				speedFactorChange *= newSpeedFactor/speedFactor;
 				speedFactor = newSpeedFactor;
 			}
 		}
@@ -2283,18 +2289,18 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 		if (gb->Seen('S'))	// S parameter sets the override percentage
 		{
 			float extrusionFactor = gb->GetFValue()/100.0;
-			int head;
-			if (gb->Seen('P'))	// P parameter (if present) selects the head
+			int drive;
+			if (gb->Seen('D'))	// D parameter (if present) selects the extruder drive number
 			{
-				head = gb->GetIValue();
+				drive = gb->GetIValue();
 			}
 			else
 			{
-				head = 1;		// default to head 1 if not specified
+				drive = 0;		// default to drive 0 if not specified
 			}
-			if (head >= 1 && head < DRIVES - AXES + 1 && extrusionFactor >= 0)
+			if (drive >= 0 && drive < DRIVES - AXES && extrusionFactor >= 0)
 			{
-				extrusionFactors[head - 1] = extrusionFactor;
+				extrusionFactors[drive] = extrusionFactor;
 			}
 		}
 		break;

GCodes.h

@@ -191,6 +191,7 @@ class GCodes
     bool waitingForMoveToComplete;
     bool coolingInverted;
     float speedFactor;							// speed factor, including the conversion from mm/min to mm/sec, normally 1/60
+    float speedFactorChange;					// factor by which we changed the speed factor since the last move
     float extrusionFactors[DRIVES - AXES];		// extrusion factors (normally 1.0)
     int8_t toolChangeSequence;					// Steps through the tool change procedure
 };

Heat.cpp

@@ -62,7 +62,7 @@ void Heat::Spin()
 
 void Heat::Diagnostics() 
 {
-  platform->Message(HOST_MESSAGE, "Heat Diagnostics:\n"); 
+  platform->AppendMessage(BOTH_MESSAGE, "Heat Diagnostics:\n");
   // TODO - Put something useful in here
 }
 

Move.cpp

@@ -327,7 +327,7 @@ void Move::SetFeedrate(float feedRate)
 
 void Move::Diagnostics() 
 {
-  platform->Message(HOST_MESSAGE, "Move Diagnostics:\n");
+  platform->AppendMessage(BOTH_MESSAGE, "Move Diagnostics:\n");
 
 /*  if(active)
     platform->Message(HOST_MESSAGE, " active\n");

Platform.cpp

@@ -714,14 +714,15 @@ void Platform::Tick()
 
 //*************************************************************************************************
 
+// This diagnostics function is the first to be called, so it calls Message to start with.
+// All other messages generated by this and other diagnostics functions must call AppendMessage.
 void Platform::Diagnostics()
 {
-	Message(HOST_MESSAGE, "Platform Diagnostics:\n");
+	Message(BOTH_MESSAGE, "Platform Diagnostics:\n");
 
 	// Print memory stats and error codes to USB and copy them to the current webserver reply
 	const char *ramstart = (char *) 0x20070000;
 	const struct mallinfo mi = mallinfo();
-	Message(BOTH_MESSAGE, "\n");
 	AppendMessage(BOTH_MESSAGE, "Memory usage:\n\n");
 	snprintf(scratchString, STRING_LENGTH, "Program static ram used: %d\n", &_end - ramstart);
 	AppendMessage(BOTH_MESSAGE, scratchString);
@@ -777,7 +778,7 @@ void Platform::Diagnostics()
 	reprap.Timing();
 
 #if LWIP_STATS
-	// Print LWIP stats to USB
+	// Print LWIP stats to USB only
 	stats_display();
 #endif
 }

RepRapFirmware.cpp

@@ -177,6 +177,8 @@ RepRap::RepRap() : active(false), debug(false), stopped(false), spinState(0), ti
 void RepRap::Init()
 {
   debug = false;
+  activeExtruders = 1;		// we always report at least 1 extruder to the web interface
+  activeHeaters = 2;		// we always report the bed heater + 1 extruder heater to the web interface
 
   // All of the following init functions must execute reasonably quickly before the watchdog times us out
   platform->Init();
@@ -302,12 +304,11 @@ void RepRap::Timing()
 
 void RepRap::Diagnostics()
 {
-  platform->Diagnostics();
+  platform->Diagnostics();				// this includes a call to our Timing() function
   move->Diagnostics();
   heat->Diagnostics();
   gCodes->Diagnostics();
   webserver->Diagnostics();
-  Timing();
 }
 
 // Turn off the heaters, disable the motors, and
@@ -366,6 +367,7 @@ void RepRap::AddTool(Tool* tool)
 	}
 
 	toolList->AddTool(tool);
+	tool->UpdateExtrudersAndHeaters(activeExtruders, activeHeaters);
 }
 
 void RepRap::SelectTool(int toolNumber)

Reprap.h

@@ -50,6 +50,8 @@ class RepRap
     void Tick();
     bool IsStopped() const;
     uint16_t GetTicksInSpinState() const;
+    uint16_t GetExtrudersInUse() const;
+    uint16_t GetHeatersInUse() const;
     
   private:
   
@@ -69,6 +71,8 @@ class RepRap
     bool stopped;
     bool active;
     bool resetting;
+    uint16_t activeExtruders;
+    uint16_t activeHeaters;
 };
 
 inline Platform* RepRap::GetPlatform() const { return platform; }
@@ -79,6 +83,8 @@ inline Network* RepRap::GetNetwork() const { return network; }
 inline Webserver* RepRap::GetWebserver() const { return webserver; }
 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 void RepRap::SetDebug(bool d)
 {

Tool.cpp

@@ -173,4 +173,23 @@ void Tool::GetVariables(float* standby, float* active)
 	}
 }
 
+// Update the number of active drives and extruders in use to reflect what this tool uses
+void Tool::UpdateExtrudersAndHeaters(uint16_t &numExtruders, uint16_t &numHeaters)
+{
+	for(int8_t drive = 0; drive < driveCount; drive++)
+	{
+		if (drives[drive] >= numExtruders)
+		{
+			numExtruders = drives[drive] + 1;
+		}
+	}
+
+	for(int8_t heater = 0; heater < heaterCount; heater++)
+	{
+		if (heaters[heater] >= numHeaters)
+		{
+			numHeaters = heaters[heater] + 1;
+		}
+	}
+}
 

Tool.h

@@ -50,6 +50,7 @@ protected:
 	void Activate(Tool* currentlyActive);
 	void Standby();
 	void AddTool(Tool* t);
+	void UpdateExtrudersAndHeaters(uint16_t &extruders, uint16_t &heaters);
 
 private:
 

Webserver.cpp

@@ -273,7 +273,7 @@ void Webserver::Exit()
 
 void Webserver::Diagnostics()
 {
-	platform->Message(HOST_MESSAGE, "Webserver Diagnostics:\n");
+	platform->AppendMessage(BOTH_MESSAGE, "Webserver Diagnostics:\n");
 }
 
 void Webserver::SetPassword(const char* pw)
@@ -970,7 +970,7 @@ void Webserver::HttpInterpreter::GetStatusResponse(uint8_t type)
 
 		// Send the heater temperatures
 		ch = '[';
-		for (int8_t heater = 0; heater < HEATERS; heater++)
+		for (int8_t heater = 0; heater < reprap.GetHeatersInUse(); heater++)
 		{
 			sncatf(jsonResponse, ARRAY_UPB(jsonResponse), "%c\%.1f", ch, reprap.GetHeat()->GetTemperature(heater));
 			ch = ',';
@@ -988,9 +988,9 @@ void Webserver::HttpInterpreter::GetStatusResponse(uint8_t type)
 		}
 		sncatf(jsonResponse, ARRAY_UPB(jsonResponse), "],\"extr\":");		// announce the extruder positions
 		ch = '[';
-		for (int8_t drive = AXES; drive < DRIVES; drive++)		// loop through extruders
+		for (int8_t drive = 0; drive < reprap.GetExtrudersInUse(); drive++)		// loop through extruders
 		{
-			sncatf(jsonResponse, ARRAY_UPB(jsonResponse), "%c%.3f", ch, gc->GetExtruderPosition(drive - AXES));
+			sncatf(jsonResponse, ARRAY_UPB(jsonResponse), "%c%.3f", ch, gc->GetExtruderPosition(drive));
 			ch = ',';
 		}
 		strncat(jsonResponse, "]", ARRAY_UPB(jsonResponse));
@@ -998,7 +998,7 @@ void Webserver::HttpInterpreter::GetStatusResponse(uint8_t type)
 		// Send the speed and extruder override factors
 		sncatf(jsonResponse, ARRAY_UPB(jsonResponse), ",\"sfactor\":%.2f,\"efactor:\":", gc->GetSpeedFactor() * 100.0);
 		const float *extrusionFactors = gc->GetExtrusionFactors();
-		for (unsigned int i = 0; i < DRIVES - AXES; ++i)
+		for (unsigned int i = 0; i < reprap.GetExtrudersInUse(); ++i)
 		{
 			sncatf(jsonResponse, ARRAY_UPB(jsonResponse), "%c%.2f", (i == 0) ? '[' : ',', extrusionFactors[i] * 100.0);
 		}
@@ -1009,6 +1009,7 @@ void Webserver::HttpInterpreter::GetStatusResponse(uint8_t type)
 		// The old (deprecated) poll response lists the status, then all the heater temperatures, then the XYZ positions, then all the extruder positions.
 		// These are all returned in a single vector called "poll".
 		// This is a poor choice of format because we can't easily tell which is which unless we already know the number of heaters and extruders.
+		// RRP reversed the order at version 0.65 to send the positions before the heaters, but we haven't yet done that.
 		char c = (gc->PrintingAFile()) ? 'P' : 'I';
 		snprintf(jsonResponse, ARRAY_UPB(jsonResponse), "{\"poll\":[\"%c\",", c); // Printing
 		for (int8_t heater = 0; heater < HEATERS; heater++)