Version 0.78m preliminary

1. Fixed  variable name of extrusion factors in JSON status response
2. Fixed bug: changing heat sample interval no longer messes up I and D
pid factors.
3. Ensure that name of file being printed is null-terminated.
4. Removed redundant function SetStepHypotenuse.

Configuration.h

@@ -24,8 +24,8 @@ Licence: GPL
 #define CONFIGURATION_H
 
 #define NAME "RepRapFirmware"
-#define VERSION "0.78k-dc42"
+#define VERSION "0.78m-dc42"
-#define DATE "2014-08-18"
+#define DATE "2014-08-24"
 #define AUTHORS "reprappro, dc42, zpl"
 
 // Other firmware that we might switch to be compatible with.

GCodes.cpp

@@ -1563,7 +1563,7 @@ void GCodes::SetPidParameters(GCodeBuffer *gb, int heater, StringRef& reply)
 		else
 		{
 			reply.printf("Heater %d P:%.2f I:%.3f D:%.2f T:%.2f S:%.2f W:%.1f B:%.1f\n",
-						heater, pp.kP, pp.kI * platform->HeatSampleTime(), pp.kD/platform->HeatSampleTime(), pp.kT, pp.kS, pp.pidMax, pp.fullBand);
+						heater, pp.kP, pp.kI, pp.kD, pp.kT, pp.kS, pp.pidMax, pp.fullBand);
 		}
 	}
 }
@@ -2013,10 +2013,6 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 					}
 				}
 			}
-			else
-			{
-				reprap.GetMove()->SetStepHypotenuse();
-			}
 		}
 		break;
 

Heat.cpp

@@ -229,12 +229,13 @@ void PID::Spin()
 	  return;
   }  
    
-  temp_iState += error * pp.kI;
+  float sampleInterval = platform->HeatSampleTime();
+  temp_iState += error * pp.kI * sampleInterval;
   
   if (temp_iState < pp.pidMin) temp_iState = pp.pidMin;
   else if (temp_iState > pp.pidMax) temp_iState = pp.pidMax;
    
-  float temp_dState = pp.kD * (temperature - lastTemperature);
+  float temp_dState = pp.kD * (temperature - lastTemperature) / sampleInterval;
   float result = pp.kP * error + temp_iState - temp_dState;
 
   lastTemperature = temperature;

Move.cpp

@@ -103,8 +103,6 @@ void Move::Init()
   lastMove->Release();
   liveCoordinates[DRIVES] = platform->HomeFeedRate(slow);
 
-  SetStepHypotenuse();
-
   currentFeedrate = -1.0;
 
   SetIdentityTransform();
@@ -405,35 +403,6 @@ bool Move::GetCurrentUserPosition(float m[])
 	return true;
 }
 
-
-void Move::SetStepHypotenuse()
-{
-	  // The stepDistances array is a look-up table of the Euclidean distance
-	  // between the start and end of a step.  If the step is just along one axis,
-	  // it's just that axis's step length.  If it's more, it is a Pythagoran
-	  // sum of all the axis steps that take part.
-
-	  for(unsigned int i = 0; i < (1<<DRIVES); i++)
-	  {
-	    float d = 0.0;
-	    for(unsigned int j = 0; j < DRIVES; j++)
-	    {
-	       if(i & (1<<j))
-	       {
-	          float e = 1.0/platform->DriveStepsPerUnit(j);
-	          d += e*e;
-	       }
-	    }
-	    stepDistances[i] = sqrt(d);
-	  }
-
-	  // We don't want 0.  If no axes/extruders are moving these should never be used.
-	  // But try to be safe.
-
-	  stepDistances[0] = 1.0/platform->DriveStepsPerUnit(AXES); //FIXME this is not multi extruder safe (but we should never get here)
-}
-
-
 // Take an item from the look-ahead ring and add it to the DDA ring, if
 // possible.
 
@@ -1150,6 +1119,8 @@ void DDA::Start()
   active = true;  
 }
 
+// This function is called from the ISR.
+// Any variables it modifies that are also read by code outside the ISR must be declared 'volatile'.
 void DDA::Step()
 {
   if(!active)

Move.h

@@ -202,7 +202,6 @@ class Move
     void Diagnostics();							// Report useful stuff
     float ComputeCurrentCoordinate(int8_t drive,// Turn a DDA value back into a real world coordinate
     		LookAhead* la, DDA* runningDDA);
-    void SetStepHypotenuse();					// Set up the hypotenuse lengths for multiple axis steps, like step both X and Y at once
     float Normalise(float v[], int8_t dimensions);  // Normalise a vector to unit length
     void Absolute(float v[], int8_t dimensions);	// Put a vector in the positive hyperquadrant
     float Magnitude(const float v[], int8_t dimensions);  // Return the length of a vector
@@ -262,7 +261,6 @@ class Move
     float liveCoordinates[DRIVES + 1];				// The last endpoint that the machine moved to
     float nextMove[DRIVES + 1];  					// The endpoint of the next move to processExtra entry is for feedrate
     float normalisedDirectionVector[DRIVES];		// Used to hold a unit-length vector in the direction of motion
-    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 Y coordinates of the points on the bed at which to probe
@@ -275,7 +273,7 @@ class Move
     float tanXY, tanYZ, tanXZ; 						// Axis compensation - 90 degrees + angle gives angle between axes
     bool identityBedTransform;						// Is the bed transform in operation?
     float xRectangle, yRectangle;					// The side lengths of the rectangle used for second-degree bed compensation
-    float lastZHit;									// The last Z value hit by the probe
+    volatile float lastZHit;						// The last Z value hit by the probe
     bool zProbing;									// Are we bed probing as well as moving?
     float longWait;									// A long time for things that need to be done occasionally
 };
@@ -362,6 +360,7 @@ inline EndstopChecks LookAhead::EndStopsToCheck() const
   return endStopsToCheck;
 }
 
+// This is called from the step ISR. Any variables it modifies that are also read by code outside the ISR should be declared 'volatile'.
 inline void LookAhead::SetDriveCoordinateAndZeroEndSpeed(float a, int8_t drive)
 {
   endPoint[drive] = EndPointToMachine(drive, a);
@@ -603,7 +602,7 @@ inline float Move::SecondDegreeTransformZ(float x, float y) const
 }
 
 
-
+// This is called from the step ISR. Any variables it modifies that are also read by code outside the ISR must be declared 'volatile'.
 inline void Move::HitLowStop(int8_t drive, LookAhead* la, DDA* hitDDA)
 {
 	float hitPoint = platform->AxisMinimum(drive);
@@ -642,6 +641,7 @@ inline void Move::HitLowStop(int8_t drive, LookAhead* la, DDA* hitDDA)
 	gCodes->SetAxisIsHomed(drive);
 }
 
+// This is called from the step ISR. Any variables it modifies that are also read by code outside the ISR must be declared 'volatile'.
 inline void Move::HitHighStop(int8_t drive, LookAhead* la, DDA* hitDDA)
 {
   la->SetDriveCoordinateAndZeroEndSpeed(platform->AxisMaximum(drive), drive);

Platform.cpp

@@ -523,23 +523,27 @@ void Platform::Exit()
 
 Compatibility Platform::Emulating() const
 {
-	if(compatibility == reprapFirmware)
+	if (nvData.compatibility == reprapFirmware)
 		return me;
-	return compatibility;
+	return nvData.compatibility;
 }
 
 void Platform::SetEmulating(Compatibility c)
 {
-	if(c != me && c != reprapFirmware && c != marlin)
+	if (c != me && c != reprapFirmware && c != marlin)
 	{
 		Message(HOST_MESSAGE, "Attempt to emulate unsupported firmware.\n");
 		return;
 	}
-	if(c == reprapFirmware)
+	if (c == reprapFirmware)
 	{
 		c = me;
 	}
-	compatibility = c;
+	if (c != nvData.compatibility)
+	{
+		nvData.compatibility = c;
+		WriteNvData();
+	}
 }
 
 void Platform::UpdateNetworkAddress(byte dst[4], const byte src[4])

Platform.h

@@ -160,9 +160,9 @@ const float defaultThermistor25RS[HEATERS] = {10000.0, 100000.0, 100000.0, 10000
 // This allows us to switch between PID and bang-bang using the M301 and M304 commands.
 
 // We use method 2 (see above)
-const float defaultPidKis[HEATERS] = {5.0 / HEAT_SAMPLE_TIME, 0.1 / HEAT_SAMPLE_TIME, 0.1 / HEAT_SAMPLE_TIME, 0.1 / HEAT_SAMPLE_TIME, 0.1 / HEAT_SAMPLE_TIME, 0.1 / HEAT_SAMPLE_TIME}; // Integral PID constants
+const float defaultPidKis[HEATERS] = {5.0, 0.1, 0.1, 0.1, 0.1, 0.1}; 			// Integral PID constants
-const float defaultPidKds[HEATERS] = {500.0 * HEAT_SAMPLE_TIME, 100 * HEAT_SAMPLE_TIME, 100 * HEAT_SAMPLE_TIME, 100 * HEAT_SAMPLE_TIME, 100 * HEAT_SAMPLE_TIME, 100 * HEAT_SAMPLE_TIME};	// Derivative PID constants
+const float defaultPidKds[HEATERS] = {500.0, 100.0, 100.0, 100.0, 100.0, 100.0}; // Derivative PID constants
-const float defaultPidKps[HEATERS] = {-1, 10.0, 10.0, 10.0, 10.0, 10.0};		// Proportional PID constants, negative values indicate use bang-bang instead of PID
+const float defaultPidKps[HEATERS] = {-1.0, 10.0, 10.0, 10.0, 10.0, 10.0};		// Proportional PID constants, negative values indicate use bang-bang instead of PID
 const float defaultPidKts[HEATERS] = {2.7, 0.25, 0.25, 0.25, 0.25, 0.25};		// approximate PWM value needed to maintain temperature, per degC above room temperature
 const float defaultPidKss[HEATERS] = {1.0, 0.9, 0.9, 0.9, 0.9, 0.9};			// PWM scaling factor, to allow for variation in heater power and supply voltage
 const float defaultFullBand[HEATERS] = {5.0, 30.0, 30.0, 30.0, 30.0, 30.0};		// errors larger than this cause heater to be on or off
@@ -691,7 +691,6 @@ private:
   unsigned long lastTimeCall;
   
   bool active;
-  Compatibility compatibility;
   uint32_t errorCodeBits;
   
   void InitialiseInterrupts();

Webserver.cpp

@@ -1071,7 +1071,7 @@ void Webserver::HttpInterpreter::GetStatusResponse(StringRef& response, uint8_t
 		response.cat("]");
 
 		// Send the speed and extruder override factors
-		response.catf(",\"sfactor\":%.2f,\"efactor:\":", gc->GetSpeedFactor() * 100.0);
+		response.catf(",\"sfactor\":%.2f,\"efactor\":", gc->GetSpeedFactor() * 100.0);
 		const float *extrusionFactors = gc->GetExtrusionFactors();
 		for (unsigned int i = 0; i < reprap.GetExtrudersInUse(); ++i)
 		{