Merge remote-tracking branch 'upstream/duet' into duet

Configuration.h

@@ -24,8 +24,8 @@ Licence: GPL
 #define CONFIGURATION_H
 
 #define NAME "RepRapFirmware"
-#define VERSION "0.28"
+#define VERSION "0.35"
-#define DATE "2013-11-30"
+#define DATE "2013-12-06"
 #define LAST_AUTHOR "reprappro.com"
 
 // 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 3
+#define NUMBER_OF_PROBE_POINTS 4
 #define Z_DIVE 5.0  // Height from which to probe the bed (mm)
 
 #define SILLY_Z_VALUE -9999.0

GCodes.cpp

@@ -670,7 +670,7 @@ bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer *gb)
 		if(gb->Seen('S'))
 		{
 			zProbesSet = true;
-			reprap.GetMove()->SetProbedBedPlane();
+			reprap.GetMove()->SetProbedBedEquation();
 		}
 		return true;
 	} else
@@ -682,7 +682,7 @@ bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer *gb)
 			if(gb->Seen('S'))
 			{
 				zProbesSet = true;
-				reprap.GetMove()->SetProbedBedPlane();
+				reprap.GetMove()->SetProbedBedEquation();
 			}
 			return true;
 		}
@@ -691,20 +691,26 @@ bool GCodes::SetSingleZProbeAtAPosition(GCodeBuffer *gb)
 	return false;
 }
 
-// This probes multiple points on the bed (usually three in a
+// This probes multiple points on the bed (three in a
-// triangle), then sets the bed transformation to compensate
+// triangle or four in the corners), then sets the bed transformation to compensate
 // for the bed not quite being the plane Z = 0.
 
 bool GCodes::DoMultipleZProbe()
 {
+	if(reprap.GetMove()->NumberOfXYProbePoints() < 3)
+	{
+		platform->Message(HOST_MESSAGE, "Bed probing: there needs to be 3 or more points set.\n");
+		return true;
+	}
+
 	if(DoSingleZProbe())
 		probeCount++;
-	if(probeCount >= NUMBER_OF_PROBE_POINTS)
+	if(probeCount >= reprap.GetMove()->NumberOfXYProbePoints())
 	{
 		probeCount = 0;
 		zProbesSet = true;
 		reprap.GetMove()->SetZProbing(false);
-		reprap.GetMove()->SetProbedBedPlane();
+		reprap.GetMove()->SetProbedBedEquation();
 		return true;
 	}
 	return false;
@@ -1072,9 +1078,10 @@ void GCodes::HandleReply(bool error, bool fromLine, char* reply, char gMOrT, int
 			return;
 		}
 
-		if( (gMOrT == 'M' && code == 105) || (gMOrT == 'G' && code == 998) )
+		if( (gMOrT == 'M' && code == 105) || (gMOrT == 'G' && code == 998))
 		{
 			platform->GetLine()->Write(response);
+			platform->GetLine()->Write(" ");
 			platform->GetLine()->Write(reply);
 			platform->GetLine()->Write("\n");
 			return;
@@ -1123,6 +1130,7 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
   bool result = true;
   bool error = false;
   bool resend = false;
+  bool seen;
   char reply[STRING_LENGTH];
 
   reply[0] = 0;
@@ -1285,10 +1293,18 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
     case 85: // Set inactive time
     	break;
 
-    case 92: // Set steps/mm for some axes
+    case 92: // Set/report steps/mm for some axes
+    	seen = false;
     	for(int8_t drive = 0; drive < DRIVES; drive++)
     		if(gb->Seen(gCodeLetters[drive]))
+    		{
     			platform->SetDriveStepsPerUnit(drive, gb->GetFValue());
+    			seen = true;
+    		}
+    	if(!seen)
+    		snprintf(reply, STRING_LENGTH, "Steps/mm: X: %d, Y: %d, Z: %d, E: %d",
+    				(int)platform->DriveStepsPerUnit(X_AXIS), (int)platform->DriveStepsPerUnit(Y_AXIS),
+    				(int)platform->DriveStepsPerUnit(Z_AXIS), (int)platform->DriveStepsPerUnit(AXES)); // FIXME - needs to do multiple extruders
         break;
 
     case 104: // Depricated
@@ -1327,8 +1343,7 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
     		reprap.SetDebug(gb->GetIValue());
     	break;
 
-    case 112: // Emergency stop
+    case 112: // Emergency stop - aced upon in Webserver
-    	reprap.EmergencyStop();
     	break;
 
     case 114: // Deprecated
@@ -1340,6 +1355,10 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
     		result = false;
     	break;
 
+    case 115: // Print firmware version
+    	snprintf(reply, STRING_LENGTH, "FIRMWARE_NAME:%s FIRMWARE_VERSION:%s ELECTRONICS:%s DATE:%s", NAME, VERSION, ELECTRONICS, DATE);
+    	break;
+
     case 109: // Depricated
     	if(gb->Seen('S'))
     	{
@@ -1540,6 +1559,17 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
     	reprap.GetMove()->SetIdentityTransform();
     	break;
 
+    case 876: // TEMPORARY - this will go away...
+    	if(gb->Seen('P'))
+    	{
+    		iValue = gb->GetIValue();
+    		if(iValue != 1)
+    			platform->SetHeatOn(0);
+    		else
+    			platform->SetHeatOn(1);
+    	}
+    	break;
+
     case 906: // Set Motor currents
     	for(uint8_t i = 0; i < DRIVES; i++)
     	{

Move.cpp

@@ -147,25 +147,23 @@ void Move::Init()
   tanXY = 0.0;
   tanYZ = 0.0;
   tanXZ = 0.0;
-  zPlaneSet = false;
+  zEquationSet = false;
 
   lastZHit = 0.0;
   zProbing = false;
 
-  xBedProbePoints[0] = 0.2*platform->AxisLength(X_AXIS);
+  for(uint8_t point = 0; point < NUMBER_OF_PROBE_POINTS; point++)
-  yBedProbePoints[0] = 0.2*platform->AxisLength(Y_AXIS);
+  {
-  zBedProbePoints[0] = 0.0;
+	  xBedProbePoints[point] = (0.2 + 0.6*(float)(point%2))*platform->AxisLength(X_AXIS);
-  probePointSet[0] = false;
+	  yBedProbePoints[point] = (0.2 + 0.6*(float)(point/2))*platform->AxisLength(Y_AXIS);
+	  zBedProbePoints[point] = 0.0;
+	  probePointSet[point] = unset;
+  }
 
-  xBedProbePoints[1] = 0.8*platform->AxisLength(X_AXIS);
+  xRectangle = 1.0/(0.8*platform->AxisLength(X_AXIS));
-  yBedProbePoints[1] = 0.2*platform->AxisLength(Y_AXIS);
+  yRectangle = xRectangle;
-  zBedProbePoints[1] = 0.0;
-  probePointSet[1] = false;
 
-  xBedProbePoints[2] = 0.5*platform->AxisLength(X_AXIS);
+  secondDegreeCompensation = false;
-  yBedProbePoints[2] = 0.8*platform->AxisLength(Y_AXIS);
-  zBedProbePoints[2] = 0.0;
-  probePointSet[2] = false;
 
   lastTime = platform->Time();
   longWait = lastTime;
@@ -558,7 +556,7 @@ void Move::Interrupt()
   {
     // No - it's still live.  Step it and return.
     
-    dda->Step(true);
+    dda->Step();
     return;
   }
   
@@ -607,30 +605,67 @@ void Move::SetIdentityTransform()
 	aX = 0.0;
 	aY = 0.0;
 	aC = 0.0;
+	secondDegreeCompensation = false;
 }
 
+
 void Move::Transform(float xyzPoint[])
 {
 	xyzPoint[X_AXIS] = xyzPoint[X_AXIS] + tanXY*xyzPoint[Y_AXIS] + tanXZ*xyzPoint[Z_AXIS];
 	xyzPoint[Y_AXIS] = xyzPoint[Y_AXIS] + tanYZ*xyzPoint[Z_AXIS];
-	xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] + aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC;
+	if(secondDegreeCompensation)
+		xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] + SecondDegreeTransformZ(xyzPoint[X_AXIS], xyzPoint[Y_AXIS]);
+	else
+		xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] + aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC;
+//	platform->GetLine()->Write(xyzPoint[Y_AXIS]);
+//	platform->GetLine()->Write('\n');
 }
 
 void Move::InverseTransform(float xyzPoint[])
 {
-	xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] - (aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC);
+	if(secondDegreeCompensation)
+		xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] - SecondDegreeTransformZ(xyzPoint[X_AXIS], xyzPoint[Y_AXIS]);
+	else
+		xyzPoint[Z_AXIS] = xyzPoint[Z_AXIS] - (aX*xyzPoint[X_AXIS] + aY*xyzPoint[Y_AXIS] + aC);
 	xyzPoint[Y_AXIS] = xyzPoint[Y_AXIS] - tanYZ*xyzPoint[Z_AXIS];
 	xyzPoint[X_AXIS] = xyzPoint[X_AXIS] - (tanXY*xyzPoint[Y_AXIS] + tanXZ*xyzPoint[Z_AXIS]);
 }
 
-void Move::SetProbedBedPlane()
+void Move::SetProbedBedEquation()
 {
+	if(NumberOfProbePoints() >= 3)
+	{
+		secondDegreeCompensation = (NumberOfProbePoints() == 4);
+		if(secondDegreeCompensation)
+		{
+			/*
+			 * Transform to a ruled-surface quadratic.  The corner points for interpolation are indexed:
+			 *
+			 *   ^  [1]      [2]
+			 *   |
+			 *   Y
+			 *   |
+			 *   |  [0]      [3]
+			 *      -----X---->
+			 *
+			 *   These are the scaling factors to apply to x and y coordinates to get them into the
+			 *   unit interval [0, 1].
+			 */
+			xRectangle = 1.0/(xBedProbePoints[3] - xBedProbePoints[0]);
+			yRectangle = 1.0/(yBedProbePoints[1] - yBedProbePoints[0]);
+			zEquationSet = true;
+			return;
+		}
+	} else
+	{
+		platform->Message(HOST_MESSAGE, "Attempt to set bed compensation before all probe points have been recorded.");
+		return;
+	}
+
 	float xkj, ykj, zkj;
 	float xlj, ylj, zlj;
 	float a, b, c, d;   // Implicit plane equation - what we need to do a proper job
 
-	if(!probePointSet[0] || !probePointSet[1] || !probePointSet[2])
-		platform->Message(HOST_MESSAGE, "Attempt to set bed plane when probing is incomplete!\n");
 	xkj = xBedProbePoints[1] - xBedProbePoints[0];
 	ykj = yBedProbePoints[1] - yBedProbePoints[0];
 	zkj = zBedProbePoints[1] - zBedProbePoints[0];
@@ -644,7 +679,7 @@ void Move::SetProbedBedPlane()
 	aX = -a/c;
 	aY = -b/c;
 	aC = -d/c;
-	zPlaneSet = true;
+	zEquationSet = true;
 }
 
 // FIXME
@@ -978,11 +1013,14 @@ void DDA::Start(bool noTest)
   active = true;  
 }
 
-void DDA::Step(bool noTest)
+void DDA::Step()
 {
-  if(!active && noTest)
+  if(!active)
     return;
   
+  if(!move->active)
+	  return;
+
   uint8_t axesMoving = 0;
   uint8_t extrudersMoving = 0;
   
@@ -991,8 +1029,7 @@ void DDA::Step(bool noTest)
     counter[drive] += delta[drive];
     if(counter[drive] > 0)
     {
-      if(noTest)
+      platform->Step(drive);
-        platform->Step(drive);
 
       counter[drive] -= totalSteps;
       
@@ -1045,11 +1082,10 @@ void DDA::Step(bool noTest)
     stepCount++;
     active = stepCount < totalSteps;
     
-    if(noTest)
+    platform->SetInterrupt(timeStep);
-      platform->SetInterrupt(timeStep);
   }
   
-  if(!active && noTest)
+  if(!active)
   {
 	for(int8_t drive = 0; drive < DRIVES; drive++)
 		move->liveCoordinates[drive] = myLookAheadEntry->MachineToEndPoint(drive); // Don't use SetLiveCoordinates because that applies the transform

Move.h

@@ -52,6 +52,14 @@ enum MovementType
   eMove = 4 
 };
 
+enum PointCoordinateSet
+{
+	unset = 0,
+	xSet = 1,
+	ySet = 2,
+	zSet = 4
+};
+
 
 class LookAhead
 {  
@@ -109,7 +117,7 @@ protected:
 	DDA(Move* m, Platform* p, DDA* n);
 	MovementProfile Init(LookAhead* lookAhead, float& u, float& v);
 	void Start(bool noTest);
-	void Step(bool noTest);
+	void Step();
 	bool Active();
 	DDA* Next();
 	float InstantDv();
@@ -166,8 +174,13 @@ class Move
     float xBedProbePoint(int index);
     float yBedProbePoint(int index);
     float zBedProbePoint(int index);
+    int NumberOfProbePoints();
+    int NumberOfXYProbePoints();
+    bool AllProbeCoordinatesSet(int index);
+    bool XYProbeCoordinatesSet(int index);
     void SetZProbing(bool probing);
-    void SetProbedBedPlane();
+    void SetProbedBedEquation();
+    float SecondDegreeTransformZ(float x, float y);
     float GetLastProbedZ();
     void SetAxisCompensation(int8_t axis, float tangent);
     void SetIdentityTransform();
@@ -179,9 +192,6 @@ class Move
 
     friend class DDA;
     
-//  protected:
-
-    
   private:
   
     bool DDARingAdd(LookAhead* lookAhead);
@@ -225,12 +235,14 @@ class Move
     float xBedProbePoints[NUMBER_OF_PROBE_POINTS];
     float yBedProbePoints[NUMBER_OF_PROBE_POINTS];
     float zBedProbePoints[NUMBER_OF_PROBE_POINTS];
-    bool probePointSet[NUMBER_OF_PROBE_POINTS];
+    uint8_t probePointSet[NUMBER_OF_PROBE_POINTS];
     float aX, aY, aC; // Bed plane explicit equation z' = z + aX*x + aY*y + aC
-    bool zPlaneSet;
+    bool zEquationSet;
     float tanXY, tanYZ, tanXZ; // 90 degrees + angle gives angle between axes
+    float xRectangle, yRectangle;
     float lastZHit;
     bool zProbing;
+    bool secondDegreeCompensation;
     float longWait;
 };
 
@@ -425,6 +437,7 @@ inline void Move::SetXBedProbePoint(int index, float x)
 		return;
 	}
 	xBedProbePoints[index] = x;
+	probePointSet[index] |= xSet;
 }
 
 inline void Move::SetYBedProbePoint(int index, float y)
@@ -435,6 +448,7 @@ inline void Move::SetYBedProbePoint(int index, float y)
 		return;
 	}
 	yBedProbePoints[index] = y;
+	probePointSet[index] |= ySet;
 }
 
 inline void Move::SetZBedProbePoint(int index, float z)
@@ -445,7 +459,7 @@ inline void Move::SetZBedProbePoint(int index, float z)
 		return;
 	}
 	zBedProbePoints[index] = z;
-	probePointSet[index] = true;
+	probePointSet[index] |= zSet;
 }
 
 inline float Move::xBedProbePoint(int index)
@@ -473,6 +487,60 @@ inline float Move::GetLastProbedZ()
 	return lastZHit;
 }
 
+inline bool Move::AllProbeCoordinatesSet(int index)
+{
+	return probePointSet[index] == (xSet | ySet | zSet);
+}
+
+inline bool Move::XYProbeCoordinatesSet(int index)
+{
+	return (probePointSet[index]  & xSet) &&  (probePointSet[index]  & ySet);
+}
+
+inline int Move::NumberOfProbePoints()
+{
+	if(AllProbeCoordinatesSet(0) && AllProbeCoordinatesSet(1) && AllProbeCoordinatesSet(2))
+	{
+		if(AllProbeCoordinatesSet(3))
+			return 4;
+		else
+			return 3;
+	}
+	return 0;
+}
+
+inline int Move::NumberOfXYProbePoints()
+{
+	if(XYProbeCoordinatesSet(0) && XYProbeCoordinatesSet(1) && XYProbeCoordinatesSet(2))
+	{
+		if(XYProbeCoordinatesSet(3))
+			return 4;
+		else
+			return 3;
+	}
+	return 0;
+}
+
+/*
+ * Transform to a ruled-surface quadratic.  The corner points for interpolation are indexed:
+ *
+ *   ^  [1]      [2]
+ *   |
+ *   Y
+ *   |
+ *   |  [0]      [3]
+ *      -----X---->
+ *
+ *   The values of x and y are transformed to put them in the interval [0, 1].
+ */
+inline float Move::SecondDegreeTransformZ(float x, float y)
+{
+	x = (x - xBedProbePoints[0])*xRectangle;
+	y = (y - yBedProbePoints[0])*yRectangle;
+	return (1.0 - x)*(1.0 - y)*zBedProbePoints[0] + x*(1.0 - y)*zBedProbePoints[3] + (1.0 - x)*y*zBedProbePoints[1] + x*y*zBedProbePoints[2];
+}
+
+
 inline void Move::SetAxisCompensation(int8_t axis, float tangent)
 {
 	switch(axis)

Platform.cpp

@@ -131,6 +131,7 @@ void Platform::Init()
   standbyTemperatures = STANDBY_TEMPERATURES;
   activeTemperatures = ACTIVE_TEMPERATURES;
   coolingFanPin = COOLING_FAN_PIN;
+  turnHeatOn = HEAT_ON;
 
   webDir = WEB_DIR;
   gcodeDir = GCODE_DIR;
@@ -333,7 +334,7 @@ void Platform::SetHeater(int8_t heater, const float& power)
     return;
   
   byte p = (byte)(255.0*fmin(1.0, fmax(0.0, power)));
-  if(HEAT_ON == 0)
+  if(turnHeatOn == 0)
 	  p = 255 - p;
   if(heater == 0)
 	  analogWrite(heatOnPins[heater], p);

Platform.h

@@ -34,6 +34,10 @@ Licence: GPL
 #ifndef PLATFORM_H
 #define PLATFORM_H
 
+// What are we supposed to be running on
+
+#define ELECTRONICS "Duet"
+
 // Language-specific includes
 
 #include <stdio.h>
@@ -97,7 +101,7 @@ Licence: GPL
 
 // AXES
 
-#define AXIS_LENGTHS {210, 195, 140} // mm
+#define AXIS_LENGTHS {210, 200, 140} // mm
 #define HOME_FEEDRATES {50.0, 50.0, 1.0}  // mm/sec
 #define HEAD_OFFSETS {0.0, 0.0, 0.0}
 
@@ -487,6 +491,7 @@ class Platform
   bool UsePID(int8_t heater);
   float HeatSampleTime();
   void CoolingFan(float speed);
+  void SetHeatOn(int8_t ho); //TEMPORARY - this will go away...
 
 //-------------------------------------------------------------------------------------------------------
   protected:
@@ -565,6 +570,7 @@ class Platform
   float standbyTemperatures[HEATERS];
   float activeTemperatures[HEATERS];
   int8_t coolingFanPin;
+  int8_t turnHeatOn;
 
 // Serial/USB
 
@@ -888,6 +894,11 @@ inline void Platform::CoolingFan(float speed)
 	analogWrite(coolingFanPin, (uint8_t)(speed*255.0));
 }
 
+inline void Platform::SetHeatOn(int8_t ho)
+{
+	turnHeatOn = ho;
+}
+
 
 //*********************************************************************************************************
 

README

@@ -1,32 +1,44 @@
-RepRapFirmware - Main Program
-
 This firmware is intended to be a fully object-oriented highly modular control program for
 RepRap self-replicating 3D printers.
 
 It owes a lot to Marlin and to the original RepRap FiveD_GCode.
 
+This is the version for the RepRap Duet: 
+
+  http://blog.think3dprint3d.com/2013/12/Duet-Arduino-Due-compatible-3DPrinter-controller.html  
+
+To edit and compile this you will also need the libraries in this repository:
+
+  https://github.com/jmgiacalone/Arduino-libraries
+
+A complete uploadable executable version is in the directory Release/RepRapFirmware.bin in this
+repository.  For details of how to flash it to a Duet see here:
+
+  http://www.reprappro.com/documentation/RepRapPro_Firmware#Flashing_the_Firmware
+
 
 General design principles:
 
   * Control by RepRap G Codes.  These are taken to be machine independent, though some may be unsupported.
   * Full use of C++ OO techniques,
   * Make classes hide their data,
-  * Make everything as stateless as possible,
+  * Make everything except the Platform class (see below) as stateless as possible,
   * No use of conditional compilation except for #include guards - if you need that, you should be
        forking the repository to make a new branch - let the repository take the strain,
   * Concentration of all machine-dependent defintions and code in Platform.h and Platform.cpp,
   * No specials for (X,Y) or (Z) - all movement is 3-dimensional,
+  * Except in Platform.h, use real units (mm, seconds etc) throughout the rest of the code wherever possible,
   * Try to be efficient in memory use, but this is not critical,
   * Labour hard to be efficient in time use, and this is  critical,
   * Don't abhor floats - they work fast enough if you're clever,
   * Don't avoid arrays and structs/classes,
   * Don't avoid pointers,
-  * Use operator and function overloading where appropriate, particularly for vector algebra.
+  * Use operator and function overloading where appropriate.
 
 
 Naming conventions:
 
-  * #defines are all capitals with optional underscores between words
+  * #defines are all CAPITALS_WITH_OPTIONAL_UNDERSCORES_BETWEEN_WORDS
   * No underscores in other names - MakeReadableWithCapitalisation
   * Class names and functions start with a CapitalLetter
   * Variables start with a lowerCaseLetter
@@ -50,12 +62,12 @@ This is just a container class for the single instances of all the others, and o
 
 GCodes:
 
-This class is fed GCodes, either from the web interface or from GCode files, interprests them, and requests
+This class is fed GCodes, either from the web interface, or from GCode files, or from a serial interface,
-actions from the RepRap machine via the other classes.
+Interprets them, and requests actions from the RepRap machine via the other classes.
 
 Heat:
 
-This class imlements all heating and temperature control in the RepRap machine.
+This class implements all heating and temperature control in the RepRap machine.
 
 Move:
 
@@ -76,11 +88,11 @@ interface to the RepRap machine.  It uses the Knockout and Jquery Javascript lib
 
 
 When the software is running there is one single instance of each main class, and all the memory allocation is
-done on initialisation.  new/malloc should not be used in the general running code, and delete is never
+done on initialization.  new/malloc should not be used in the general running code, and delete is never
 used.  Each class has an Init() function that resets it to its boot-up state; the constructors merely handle
 that memory allocation on startup.  Calling RepRap.Init() calls all the other Init()s in the right sequence.
 
-There are other ancilliary classes that are declared in the .h files for the master classes that use them.  For
+There are other ancillary classes that are declared in the .h files for the master classes that use them.  For
 example, Move has a DDA class that implements a Bresenham/digital differential analyser.
 
 
@@ -99,13 +111,13 @@ any sort of delay() function.  The general rule is:
     No - set a flag/timer to remind me to do it next-time-I'm-called/at-a-future-time and return.
 
 The restriction this strategy places on almost all the code in the firmware (that it must execute quickly and
-never cause waits or delays) is balanced by the fact that none of that code needs to worry about synchronicity, 
+never cause waits or delays) is balanced by the fact that none of that code needs to worry about synchronization,
 locking, or other areas of code accessing items upon which it is working.  As mentioned, only the interrupt
 chain needs to concern itself with such problems.  Unlike movement, heating (including PID controllers) does
 not need the fast precision of timing that interrupts alone can offer.  Indeed, most heating code only needs
 to execute a couple of times a second.
 
-Most data is transferred bytewise, with classes typically containg code like this:
+Most data is transferred bytewise, with classes' Spin() functions typically containing code like this:
 
   Is a byte available for me?
     Yes
@@ -115,52 +127,18 @@ Most data is transferred bytewise, with classes typically containg code like thi
            Act on the contents of my buffer
          No
            Return
-    No
+  No
-     Return
+    Return
 
 Note that it is simple to raise the "priority" of any class's activities relative to the others by calling its
 Spin() function more than once from RepRap.Spin().
 
---------------------------------------------------------------------------------
-
-This version is for the Arduino Due with an Ethernet shield with an SD card and
-the RepRapPro Ltd Arduino DUE to Sanguinololu Adaptor.
-
-(See https://github.com/reprappro/ARMadaptor)
-
-Test compiling was with Arduino 1.5.2.
-
-Upload it to your Due, put the ether shield on it, plug in a
-network cable, and copy the files in the SD-image folder onto the SD.
-
-The IP address for your browser is 192.168.1.14.
-
-You can change that in Platform.h if you need to:
-
-#define IP0 192
-#define IP1 168
-#define IP2 1
-#define IP3 14
-
-The password when the web browser asks for it is "reprap" with no quotes.
-
-The password is intended to stop fidgety friends or colleagues from playing
-with your RepRap.  It is not intended to stop international cyberterrorists
-hiding in a hollowed-out volcano from controlling your RepRap from the next 
-continent.  For example, it is transmitted unencrypted...
-
-If you open the Arduino serial monitor (115200 baud) you should see a
-log of incoming HTTP requests and a record of any G Codes it thinks it
-has to act upon.
-
-Actually acting upon them will be added shortly :-)
-
 -------------
 
-Version 0.2 pre-alpha
+Version 0.3n beta
 
-Started: 18 November 2012
+Started: 2012-11-18
-This date: 12 June 2013
+This README dated: 2013-12-06
 
 Adrian Bowyer
 RepRap Professional Ltd

RepRapFirmware.cpp

@@ -246,6 +246,7 @@ void RepRap::EmergencyStop()
 	for(i = 0; i < HEATERS; i++)
 		platform->SetHeater(i, 0.0);
 
+
 	// We do this twice, to avoid an interrupt switching
 	// a drive back on.  move->Exit() should prevent
 	// interrupts doing this.
@@ -259,6 +260,7 @@ void RepRap::EmergencyStop()
 			platform->Disable(i);
 		}
 	}
+	platform->Message(HOST_MESSAGE, "Emergency Stop! Reset the controller to continue.");
 }
 
 

SD-image/gcodes/bigcirc.g

@@ -1,202 +0,0 @@
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-G1 X76.9661 Y23.3877
-G1 X79.3961 Y22.6988
-G1 X81.8467 Y22.0869
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-G1 X94.3215 Y20.2018
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-G1 X99.3685 Y20.0025
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-G1 X138.163 Y29.6896
-G1 X140.364 Y30.9294
-G1 X142.524 Y32.2381
-G1 X144.642 Y33.6143
-G1 X146.716 Y35.0567
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-G1 X150.721 Y38.1341
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-G1 X177.461 Y80.007
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-G1 X179.363 Y89.9232
-G1 X179.641 Y92.4336
-G1 X179.841 Y94.9515
-G1 X179.96 Y97.4745
-G1 X180 Y100
-

SD-image/gcodes/circle.g

@@ -1,52 +1,202 @@
 G1 F2000
-G1 X70 Y50
+G1 X180 Y100
-G1 X69.8358 Y52.5575
+G1 X179.96 Y102.525
-G1 X69.3459 Y55.0731
+G1 X179.841 Y105.048
-G1 X68.5383 Y57.5053
+G1 X179.641 Y107.566
-G1 X67.4264 Y59.8144
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-G1 X66.0283 Y61.9622
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-G1 X64.367 Y63.9137
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-G1 X62.4698 Y65.6366
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-G1 X60.3679 Y67.1029
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-G1 X58.0957 Y68.2883
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-G1 X55.6906 Y69.1734
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-G1 X53.192 Y69.7436
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-G1 X50.641 Y69.9897
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-G1 X48.0795 Y69.9076
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-G1 X45.5496 Y69.4986
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-G1 X43.0927 Y68.7694
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-G1 X40.7492 Y67.732
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-G1 X38.5577 Y66.4034
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-G1 X36.554 Y64.8056
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-G1 X34.7711 Y62.9646
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-G1 X33.2382 Y60.9107
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-G1 X31.9806 Y58.6777
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-G1 X31.0189 Y56.3022
+G1 X161.464 Y151.208
-G1 X30.3688 Y53.8232
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-G1 X30.0411 Y51.2814
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-G1 X30.0411 Y48.7186
+G1 X156.345 Y156.791
-G1 X30.3688 Y46.1768
+G1 X154.524 Y158.542
-G1 X31.0189 Y43.6978
+G1 X152.649 Y160.234
-G1 X31.9806 Y41.3223
+G1 X150.721 Y161.866
-G1 X33.2382 Y39.0893
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-G1 X34.7711 Y37.0354
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-G1 X36.554 Y35.1944
+G1 X144.642 Y166.386
-G1 X38.5577 Y33.5966
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-G1 X40.7492 Y32.268
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-G1 X43.0927 Y31.2306
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-G1 X45.5496 Y30.5014
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-G1 X50.641 Y30.0103
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-G1 X55.6906 Y30.8266
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-G1 X58.0957 Y31.7117
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-G1 X60.3678 Y32.8971
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-G1 X62.4698 Y34.3634
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-G1 X64.367 Y36.0863
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-G1 X66.0283 Y38.0378
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+G1 X180 Y100
 

SD-image/gcodes/coathook.g

@@ -17,30 +17,19 @@
 ; top infill extrusion width = 0.85mm
 ; first layer extrusion width = 0.48mm
 
-G21 ; set units to millimeters
-M107
-M104 S205 ; set temperature
 G21 ; set units to millimeters
 G90 ; use absolute coordinates
 M83 ; use relative distances for extrusion
-M107; Fan off
+M140 S65; Set bed temperature
-G10 P0 S205 R205 ; Set extruder temperature
-T0; Select extruder
-M140 S55; Set bed temperature
 G1 Z5 F200 ; lift nozzle
-G28 X0 Y0; home X and Y axes
+G1 X2 Y50 F2000; Go to wait for warm position
-G1 X55 F2000; move to bed probe point
+M116; Wait for all temperatures
-G28 Z0; zero Z
+G10 P0 S205 R0 ; Set extruder temperature
-G32 ; Probe bed
+T0; Select extruder
-G1 X0 Y0 F2000; Go to wait for warm position
-G1 Z0 F200
 M116; Wait for all temperatures
-M109 S205 ; wait for temperature to be reached
-G90 ; use absolute coordinates
-M83 ; use relative distances for extrusion
 G1 F1800.000 E-1.00000
-G1 Z0.240 F3600.000
 G1 X83.244 Y72.792
+G1 Z0.240 F3600.000
 G1 F1800.000 E1.00000
 G1 X99.024 Y56.882 F600.000 E1.08284
 G1 X100.014 Y56.062 E0.06212

SD-image/gcodes/ormaxis.g

@@ -17,30 +17,19 @@
 ; top infill extrusion width = 0.85mm
 ; first layer extrusion width = 0.48mm
 
-G21 ; set units to millimeters
-M107
-M104 S205 ; set temperature
 G21 ; set units to millimeters
 G90 ; use absolute coordinates
 M83 ; use relative distances for extrusion
-M107; Fan off
-G10 P0 S205 R205 ; Set extruder temperature
-T0; Select extruder
 M140 S65; Set bed temperature
 G1 Z5 F200 ; lift nozzle
-G28 X0 Y0; home X and Y axes
-G1 X55 F2000; move to bed probe point
-G28 Z0; zero Z
-G32 ; Probe bed
 G1 X2 Y50 F2000; Go to wait for warm position
-G1 Z0 F200
 M116; Wait for all temperatures
-;M109 S205 ; wait for temperature to be reached
+G10 P0 S205 R0 ; Set extruder temperature
-G90 ; use absolute coordinates
+T0; Select extruder
-M83 ; use relative distances for extrusion
+M116; Wait for all temperatures
 G1 F1800.000 E-1.00000
-G1 Z0.240 F3600.000
 G1 X47.463 Y43.710
+G1 Z0.240 F3600.000
 G1 F1800.000 E1.00000
 G1 X48.473 Y42.780 F600.000 E0.06635
 G1 X49.653 Y42.090 E0.06605

SD-image/gcodes/square.g

@@ -1,11 +1,11 @@
 G1 X55 Y5 F2000
-G1 Y55
+G1 Y180
-G1 X5
+G1 X180
 G1 Y5
-G1 X30
 G1 X55
-G1 Y55 ; Confusing: F20
+G1 Y180
-G1 Y55
+G1 X180
-G1 X5
 G1 Y5
+G1 X55
+M0
 

SD-image/sys/config.g

@@ -11,6 +11,7 @@ M92 E420; Set extruder steps/mm
 G21 ; Work in mm
 G90 ; Absolute positioning
 M83 ; Extrusions relative
+M558 P1 ; Turn Z Probe on
 G31 Z0.5 P500 ; Set Z probe height and threshold
 M906 X800 Y800 Z800 E800 ; Motor currents (mA)
 T0 ; Select extruder 0

SD-image/www/reprap.htm

@@ -185,7 +185,7 @@ function heatRowHTML(heater, hNumber)
    </tr>
    
    <tr>
-   <td rowspan="2"><button data-bind="click: function(data, event) { sendHome('', data, event) }">Home<br>All</button></td>
+   <td rowspan="2"><button style="background-color:red" data-bind="click: function(data, event) { sendStop(data, event) }"><br>STOP<br></button></td>
    <td colspan="4">- mm</td>
    <td colspan="4">+ mm</td>
 	<td rowspan="2"><button data-bind="click: function(data, event) { motorsOff(data, event) }">Motors<br>off
@@ -487,6 +487,11 @@ function viewModel()
 			$.get('/rr_gcode', {gcode: "G28"}, self.dummy);
 	};
 
+	self.sendStop = function(data, event) 
+	{
+			$.get('/rr_gcode', {gcode: "M112"}, self.dummy);
+	};
+
 	self.deleteFile = function(data, event)
 	{
 		if(self.deleteButton() == 'Print a file')

Webserver.cpp

@@ -122,17 +122,18 @@ bool Webserver::LoadGcodeBuffer(char* gc, bool convertWeb)
   gcodeBuffer[gcodePointer] = 0;
   gcodePointer = 0;  
   
-// We intercept two G Codes so we can deal with file manipulation.  That
+// We intercept three G/M Codes so we can deal with file manipulation and emergencies.  That
 // way things don't get out of sync, and - as a file name can contain
 // a valid G code (!) - confusion is avoided.
   
-  int8_t fileAct = 0;
+  int8_t specialAction = 0;
-  if(StringStartsWith(gcodeBuffer, "M30 ")) fileAct |= 1;
+  if(StringStartsWith(gcodeBuffer, "M30 ")) specialAction = 1;
-  if(StringStartsWith(gcodeBuffer, "M23 ")) fileAct |= 2;
+  if(StringStartsWith(gcodeBuffer, "M23 ")) specialAction = 2;
+  if(StringStartsWith(gcodeBuffer, "M112")) specialAction = 3;  // FIXME - suppose we ever have an M1121 ??
   
-  if(fileAct) // Delete or print a file?
+  if(specialAction) // Delete or print a file?
   { 
-    if(fileAct == 1) // Delete?
+    if(specialAction == 1) // Delete?
     {
       if(!platform->GetMassStorage()->Delete(platform->GetGCodeDir(), &gcodeBuffer[4]))
       {
@@ -140,9 +141,12 @@ bool Webserver::LoadGcodeBuffer(char* gc, bool convertWeb)
         platform->Message(HOST_MESSAGE, &gcodeBuffer[4]);
         platform->Message(HOST_MESSAGE, "\n");
       } 
-    } else // Print it
+    } else if (specialAction == 2)
     {
       reprap.GetGCodes()->QueueFileToPrint(&gcodeBuffer[4]);
+    } else
+    {
+    	reprap.EmergencyStop();
     }
     
     // Check for further G Codes in the string