Version 0.78g

Fixed bug: if 5 point bed compansation was used then doing G32 more than
once would try to move the head off the edge of the bed unless the first
4 probe coordinates were reset between them.
Fixed bug: if the last command in a a macro file did not end in newline
then it might not be fully executed
Bug fix: potential array underrun in Gcodes::Pop()
Reduced Z dive height back to 5mm

.cproject

@@ -5,10 +5,10 @@
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="it.baeyens.arduino.core.toolChain.release.674980254" moduleId="org.eclipse.cdt.core.settings" name="Release">
 				<externalSettings/>
 				<extensions>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 					<extension id="org.eclipse.cdt.core.MakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
@@ -21,8 +21,10 @@
 								<option id="it.baeyens.arduino.compiler.cpp.sketch.option.incpath.274618772" name="Include Paths (-I)" superClass="it.baeyens.arduino.compiler.cpp.sketch.option.incpath" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RepRapFirmware/arduino/core}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RepRapFirmware/arduino/variant}&quot;"/>
-									<listOptionValue builtIn="false" value="/usr/local/arduino-1.5.4/hardware/arduino/sam/system/libsam/include"/>
+									<listOptionValue builtIn="false" value="C:/Arduino-1.5.4/hardware/arduino/sam/system/libsam/include"/>
+									<listOptionValue builtIn="false" value="&quot;C:\Arduino-1.5.4\hardware\arduino\sam\cores\arduino&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RepRapFirmware/network}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RepRapFirmware/Flash}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RepRapFirmware/Libraries/EMAC}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RepRapFirmware/Libraries/Lwip}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RepRapFirmware/Libraries/MCP4461}&quot;"/>
@@ -37,7 +39,7 @@
 								<option id="it.baeyens.arduino.compiler.c.sketch.option.incpath.1536622716" name="Include Paths (-I)" superClass="it.baeyens.arduino.compiler.c.sketch.option.incpath" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RepRapFirmware/arduino/core}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RepRapFirmware/arduino/variant}&quot;"/>
-									<listOptionValue builtIn="false" value="/usr/local/arduino-1.5.4/hardware/arduino/sam/system/libsam/include"/>
+									<listOptionValue builtIn="false" value="C:/Arduino-1.5.4/hardware/arduino/sam/system/libsam/include"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RepRapFirmware/network}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RepRapFirmware/Libraries/EMAC}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RepRapFirmware/Libraries/Lwip}&quot;"/>
@@ -71,6 +73,11 @@
 		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
-	<storageModule moduleId="refreshScope"/>
+	<storageModule moduleId="refreshScope" versionNumber="2">
+		<configuration configurationName="Release">
+			<resource resourceType="PROJECT" workspacePath="/RepRapFirmware"/>
+		</configuration>
+	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
+	<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
 </cproject>

.project

@@ -70,15 +70,15 @@
 	<variableList>
 		<variable>
 			<name>ArduinoHardwareLibPath</name>
-			<value>file:/usr/local/arduino-1.5.4/hardware/arduino/sam/libraries</value>
+			<value>file:/C:/Arduino-1.5.4/hardware/arduino/sam/libraries</value>
 		</variable>
 		<variable>
 			<name>ArduinoPinPath</name>
-			<value>file:/usr/local/arduino-1.5.4/hardware/arduino/sam/variants</value>
+			<value>file:/C:/Arduino-1.5.4/hardware/arduino/sam/variants</value>
 		</variable>
 		<variable>
 			<name>ArduinoPlatformPath</name>
-			<value>file:/usr/local/arduino-1.5.4/hardware/arduino/sam</value>
+			<value>file:/C:/Arduino-1.5.4/hardware/arduino/sam</value>
 		</variable>
 	</variableList>
 </projectDescription>

Changes in dc42 fork.txt

@@ -1,4 +1,4 @@
-Additional functionality in 0.78e-dc42 release compared to RRP 0.78:
+Additional functionality in 0.78g-dc42 release compared to RRP 0.78:
 
 * The Duet can serve all the files needed by the web interface
 
@@ -72,7 +72,7 @@ Additional functionality in 0.78e-dc42 release compared to RRP 0.78:
 
 * M104 and M109 commands now accept an optional T parameter to specify the tool number, as generated by slic3r in multi-media gcode files.
 
-* Movement code from RepRapPro's 0.89 dev version incorporated, including 5-point manual or automatic bed compensation mechanism.
+* Movement code from RepRapPro's 0.89 dev version incorporated, including 5-point manual or automatic bed compensation mechanism. A bug fix to this was added in version 0.78g.
 
 * Heater status (off/standby/on) is included in the status poll response for the web interface. This will be used in a future version of the web interface.
 
@@ -94,9 +94,9 @@ Additional functionality in 0.78e-dc42 release compared to RRP 0.78:
 
 * Bug fix: indentation of multipart messages sent to the USB interface now works properly
 
-* Bug fix: if G10 was used to set just the active temperature for a tool, then the standby temperature for the same tool was set to an undefined value, and vice versa.
+* Bug fix: if G10 was used to set just the active temperature for a tool, then the standby temperature for the same tool was set to an undefined value, and vice versa
 
-* Bug fix: if bed compensation or axis compensation was in use, then a G1 S1 command to home an axis could be prematurely terminated if the head was already at the endstop position for a different axis.
+* Bug fix: if bed compensation or axis compensation was in use, then a G1 S1 command to home an axis could be prematurely terminated if the head was already at the endstop position for a different axis
 
 * Bug fix: if a tool was defined as using zero drives or zero extruders, it would be treated as assuming a collection of drives or extruders according to the vales in an uninitialised array
 
@@ -106,6 +106,8 @@ Additional functionality in 0.78e-dc42 release compared to RRP 0.78:
 
 * Bug fix: print moves received just prior to an M109 or M190 command were not executed until after the heater had reached temperature instead of before
 
+* Bug fix: if the last command in a macro file did not have a newline character at the end then the command might not be fully executed
+
 
 Additional functionality in web interface 0.95 compared to RRP 0.65:
 

Configuration.h

@@ -24,8 +24,8 @@ Licence: GPL
 #define CONFIGURATION_H
 
 #define NAME "RepRapFirmware"
-#define VERSION "0.78f-dc42"
+#define VERSION "0.78g-dc42"
-#define DATE "2014-07-27"
+#define DATE "2014-07-30"
 #define AUTHORS "reprappro, dc42. zpl"
 
 // Other firmware that we might switch to be compatible with.
@@ -60,7 +60,7 @@ enum Compatibility
 #define STANDBY_INTERRUPT_RATE 2.0e-4 // Seconds
 
 #define NUMBER_OF_PROBE_POINTS 5	// Maximum number of probe points
-#define Z_DIVE 8.0  				// Height from which to probe the bed (mm)
+#define Z_DIVE 5.0  				// Height from which to probe the bed (mm)
 #define TRIANGLE_0 -0.001			// Slightly less than 0 for point-in-triangle tests
 
 #define SILLY_Z_VALUE -9999.0

GCodes.cpp

@@ -291,7 +291,7 @@ bool GCodes::Push()
 
 bool GCodes::Pop()
 {
-  if(stackPointer <= 0)
+  if(stackPointer < 1)
   {
     platform->Message(BOTH_ERROR_MESSAGE, "Pop(): stack underflow!\n");
     return true;  
@@ -506,6 +506,14 @@ bool GCodes::DoFileCannedCycles(const char* fileName)
 		return false;
 	}
 
+	// Complete the current move (must do this before checking whether we have finished the file in case it didn't end in newline)
+
+	if (cannedCycleGCode->Active())
+	{
+		cannedCycleGCode->SetFinished(ActOnCode(cannedCycleGCode));
+		return false;
+	}
+
 	// Have we finished the file?
 
 	if (!fileBeingPrinted.IsLive())
@@ -521,12 +529,6 @@ bool GCodes::DoFileCannedCycles(const char* fileName)
 
 	// No - Do more of the file
 
-	if (cannedCycleGCode->Active())
-	{
-		cannedCycleGCode->SetFinished(ActOnCode(cannedCycleGCode));
-		return false;
-	}
-
 	DoFilePrint(cannedCycleGCode);
 	return false;
 }
@@ -548,7 +550,7 @@ 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 feedrate
+// be ignored.  Recall that moveToDo[DRIVES] should contain the feed rate
 // you want (if action[DRIVES] is true).
 
 bool GCodes::DoCannedCycleMove(EndstopChecks ce)
@@ -569,7 +571,9 @@ bool GCodes::DoCannedCycleMove(EndstopChecks ce)
 		for (int8_t drive = 0; drive <= DRIVES; drive++)
 		{
 			if (activeDrive[drive])
+			{
 				moveBuffer[drive] = moveToDo[drive];
+			}
 		}
 		endStopsToCheck = ce;
 		cannedCycleMoveQueued = true;
@@ -850,19 +854,9 @@ bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer *gb, char *reply)
 
 	int probePointIndex = gb->GetIValue();
 
-	float x, y, z;
+	float x = (gb->Seen(axisLetters[X_AXIS])) ? gb->GetFValue() : moveBuffer[X_AXIS];
-	if (gb->Seen(axisLetters[X_AXIS]))
+	float y = (gb->Seen(axisLetters[Y_AXIS])) ? gb->GetFValue() : moveBuffer[Y_AXIS];
-		x = gb->GetFValue();
+	float z = (gb->Seen(axisLetters[Z_AXIS])) ? gb->GetFValue() : moveBuffer[Z_AXIS];
-	else
-		x = moveBuffer[X_AXIS];
-	if (gb->Seen(axisLetters[Y_AXIS]))
-		y = gb->GetFValue();
-	else
-		y = moveBuffer[Y_AXIS];
-	if (gb->Seen(axisLetters[Z_AXIS]))
-		z = gb->GetFValue();
-	else
-		z = moveBuffer[Z_AXIS];
 
 	probeCount = probePointIndex;
 	reprap.GetMove()->SetXBedProbePoint(probeCount, x);
@@ -906,7 +900,7 @@ bool GCodes::DoMultipleZProbe(char *reply)
 {
 	if (reprap.GetMove()->NumberOfXYProbePoints() < 3)
 	{
-		platform->Message(HOST_MESSAGE, "Bed probing: there needs to be 3 or more points set.\n");
+		strncpy(reply, "Bed probing: there needs to be 3 or more points set.\n", STRING_LENGTH);
 		return true;
 	}
 

Move.cpp

@@ -765,12 +765,12 @@ void Move::SetAxisCompensation(int8_t axis, float tangent)
 
 void Move::BarycentricCoordinates(int8_t p1, int8_t p2, int8_t p3, float x, float y, float& l1, float& l2, float& l3) const
 {
-	float y23 = yBedProbePoints[p2] - yBedProbePoints[p3];
+	float y23 = baryYBedProbePoints[p2] - baryYBedProbePoints[p3];
-	float x3 = x - xBedProbePoints[p3];
+	float x3 = x - baryXBedProbePoints[p3];
-	float x32 = xBedProbePoints[p3] - xBedProbePoints[p2];
+	float x32 = baryXBedProbePoints[p3] - baryXBedProbePoints[p2];
-	float y3 = y - yBedProbePoints[p3];
+	float y3 = y - baryYBedProbePoints[p3];
-	float x13 = xBedProbePoints[p1] - xBedProbePoints[p3];
+	float x13 = baryXBedProbePoints[p1] - baryXBedProbePoints[p3];
-	float y13 = yBedProbePoints[p1] - yBedProbePoints[p3];
+	float y13 = baryYBedProbePoints[p1] - baryYBedProbePoints[p3];
 	float iDet = 1.0 / (y23 * x13 + x32 * y13);
 	l1 = (y23 * x3 + x32 * y3) * iDet;
 	l2 = (-y13 * x3 + x13 * y3) * iDet;
@@ -798,7 +798,7 @@ float Move::TriangleZ(float x, float y) const
 		BarycentricCoordinates(i, j, 4, x, y, l1, l2, l3);
 		if(l1 > TRIANGLE_0 && l2 > TRIANGLE_0 && l3 > TRIANGLE_0)
 		{
-			return l1 * zBedProbePoints[i] + l2 * zBedProbePoints[j] + l3 * zBedProbePoints[4];
+			return l1 * baryZBedProbePoints[i] + l2 * baryZBedProbePoints[j] + l3 * baryZBedProbePoints[4];
 		}
 	}
 	platform->Message(HOST_MESSAGE, "Triangle interpolation: point outside all triangles!");
@@ -857,10 +857,13 @@ void Move::SetProbedBedEquation(char *reply)
 			float x10 = xBedProbePoints[i] - xBedProbePoints[4];
 			float y10 = yBedProbePoints[i] - yBedProbePoints[4];
 			float z10 = zBedProbePoints[i] - zBedProbePoints[4];
-			xBedProbePoints[i] = xBedProbePoints[4] + 2.0 * x10;
+			baryXBedProbePoints[i] = xBedProbePoints[4] + 2.0 * x10;
-			yBedProbePoints[i] = yBedProbePoints[4] + 2.0 * y10;
+			baryYBedProbePoints[i] = yBedProbePoints[4] + 2.0 * y10;
-			zBedProbePoints[i] = zBedProbePoints[4] + 2.0 * z10;
+			baryZBedProbePoints[i] = zBedProbePoints[4] + 2.0 * z10;
 		}
+		baryXBedProbePoints[4] = xBedProbePoints[4];
+		baryYBedProbePoints[4] = yBedProbePoints[4];
+		baryZBedProbePoints[4] = zBedProbePoints[4];
 		identityBedTransform = false;
 		break;
 

Move.h

@@ -265,8 +265,11 @@ class Move
     float stepDistances[(1<<DRIVES)];				// The length of steps in different numbers of dimensions
     long nextMachineEndPoints[DRIVES+1];			// The next endpoint in machine coordinates (i.e. steps)
     float xBedProbePoints[NUMBER_OF_PROBE_POINTS];	// The X coordinates of the points on the bed at which to probe
-    float yBedProbePoints[NUMBER_OF_PROBE_POINTS];	// The X coordinates of the points on the bed at which to probe
+    float yBedProbePoints[NUMBER_OF_PROBE_POINTS];	// The Y coordinates of the points on the bed at which to probe
-    float zBedProbePoints[NUMBER_OF_PROBE_POINTS];	// The X coordinates of the points on the bed at which to probe
+    float zBedProbePoints[NUMBER_OF_PROBE_POINTS];	// The Z coordinates of the points on the bed at which to probe
+    float baryXBedProbePoints[NUMBER_OF_PROBE_POINTS];	// The X coordinates of the triangle corner points
+    float baryYBedProbePoints[NUMBER_OF_PROBE_POINTS];	// The Y coordinates of the triangle corner points
+    float baryZBedProbePoints[NUMBER_OF_PROBE_POINTS];	// The Z coordinates of the triangle corner points
     uint8_t probePointSet[NUMBER_OF_PROBE_POINTS];	// Has the XY of this point been set?  Has the Z been probed?
     float aX, aY, aC; 								// Bed plane explicit equation z' = z + aX*x + aY*y + aC
     float tanXY, tanYZ, tanXZ; 						// Axis compensation - 90 degrees + angle gives angle between axes

Platform.cpp

@@ -113,6 +113,16 @@ void Platform::Init()
 	pinMode(atxPowerPin, OUTPUT);
 
 	DueFlashStorage::init();
+	// We really want to use static_assert here, but the ancient version of gcc used by Arduino doesn't support it
+	//static_assert(sizeof(nvData) <= 1024, "NVData too large");
+	// So instead, create a reference to a non-existent declaration if the condition fails.
+	// We are relying on the compiler optimizing this out if the condition is false
+	// Watch out for the build warning "undefined reference to 'NonExistantFunction()' if this fails.
+	if (!(sizeof(nvData) <= 1024))
+	{
+		extern void BadStaticAssert();
+		BadStaticAssert();
+	}
 	DueFlashStorage::read(nvAddress, &nvData, sizeof(nvData));
 	if (nvData.magic != FlashData::magicValue)
 	{

Webserver.cpp

@@ -472,12 +472,6 @@ void Webserver::StoreGcodeData(const char* data, size_t len)
 void Webserver::ConnectionLost(const ConnectionState *cs)
 {
 	uint16_t local_port = cs->GetLocalPort();
-	if (reprap.Debug())
-	{
-		snprintf(scratchString, STRING_LENGTH, "Webserver: ConnectionLost called with port %d\n", local_port);
-		platform->Message(DEBUG_MESSAGE, scratchString);
-	}
-
 	ProtocolInterpreter *interpreter;
 	switch (local_port)
 	{
@@ -497,6 +491,13 @@ void Webserver::ConnectionLost(const ConnectionState *cs)
 			interpreter = ftpInterpreter;
 			break;
 	}
+
+	if (interpreter->DebugEnabled())
+	{
+		debugPrintf("Webserver: ConnectionLost called with port %d\n", local_port);
+		platform->Message(DEBUG_MESSAGE, scratchString);
+	}
+
 	interpreter->ConnectionLost(local_port);
 
 	// When our reading connection has been lost, it is no longer important which
@@ -682,7 +683,11 @@ void ProtocolInterpreter::FinishUpload(const long file_length)
 	filenameBeingUploaded[0] = 0;
 }
 
-
+// This is overridden in class httpInterpreter
+bool ProtocolInterpreter::DebugEnabled() const
+{
+	return reprap.Debug();
+}
 
 //********************************************************************************************
 //
@@ -1582,7 +1587,7 @@ Webserver::FtpInterpreter::FtpInterpreter(Platform *p, Webserver *ws)
 
 void Webserver::FtpInterpreter::ConnectionEstablished()
 {
-	if (reprap.Debug())
+	if (DebugEnabled())
 	{
 		platform->Message(DEBUG_MESSAGE, "Webserver: FTP connection established!\n");
 	}
@@ -1675,7 +1680,7 @@ bool Webserver::FtpInterpreter::CharFromClient(char c)
 		case '\n':
 			clientMessage[clientPointer++] = 0;
 
-			if (reprap.Debug())
+			if (DebugEnabled())
 			{
 				snprintf(scratchString, STRING_LENGTH, "FtpInterpreter::ProcessLine called with state %d:\n%s\n", state, clientMessage);
 				platform->Message(DEBUG_MESSAGE, scratchString);
@@ -1688,7 +1693,7 @@ bool Webserver::FtpInterpreter::CharFromClient(char c)
 				return true;
 			}
 
-			if (reprap.Debug())
+			if (DebugEnabled())
 			{
 				platform->Message(DEBUG_MESSAGE, "FtpInterpreter::ProcessLine call finished.");
 			}
@@ -1967,7 +1972,7 @@ void Webserver::FtpInterpreter::ProcessLine()
 			break;
 
 		case waitingForPasvPort:
-			if (!reprap.Debug() && platform->Time() - portOpenTime > pasvPortTimeout)
+			if (!DebugEnabled() && platform->Time() - portOpenTime > pasvPortTimeout)
 			{
 				SendReply(425, "Failed to establish connection.");
 

Webserver.h

@@ -76,6 +76,8 @@ class ProtocolInterpreter
 
 	    virtual bool StoreUploadData(const char* data, unsigned int len);
 	    virtual bool FlushUploadData();
+	    virtual bool DebugEnabled() const;
+
 	    void CancelUpload();
 		bool IsUploading() const { return uploadState != notUploading; }
 
@@ -146,6 +148,7 @@ class Webserver
 			void ResetState();
 
 			bool FlushUploadData();
+			virtual bool DebugEnabled() /*override*/ const { return webDebug; }
 			void ReceivedGcodeReply();
 			void SetDebug(bool b) { webDebug = b; }