Release 1.19alpha

First working release of new WiFi code
Axes moving other than X (possibly mapped), Y and Z are not taken to be
part of the feed rate
Introduced SafeStrncpy and SafeStrncat

src/DuetNG/DuetWiFi/Network.cpp

@@ -107,7 +107,8 @@ Network::Network(Platform* p) : platform(p), nextResponderToPoll(nullptr), uploa
 		responders = new HttpResponder(responders);
 	}
 
-	wiFiServerVersion[0] = 0;
+	strcpy(ssid, "(unknown)");
+	strcpy(wiFiServerVersion, "(unknown)");
 }
 
 void Network::Init()
@@ -131,7 +132,7 @@ void Network::Init()
 	currentSocket = 0;
 }
 
-void Network::EnableProtocol(int protocol, int port, bool secure, StringRef& reply)
+void Network::EnableProtocol(int protocol, int port, int secure, StringRef& reply)
 {
 	if (secure != 0 && secure != -1)
 	{
@@ -153,7 +154,7 @@ void Network::EnableProtocol(int protocol, int port, bool secure, StringRef& rep
 			if (state == NetworkState::active)
 			{
 				StartProtocol(protocol);
-#if 0	// mdns not implemented yet
+#if 0	// mdns not implemented yet, if we are going to implement it then we need to send the WiFi module a command to do it here and pass the protocol set
 				if (state == NetworkState::active)
 				{
 					DoMdnsAnnounce();
@@ -305,6 +306,10 @@ bool Network::GetNetworkState(StringRef& reply)
 	case NetworkState::active:
 		reply.copy("WiFi module is ");
 		reply.cat(TranslateWiFiState(currentMode));
+		if (currentMode == WiFiState::connected || currentMode == WiFiState::runningAsAccessPoint)
+		{
+			reply.cat(ssid);
+		}
 		break;
 	default:
 		reply.copy("Unknown network state");
@@ -403,6 +408,13 @@ void Network::Spin(bool full)
 				SetupSpi();						// set up the SPI subsystem
 				state = NetworkState::active;
 				currentMode = WiFiState::idle;				// wifi module is running but inactive
+
+				// Read the status to get the WiFi server version
+				Receiver<NetworkStatusResponse> status;
+				if (SendCommand(NetworkCommand::networkGetStatus, 0, 0, nullptr, 0, status) > 0)
+				{
+					SafeStrncpy(wiFiServerVersion, status.Value().versionText, ARRAY_SIZE(wiFiServerVersion));
+				}
 			}
 		}
 		break;
@@ -455,7 +467,22 @@ void Network::Spin(bool full)
 			}
 			else if (currentMode == WiFiState::connected || currentMode == WiFiState::runningAsAccessPoint)
 			{
-				// Poll the next socket
+				// Find the next socket to poll
+				const size_t startingSocket = currentSocket;
+				do
+				{
+					if (sockets[currentSocket].NeedsPolling())
+					{
+						break;
+					}
+					++currentSocket;
+					if (currentSocket == NumTcpSockets)
+					{
+						currentSocket = 0;
+					}
+				} while (currentSocket != startingSocket);
+
+				// Either the current socket needs polling, or no sockets do but we must still poll one of them to get notified of any new connections
 				sockets[currentSocket].Poll(full);
 				++currentSocket;
 				if (currentSocket == NumTcpSockets)
@@ -498,12 +525,31 @@ void Network::Spin(bool full)
 			GetNewStatus();
 			if (currentMode != WiFiState::connecting)
 			{
-				requestedMode = currentMode;				// don't keep repeating the request
+				requestedMode = currentMode;				// don't keep repeating the request if it failed
 				state = NetworkState::active;
-				platform->MessageF(HOST_MESSAGE, "Wifi module is %s\n", TranslateWiFiState(currentMode));
 				if (currentMode == WiFiState::connected || currentMode == WiFiState::runningAsAccessPoint)
 				{
+					// Get our IP address, this needs to be correct for FTP to work
+					Receiver<NetworkStatusResponse> status;
+					if (SendCommand(NetworkCommand::networkGetStatus, 0, 0, nullptr, 0, status) > 0)
+					{
+						uint32_t ip = status.Value().ipAddress;
+						for (size_t i = 0; i < 4; ++i)
+						{
+							ipAddress[i] = (uint8_t)(ip & 255);
+							ip >>= 8;
+						}
+						SafeStrncpy(ssid, status.Value().ssid, SsidLength);
+					}
 					InitSockets();
+					platform->MessageF(HOST_MESSAGE, "Wifi module is %s%s, IP address %u.%u.%u.%u\n",
+						TranslateWiFiState(currentMode),
+						ssid,
+						ipAddress[0], ipAddress[1], ipAddress[2], ipAddress[3]);
+				}
+				else
+				{
+					platform->MessageF(HOST_MESSAGE, "Wifi module is %s\n", TranslateWiFiState(currentMode));
 				}
 			}
 		}
@@ -641,6 +687,8 @@ int Network::EnableState() const
 						: -1;
 }
 
+// Translate the wifi state to text.
+// The 'connected' and 'runningAsAccessPoint' states include a space at the end because the caller is expected to append the access point name.
 /*static*/ const char* Network::TranslateWiFiState(WiFiState w)
 {
 	switch (w)
@@ -648,8 +696,8 @@ int Network::EnableState() const
 	case WiFiState::disabled:				return "disabled";
 	case WiFiState::idle:					return "idle";
 	case WiFiState::connecting:				return "trying to connect";
-	case WiFiState::connected:				return "connected to an access point";
+	case WiFiState::connected:				return "connected to access point ";
-	case WiFiState::runningAsAccessPoint:	return "providing an access point";
+	case WiFiState::runningAsAccessPoint:	return "providing access point ";
 	default:								return "in an unknown state";
 	}
 }
@@ -725,6 +773,18 @@ void Network::TerminateSockets(Port port)
 	}
 }
 
+// This is called to tell the network which sockets are active
+void Network::UpdateSocketStatus(uint16_t connectedSockets, uint16_t otherEndClosedSockets)
+{
+	for (size_t i = 0; i < NumTcpSockets; ++i)
+	{
+		if (((connectedSockets | otherEndClosedSockets) & (1u << i)) != 0)
+		{
+			sockets[i].SetNeedsPolling();
+		}
+	}
+}
+
 // Find a responder to process a new connection
 bool Network::FindResponder(Socket *skt, Port localPort)
 {
@@ -758,7 +818,7 @@ void Network::CloseDataPort()
 	if (ftpDataPort != 0)
 	{
 		SendListenCommand(ftpDataPort, 0);
-		TerminateSockets(ftpDataPort);				// if the FTP responder want to close the socket cleanly, it should have closed it itself
+		TerminateSockets(ftpDataPort);				// if the FTP responder wants to close the socket cleanly, it should have closed it itself
 		ftpDataPort = 0;
 	}
 }

src/DuetNG/DuetWiFi/Network.h

@@ -49,7 +49,7 @@ public:
 	void Start();
 	void Stop();
 
-	void EnableProtocol(int protocol, int port, bool secure, StringRef& reply);
+	void EnableProtocol(int protocol, int port, int secure, StringRef& reply);
 	void DisableProtocol(int protocol, StringRef& reply);
 	void ReportProtocols(StringRef& reply) const;
 
@@ -91,6 +91,7 @@ public:
 
 	void SpiInterrupt();
 	void EspRequestsTransfer();
+	void UpdateSocketStatus(uint16_t connectedSockets, uint16_t otherEndClosedSockets);
 
 private:
 	enum class NetworkState
@@ -150,6 +151,7 @@ private:
 	uint8_t netmask[4];
 	uint8_t gateway[4];
 	char hostname[16];								// Limit DHCP hostname to 15 characters + terminating 0
+	char ssid[SsidLength + 1];
 
 	uint32_t spiTxUnderruns;
 	uint32_t spiRxOverruns;

src/DuetNG/DuetWiFi/Socket.cpp

@@ -17,7 +17,7 @@
 const uint32_t FindResponderTimeout = 2000;			// how long we wait for a responder to become available
 const unsigned int MaxBuffersPerSocket = 4;
 
-Socket::Socket() : localPort(0), receivedData(nullptr), state(SocketState::inactive)
+Socket::Socket() : localPort(0), receivedData(nullptr), state(SocketState::inactive), needsPolling(false)
 {
 }
 
@@ -118,8 +118,9 @@ void Socket::Taken(size_t len)
 void Socket::Poll(bool full)
 {
 	// Get the socket status
+	Network * const network = reprap.GetNetwork();
 	Receiver<ConnStatusResponse> resp;
-	const int32_t ret = reprap.GetNetwork()->SendCommand(NetworkCommand::connGetStatus, socketNum, 0, nullptr, 0, resp);
+	const int32_t ret = network->SendCommand(NetworkCommand::connGetStatus, socketNum, 0, nullptr, 0, resp);
 	if (ret != (int32_t)resp.Size())
 	{
 		// We can't do much here other than disable and restart wifi, or hope the next status call succeeds
@@ -130,6 +131,10 @@ void Socket::Poll(bool full)
 		return;
 	}
 
+	// As well as getting the status for the socket we asked about, we also received bitmaps of connected sockets.
+	// Pass these to the Network module so that it can avoid polling idle sockets.
+	network->UpdateSocketStatus(resp.Value().connectedSockets, resp.Value().otherEndClosedSockets);
+
 	switch (resp.Value().state)
 	{
 	case ConnState::connected:
@@ -148,7 +153,7 @@ void Socket::Poll(bool full)
 			{
 				whenConnected = millis();
 			}
-			if (reprap.GetNetwork()->FindResponder(this, localPort))
+			if (network->FindResponder(this, localPort))
 			{
 				state = SocketState::connected;
 				if (reprap.Debug(moduleNetwork))
@@ -204,6 +209,8 @@ void Socket::Poll(bool full)
 		}
 		break;
 	}
+
+	needsPolling = false;
 }
 
 // Try to receive more incoming data from the socket
@@ -281,4 +288,10 @@ void Socket::Send()
 	}
 }
 
+// Return true if we need to poll this socket
+bool Socket::NeedsPolling() const
+{
+	return state != SocketState::inactive || needsPolling;
+}
+
 // End

src/DuetNG/DuetWiFi/Socket.h

@@ -29,6 +29,8 @@ public:
 	bool CanSend() const;
 	size_t Send(const uint8_t *data, size_t length);
 	void Send();
+	void SetNeedsPolling() { needsPolling = true; }
+	bool NeedsPolling() const;
 
 private:
 	enum class SocketState : uint8_t
@@ -53,8 +55,7 @@ private:
 	uint16_t txBufferSpace;								// How much free transmit buffer space the WiFi mofule reported
 	SocketNumber socketNum;								// The WiFi socket number we are using
 	SocketState state;
-	bool sendOutstanding;								// True if we have written data to the socket but not flushed it
+	bool needsPolling;
-	bool isSending;										// True if we have written data to send and have not yet seen success or timeout
 };
 
 #endif /* SRC_DUETNG_DUETWIFI_SOCKET_H_ */

src/DuetNG/FtpResponder.cpp

@@ -619,8 +619,7 @@ void FtpResponder::ProcessLine()
 			{
 				filename = GetPlatform()->GetMassStorage()->CombineName(currentDirectory, filename);
 			}
-			strncpy(fileToMove, filename, FILENAME_LENGTH);
+			SafeStrncpy(fileToMove, filename, ARRAY_SIZE(fileToMove));
-			fileToMove[FILENAME_LENGTH - 1] = 0;
 
 			if (GetPlatform()->GetMassStorage()->FileExists(fileToMove))
 			{
@@ -802,8 +801,7 @@ void FtpResponder::ChangeDirectory(const char *newDirectory)
 		// Prepare the new directory path
 		if (newDirectory[0] == '/')		// Absolute path
 		{
-			strncpy(combinedPath, newDirectory, FILENAME_LENGTH);
+			SafeStrncpy(combinedPath, newDirectory, ARRAY_SIZE(combinedPath));
-			combinedPath[FILENAME_LENGTH - 1] = 0;
 		}
 		else							// Relative path
 		{
@@ -818,8 +816,7 @@ void FtpResponder::ChangeDirectory(const char *newDirectory)
 				}
 
 				// No - find the parent directory
-				strncpy(combinedPath, currentDirectory, FILENAME_LENGTH);
+				SafeStrncpy(combinedPath, currentDirectory, ARRAY_SIZE(combinedPath));
-				combinedPath[ARRAY_UPB(combinedPath)] = 0;
 				for(int i = strlen(combinedPath) - 2; i >= 0; i--)
 				{
 					if (combinedPath[i] == '/')
@@ -831,13 +828,12 @@ void FtpResponder::ChangeDirectory(const char *newDirectory)
 			}
 			else									// Go to child directory
 			{
-				strncpy(combinedPath, currentDirectory, FILENAME_LENGTH);
+				SafeStrncpy(combinedPath, currentDirectory, ARRAY_SIZE(combinedPath));
 				if (!StringEndsWith(combinedPath, "/") && strlen(combinedPath) > 1)
 				{
-					strncat(combinedPath, "/", FILENAME_LENGTH);
+					SafeStrncat(combinedPath, "/", ARRAY_SIZE(combinedPath));
 				}
-				strncat(combinedPath, newDirectory, FILENAME_LENGTH);
+				SafeStrncat(combinedPath, newDirectory, ARRAY_SIZE(combinedPath));
-				combinedPath[ARRAY_UPB(combinedPath)] = 0;
 			}
 		}
 
@@ -850,7 +846,7 @@ void FtpResponder::ChangeDirectory(const char *newDirectory)
 		// Verify the final path and change it if possible
 		if (GetPlatform()->GetMassStorage()->DirectoryExists(combinedPath))
 		{
-			strncpy(currentDirectory, combinedPath, FILENAME_LENGTH);
+			SafeStrncpy(currentDirectory, combinedPath, ARRAY_SIZE(currentDirectory));
 			outBuf->copy("250 Directory successfully changed.\r\n");
 			Commit(responderState);
 		}

src/DuetNG/HttpResponder.cpp

@@ -543,8 +543,7 @@ bool HttpResponder::GetJsonResponse(const char* request, OutputBuffer *&response
 		if (nameVal != nullptr)
 		{
 			// Regular rr_fileinfo?name=xxx call
-			strncpy(filenameBeingProcessed, nameVal, ARRAY_SIZE(filenameBeingProcessed));
+			SafeStrncpy(filenameBeingProcessed, nameVal, ARRAY_SIZE(filenameBeingProcessed));
-			filenameBeingProcessed[ARRAY_UPB(filenameBeingProcessed)] = 0;
 		}
 		else
 		{
@@ -867,8 +866,7 @@ void HttpResponder::SendJsonResponse(const char* command)
 		{
 			const char *configPath = GetPlatform()->GetMassStorage()->CombineName(GetPlatform()->GetSysDir(), GetPlatform()->GetConfigFile());
 			char fileName[FILENAME_LENGTH];
-			strncpy(fileName, configPath, FILENAME_LENGTH);
+			SafeStrncpy(fileName, configPath, ARRAY_SIZE(fileName));
-
 			SendFile(fileName, false);
 			return;
 		}

src/DuetNG/NetworkDefs.h

@@ -36,7 +36,7 @@ const Port DefaultTelnetPort = 23;
 
 const unsigned int TCP_MSS = 1460;
 
-const size_t NetworkBufferCount = 16;					// number of 2K or 3K network buffers
+const size_t NetworkBufferCount = 8;					// number of 2K network buffers
 
 // Define the following to use 3K buffers on the W5500 for the HTTP sockets and smaller buffers for everything else
 // It doesn't seem to work, the chip keeps telling us that 1 byte is available.

src/DuetNG/NetworkResponder.cpp

@@ -195,8 +195,7 @@ void NetworkResponder::ConnectionLost()
 void NetworkResponder::StartUpload(FileStore *file, const char *fileName)
 {
 	fileBeingUploaded.Set(file);
-	strncpy(filenameBeingUploaded, fileName, ARRAY_SIZE(filenameBeingUploaded));
+	SafeStrncpy(filenameBeingUploaded, fileName, ARRAY_SIZE(filenameBeingUploaded));
-	filenameBeingUploaded[ARRAY_UPB(filenameBeingUploaded)] = 0;
 	responderState = ResponderState::uploading;
 	uploadError = false;
 }

src/GCodes/GCodeQueue.cpp

@@ -95,8 +95,7 @@ bool GCodeQueue::QueueCode(GCodeBuffer &gb, uint32_t segmentsLeft)
 			// No - we've run out of free items. Run the first outstanding code
 			queueCode = false;
 			codeToRunLength = strlen(queuedItems->code);
-			strncpy(codeToRun, queuedItems->code, codeToRunLength);
+			SafeStrncpy(codeToRun, queuedItems->code, ARRAY_SIZE(codeToRun));
-			codeToRun[ARRAY_UPB(codeToRun)] = 0;
 
 			// Release the first queued item so that it can be reused later
 			QueuedCode *item = queuedItems;
@@ -106,7 +105,7 @@ bool GCodeQueue::QueueCode(GCodeBuffer &gb, uint32_t segmentsLeft)
 		}
 
 		// Unlink a free element and assign gb's code to it
-		QueuedCode *code = freeItems;
+		QueuedCode * const code = freeItems;
 		freeItems = code->next;
 		code->AssignFrom(gb);
 		code->executeAtMove = scheduledMoves;
@@ -223,8 +222,7 @@ void GCodeQueue::Diagnostics(MessageType mtype)
 void QueuedCode::AssignFrom(GCodeBuffer &gb)
 {
 	toolNumberAdjust = gb.GetToolNumberAdjust();
-	strncpy(code, gb.Buffer(), GCODE_LENGTH);
+	SafeStrncpy(code, gb.Buffer(), ARRAY_SIZE(code));
-	code[ARRAY_UPB(code)] = 0;
 }
 
 void QueuedCode::AssignTo(GCodeBuffer *gb)

src/GCodes/GCodes.cpp

@@ -40,11 +40,11 @@
 
 const char GCodes::axisLetters[MAX_AXES] = { 'X', 'Y', 'Z', 'U', 'V', 'W' };
 
-const char* PAUSE_G = "pause.g";
+const char* const PAUSE_G = "pause.g";
-const char* HomingFileNames[MAX_AXES] = { "homex.g", "homey.g", "homez.g", "homeu.g", "homev.g", "homew.g" };
+const char* const HomingFileNames[MAX_AXES] = { "homex.g", "homey.g", "homez.g", "homeu.g", "homev.g", "homew.g" };
-const char* HOME_ALL_G = "homeall.g";
+const char* const HOME_ALL_G = "homeall.g";
-const char* HOME_DELTA_G = "homedelta.g";
+const char* const HOME_DELTA_G = "homedelta.g";
-const char* DefaultHeightMapFile = "heightmap.csv";
+const char* const DefaultHeightMapFile = "heightmap.csv";
 
 const size_t gcodeReplyLength = 2048;			// long enough to pass back a reasonable number of files in response to M20
 
@@ -366,7 +366,10 @@ void GCodes::Spin()
 			if (LockMovementAndWaitForStandstill(gb))
 			{
 				gb.SetState(GCodeState::pausing2);
-				DoFileMacro(gb, PAUSE_G, true);
+				if (AllAxesAreHomed())
+				{
+					DoFileMacro(gb, PAUSE_G, true);
+				}
 			}
 			break;
 
@@ -511,7 +514,7 @@ void GCodes::Spin()
 					moveBuffer.coords[Y_AXIS] = y - platform->GetCurrentZProbeParameters().yOffset;
 					moveBuffer.coords[Z_AXIS] = platform->GetZProbeStartingHeight();
 					moveBuffer.feedRate = platform->GetZProbeTravelSpeed();
-					moveBuffer.xAxes = 0;
+					moveBuffer.xAxes = DefaultXAxisMapping;
 					segmentsLeft = 1;
 					gb.AdvanceState();
 				}
@@ -551,7 +554,7 @@ void GCodes::Spin()
 				moveBuffer.filePos = noFilePosition;
 				moveBuffer.coords[Z_AXIS] = -platform->GetZProbeDiveHeight();
 				moveBuffer.feedRate = platform->GetCurrentZProbeParameters().probeSpeed;
-				moveBuffer.xAxes = 0;
+				moveBuffer.xAxes = DefaultXAxisMapping;
 				segmentsLeft = 1;
 				gb.SetState(GCodeState::gridProbing3);
 			}
@@ -579,7 +582,7 @@ void GCodes::Spin()
 				moveBuffer.filePos = noFilePosition;
 				moveBuffer.coords[Z_AXIS] = platform->GetZProbeStartingHeight();
 				moveBuffer.feedRate = platform->GetZProbeTravelSpeed();
-				moveBuffer.xAxes = 0;
+				moveBuffer.xAxes = DefaultXAxisMapping;
 				segmentsLeft = 1;
 				gb.SetState(GCodeState::gridProbing4);
 			}
@@ -1300,7 +1303,7 @@ int GCodes::SetUpMove(GCodeBuffer& gb, StringRef& reply)
 		if (ival == 1 || ival == 2)
 		{
 			moveBuffer.moveType = ival;
-			moveBuffer.xAxes = 0;			// don't do bed compensation
+			moveBuffer.xAxes = DefaultXAxisMapping;
 		}
 
 		if (ival == 1)
@@ -1686,7 +1689,7 @@ bool GCodes::DoCannedCycleMove(GCodeBuffer& gb, EndstopChecks ce)
 			}
 		}
 		moveBuffer.feedRate = cannedFeedRate;
-		moveBuffer.xAxes = 0;
+		moveBuffer.xAxes = DefaultXAxisMapping;
 		moveBuffer.endStopsToCheck = ce;
 		moveBuffer.filePos = noFilePosition;
 		moveBuffer.usePressureAdvance = false;

src/GCodes/GCodes2.cpp

@@ -22,19 +22,16 @@
 
 #ifdef DUET_NG
 # include "FirmwareUpdater.h"
-# ifdef DUET_WIFI
-#  include "MessageFormats.h"
-# endif
 #endif
 
-const char* BED_EQUATION_G = "bed.g";
+const char* const BED_EQUATION_G = "bed.g";
-const char* RESUME_G = "resume.g";
+const char* const RESUME_G = "resume.g";
-const char* CANCEL_G = "cancel.g";
+const char* const CANCEL_G = "cancel.g";
-const char* STOP_G = "stop.g";
+const char* const STOP_G = "stop.g";
-const char* SLEEP_G = "sleep.g";
+const char* const SLEEP_G = "sleep.g";
-const char* CONFIG_OVERRIDE_G = "config-override.g";
+const char* const CONFIG_OVERRIDE_G = "config-override.g";
-const char* DEPLOYPROBE_G = "deployprobe.g";
+const char* const DEPLOYPROBE_G = "deployprobe.g";
-const char* RETRACTPROBE_G = "retractprobe.g";
+const char* const RETRACTPROBE_G = "retractprobe.g";
 
 const float MinServoPulseWidth = 544.0, MaxServoPulseWidth = 2400.0;
 const uint16_t ServoRefreshFrequency = 50;
@@ -324,13 +321,10 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
 			if (wasPaused)
 			{
 				reply.copy("Print cancelled");
-				// If we are cancelling a paused print with M0 and cancel.g exists then run it and do nothing else
+				// If we are cancelling a paused print with M0 and we are homed and cancel.g exists then run it and do nothing else
-				if (code == 0)
+				if (code == 0 && AllAxesAreHomed() && DoFileMacro(gb, CANCEL_G, false))
 				{
-					if (DoFileMacro(gb, CANCEL_G, false))
+					break;
-					{
-						break;
-					}
 				}
 			}
 		}
@@ -551,7 +545,10 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
 		if (isPaused)
 		{
 			gb.SetState(GCodeState::resuming1);
-			DoFileMacro(gb, RESUME_G, true);
+			if (AllAxesAreHomed())
+			{
+				DoFileMacro(gb, RESUME_G, true);
+			}
 		}
 		else if (!fileToPrint.IsLive())
 		{

src/Movement/DDA.cpp

@@ -216,7 +216,8 @@ bool DDA::Init(const GCodes::RawMove &nextMove, bool doMotorMapping)
 	}
 
 	isPrintingMove = false;
-	bool realMove = false, xyMoving = false, xyzMoving = false;
+	bool realMove = false, xyzMoving = false;
+	xyMoving = false;
 	const bool isSpecialDeltaMove = (move->IsDeltaMode() && !doMotorMapping);
 	float accelerations[DRIVES];
 	const float * const normalAccelerations = reprap.GetPlatform()->Accelerations();
@@ -239,10 +240,13 @@ bool DDA::Init(const GCodes::RawMove &nextMove, bool doMotorMapping)
 			directionVector[drive] = positionDelta;
 			if (positionDelta != 0)
 			{
-				xyzMoving = true;
+				if (drive == Z_AXIS)
-				if (drive != Z_AXIS)
 				{
-					xyMoving = true;
+					xyzMoving = true;
+				}
+				else if (drive == Y_AXIS || ((1 << drive) & nextMove.xAxes) != 0)
+				{
+					xyMoving = xyzMoving = true;
 				}
 			}
 			dm.state = (isDeltaMovement || delta != 0)
@@ -287,6 +291,7 @@ bool DDA::Init(const GCodes::RawMove &nextMove, bool doMotorMapping)
 	}
 
 	// 3. Store some values
+	xAxes = nextMove.xAxes;
 	endStopsToCheck = nextMove.endStopsToCheck;
 	canPauseAfter = nextMove.canPauseAfter;
 	filePos = nextMove.filePos;
@@ -309,7 +314,7 @@ bool DDA::Init(const GCodes::RawMove &nextMove, bool doMotorMapping)
 			directionVector[Z_AXIS] += (directionVector[X_AXIS] * dparams.GetXTilt()) + (directionVector[Y_AXIS] * dparams.GetYTilt());
 		}
 
-		totalDistance = Normalise(directionVector, DRIVES, numAxes);
+		totalDistance = NormaliseXYZ();
 	}
 	else
 	{
@@ -527,13 +532,13 @@ void DDA::AdvanceBabyStepping(float amount)
 	while(cdda != this)
 	{
 		float babySteppingToDo = 0.0;
-		if (amount != 0.0)
+		if (amount != 0.0 && cdda->xyMoving)
 		{
 			// Limit the babystepping Z speed to the lower of 0.1 times the original XYZ speed and 0.5 times the Z jerk
 			const float maxBabySteppingAmount = cdda->totalDistance * min<float>(0.1, 0.5 * reprap.GetPlatform()->ConfiguredInstantDv(Z_AXIS)/cdda->topSpeed);
 			babySteppingToDo = constrain<float>(amount, -maxBabySteppingAmount, maxBabySteppingAmount);
 			cdda->directionVector[Z_AXIS] += babySteppingToDo/cdda->totalDistance;
-			cdda->totalDistance *= Normalise(cdda->directionVector, DRIVES, reprap.GetGCodes()->GetNumAxes());
+			cdda->totalDistance *= cdda->NormaliseXYZ();
 			cdda->RecalculateMove();
 			babySteppingDone += babySteppingToDo;
 			amount -= babySteppingToDo;
@@ -991,7 +996,7 @@ void DDA::Prepare()
 
 // Take a unit positive-hyperquadrant vector, and return the factor needed to obtain
 // length of the vector as projected to touch box[].
-float DDA::VectorBoxIntersection(const float v[], const float box[], size_t dimensions)
+/*static*/ float DDA::VectorBoxIntersection(const float v[], const float box[], size_t dimensions)
 {
 	// Generate a vector length that is guaranteed to exceed the size of the box
 	const float biggerThanBoxDiagonal = 2.0*Magnitude(box, dimensions);
@@ -1011,9 +1016,9 @@ float DDA::VectorBoxIntersection(const float v[], const float box[], size_t dime
 }
 
 // Normalise a vector with dim1 dimensions so that it is unit in the first dim2 dimensions, and also return its previous magnitude in dim2 dimensions
-float DDA::Normalise(float v[], size_t dim1, size_t dim2)
+/*static*/ float DDA::Normalise(float v[], size_t dim1, size_t dim2)
 {
-	float magnitude = Magnitude(v, dim2);
+	const float magnitude = Magnitude(v, dim2);
 	if (magnitude <= 0.0)
 	{
 		return 0.0;
@@ -1022,8 +1027,37 @@ float DDA::Normalise(float v[], size_t dim1, size_t dim2)
 	return magnitude;
 }
 
+// Make the direction vector unit-normal in XYZ and return the previous magnitude
+float DDA::NormaliseXYZ()
+{
+	// First calculate the magnitude of the vector. If there is more than one X axis, take an average of their movements (they should be equal).
+	float magSquared = 0.0;
+	unsigned int numXaxes = 0;
+	for (size_t d = 0; d < MAX_AXES; ++d)
+	{
+		if (((1 << d) & xAxes) != 0)
+		{
+			magSquared += fsquare(directionVector[d]);
+			++numXaxes;
+		}
+	}
+	if (numXaxes != 0)
+	{
+		magSquared /= numXaxes;
+	}
+	const float magnitude = sqrtf(magSquared + fsquare(directionVector[Y_AXIS]) + fsquare(directionVector[Z_AXIS]));
+	if (magnitude <= 0.0)
+	{
+		return 0.0;
+	}
+
+	// Now normalise it
+	Scale(directionVector, 1.0/magnitude, DRIVES);
+	return magnitude;
+}
+
 // Return the magnitude of a vector
-float DDA::Magnitude(const float v[], size_t dimensions)
+/*static*/ float DDA::Magnitude(const float v[], size_t dimensions)
 {
 	float magnitude = 0.0;
 	for (size_t d = 0; d < dimensions; d++)
@@ -1034,18 +1068,18 @@ float DDA::Magnitude(const float v[], size_t dimensions)
 }
 
 // Multiply a vector by a scalar
-void DDA::Scale(float v[], float scale, size_t dimensions)
+/*static*/ void DDA::Scale(float v[], float scale, size_t dimensions)
 {
-	for(size_t d = 0; d < dimensions; d++)
+	for (size_t d = 0; d < dimensions; d++)
 	{
-		v[d] = scale*v[d];
+		v[d] *= scale;
 	}
 }
 
 // Move a vector into the positive hyperquadrant
-void DDA::Absolute(float v[], size_t dimensions)
+/*static*/ void DDA::Absolute(float v[], size_t dimensions)
 {
-	for(size_t d = 0; d < dimensions; d++)
+	for (size_t d = 0; d < dimensions; d++)
 	{
 		v[d] = fabsf(v[d]);
 	}

src/Movement/DDA.h

@@ -107,6 +107,7 @@ private:
 	void DebugPrintVector(const char *name, const float *vec, size_t len) const;
 	void CheckEndstops(Platform *platform);
 	void AdvanceBabyStepping(float amount);							// Try to push babystepping earlier in the move queue
+	float NormaliseXYZ();											// Make the direction vector unit-normal in XYZ
 
 	static void DoLookahead(DDA *laDDA);							// Try to smooth out moves in the queue
     static float Normalise(float v[], size_t dim1, size_t dim2);  	// Normalise a vector of dim1 dimensions to unit length in the first dim1 dimensions
@@ -119,7 +120,7 @@ private:
     DDA* next;								// The next one in the ring
 	DDA *prev;								// The previous one in the ring
 
-	volatile DDAState state;				// what state this DDA is in
+	volatile DDAState state;				// What state this DDA is in
 	uint8_t endCoordinatesValid : 1;		// True if endCoordinates can be relied on
 	uint8_t isDeltaMovement : 1;			// True if this is a delta printer movement
 	uint8_t canPauseAfter : 1;				// True if we can pause at the end of this move
@@ -127,10 +128,12 @@ private:
 	uint8_t isPrintingMove : 1;				// True if this move includes XY movement and extrusion
 	uint8_t usePressureAdvance : 1;			// True if pressure advance should be applied to any forward extrusion
 	uint8_t hadLookaheadUnderrun : 1;		// True if the lookahead queue was not long enough to optimise this move
+	uint8_t xyMoving : 1;					// True if we have movement along an X axis or the Y axis
 
     EndstopChecks endStopsToCheck;			// Which endstops we are checking on this move
+    uint32_t xAxes;							// Which axes are behaving as X axes
 
-    FilePosition filePos;					// The position in the SD card file after this move was read, or zero if not read fro SD card
+    FilePosition filePos;					// The position in the SD card file after this move was read, or zero if not read from SD card
 
 	int32_t endPoint[DRIVES];  				// Machine coordinates of the endpoint
 	float endCoordinates[DRIVES];			// The Cartesian coordinates at the end of the move plus extrusion amounts

src/PrintMonitor.cpp

@@ -167,8 +167,7 @@ float PrintMonitor::GetWarmUpDuration() const
 void PrintMonitor::StartingPrint(const char* filename)
 {
 	printingFileParsed = GetFileInfo(platform->GetGCodeDir(), filename, printingFileInfo);
-	strncpy(filenameBeingPrinted, filename, ARRAY_SIZE(filenameBeingPrinted));
+	SafeStrncpy(filenameBeingPrinted, filename, ARRAY_SIZE(filenameBeingPrinted));
-	filenameBeingPrinted[ARRAY_UPB(filenameBeingPrinted)] = 0;
 }
 
 // Tell this class that the file set for printing is now actually processed
@@ -296,8 +295,7 @@ bool PrintMonitor::GetFileInfo(const char *directory, const char *fileName, GCod
 		}
 
 		// File has been opened, let's start now
-		strncpy(filenameBeingParsed, fileName, ARRAY_SIZE(filenameBeingParsed));
+		SafeStrncpy(filenameBeingParsed, fileName, ARRAY_SIZE(filenameBeingParsed));
-		filenameBeingParsed[ARRAY_UPB(filenameBeingParsed)] = 0;
 		fileOverlapLength = 0;
 
 		// Set up the info struct

src/RepRap.cpp

@@ -1323,8 +1323,7 @@ OutputBuffer *RepRap::GetFilesResponse(const char *dir, bool flagsDirs)
 				// Get the long filename if possible
 				if (flagsDirs && fileInfo.isDirectory)
 				{
-					strncpy(filename + sizeof(char), fileInfo.fileName, FILENAME_LENGTH - 1);
+					SafeStrncpy(filename + 1, fileInfo.fileName, ARRAY_SIZE(fileInfo.fileName) - 1);
-					filename[FILENAME_LENGTH - 1] = 0;
 					fname = filename;
 				}
 				else
@@ -1447,8 +1446,7 @@ void RepRap::Beep(int freq, int ms)
 // Send a short message. We send it to both PanelDue and the web interface.
 void RepRap::SetMessage(const char *msg)
 {
-	strncpy(message, msg, MESSAGE_LENGTH);
+	SafeStrncpy(message, msg, ARRAY_SIZE(message));
-	message[MESSAGE_LENGTH] = 0;
 
 	if (platform->HaveAux())
 	{

src/RepRapFirmware.cpp

@@ -271,4 +271,20 @@ int StringContains(const char* string, const char* match)
 	return -1;
 }
 
+// Version of strncpy that ensures the result is null terminated
+void SafeStrncpy(char *dst, const char *src, size_t length)
+{
+	strncpy(dst, src, length);
+	dst[length - 1] = 0;
+}
+
+// Version of strcat that takes the original buffer size as the limit and ensures the result is null terminated
+void SafeStrncat(char *dst, const char *src, size_t length)
+{
+	dst[length - 1] = 0;
+	const size_t index = strlen(dst);
+	strncat(dst + index, src, length - index);
+	dst[length - 1] = 0;
+}
+
 // End

src/RepRapFirmware.h

@@ -78,6 +78,8 @@ bool StringEndsWith(const char* string, const char* ending);
 bool StringStartsWith(const char* string, const char* starting);
 bool StringEquals(const char* s1, const char* s2);
 int StringContains(const char* string, const char* match);
+void SafeStrncpy(char *dst, const char *src, size_t length) pre(length != 0);
+void SafeStrncat(char *dst, const char *src, size_t length) pre(length != 0);
 
 // Macro to assign an array from an initialiser list
 #define ARRAY_INIT(_dest, _init) static_assert(sizeof(_dest) == sizeof(_init), "Incompatible array types"); memcpy(_dest, _init, sizeof(_init));

src/Scanner.cpp

@@ -387,8 +387,7 @@ bool Scanner::StartScan(const char *filename, int param)
 
 	// Copy the scan length/degree and the filename
 	scanParam = param;
-	strncpy(scanFilename, filename, ARRAY_SIZE(scanFilename));
+	SafeStrncpy(scanFilename, filename, ARRAY_SIZE(scanFilename));
-	scanFilename[ARRAY_UPB(scanFilename)] = 0;
 
 	// Run the scan_pre macro and wait for it to finish
 	DoFileMacro(SCAN_PRE_G);

src/Storage/MassStorage.cpp

@@ -123,21 +123,12 @@ bool MassStorage::FindFirst(const char *directory, FileInfo &file_info)
 	TCHAR loc[FILENAME_LENGTH + 1];
 
 	// Remove the trailing '/' from the directory name
-	size_t len = strnlen(directory, ARRAY_UPB(loc));
+	SafeStrncpy(loc, directory, ARRAY_SIZE(loc));
-	if (len == 0)
+	const size_t len = strlen(loc);
+	if (len != 0 && loc[len - 1] == '/')
 	{
-		loc[0] = 0;
-	}
-	else if (directory[len - 1] == '/')
-	{
-		strncpy(loc, directory, len - 1);
 		loc[len - 1] = 0;
 	}
-	else
-	{
-		strncpy(loc, directory, len);
-		loc[len] = 0;
-	}
 
 	findDir.lfn = nullptr;
 	FRESULT res = f_opendir(&findDir, loc);
@@ -157,7 +148,7 @@ bool MassStorage::FindFirst(const char *directory, FileInfo &file_info)
 
 			if (file_info.fileName[0] == 0)
 			{
-				strncpy(file_info.fileName, entry.fname, ARRAY_SIZE(file_info.fileName));
+				SafeStrncpy(file_info.fileName, entry.fname, ARRAY_SIZE(file_info.fileName));
 			}
 
 			file_info.size = entry.fsize;
@@ -189,7 +180,7 @@ bool MassStorage::FindNext(FileInfo &file_info)
 
 	if (file_info.fileName[0] == 0)
 	{
-		strncpy(file_info.fileName, entry.fname, ARRAY_SIZE(file_info.fileName));
+		SafeStrncpy(file_info.fileName, entry.fname, ARRAY_SIZE(file_info.fileName));
 	}
 
 	file_info.lastModified = ConvertTimeStamp(entry.fdate, entry.ftime);

src/Version.h

@@ -9,11 +9,11 @@
 #define SRC_VERSION_H_
 
 #ifndef VERSION
-# define VERSION "1.19alpha"
+# define VERSION "1.19alpha1"
 #endif
 
 #ifndef DATE
-# define DATE "2017-05-01"
+# define DATE "2017-05-04"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman"