Memory diagnostics added. Mem usage is printed whenever you turn debugging on (even if it is already on).

Data/calibration.scad

@@ -8,6 +8,9 @@ module Gauge()
 		 union()
 		 {
 			cube([long,8,8]);
+			translate([3, 5, 0])
+			rotate([0,0,45])
+			cube([8,5,8]);
 			rotate([0,0,5])
 			cube([8,long,8]);
 		 }
@@ -57,6 +60,6 @@ module TestPiece()
 
 //TestPiece();
 
-//Gauge();
+Gauge();
 
-ThumbWheel();
+//ThumbWheel();

Data/gauge.stl

@@ -31,7 +31,21 @@ solid OpenSCAD_Model
     outer loop
       vertex 0 0 0
       vertex 0.125541 90.3548 0
-      vertex 7.33065 8 0
+      vertex 6.94877 12.3649 0
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 7.2236 9.2236 0
+      vertex 6.94877 12.3649 0
+      vertex 8.65685 10.6569 0
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 0 0 0
+      vertex 6.94877 12.3649 0
+      vertex 7.2236 9.2236 0
     endloop
   endfacet
   facet normal 0 0 -1
@@ -48,6 +62,13 @@ solid OpenSCAD_Model
       vertex 90 0 0
     endloop
   endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 7.33065 8 0
+      vertex 0 0 0
+      vertex 7.2236 9.2236 0
+    endloop
+  endfacet
   facet normal -1 0 0
     outer loop
       vertex -7 86.5217 3.50557
@@ -293,13 +314,6 @@ solid OpenSCAD_Model
       vertex 0 0 8
     endloop
   endfacet
-  facet normal 0 0 1
-    outer loop
-      vertex 7.33065 8 8
-      vertex 0.125541 90.3548 8
-      vertex -7 89.7314 8
-    endloop
-  endfacet
   facet normal 0 0 1
     outer loop
       vertex 7.33065 8 8
@@ -314,6 +328,34 @@ solid OpenSCAD_Model
       vertex 0 0 8
     endloop
   endfacet
+  facet normal 0 0 1
+    outer loop
+      vertex 7.2236 9.2236 8
+      vertex -7 89.7314 8
+      vertex 7.33065 8 8
+    endloop
+  endfacet
+  facet normal 0 0 1
+    outer loop
+      vertex 6.94877 12.3649 8
+      vertex -7 89.7314 8
+      vertex 7.2236 9.2236 8
+    endloop
+  endfacet
+  facet normal 0 0 1
+    outer loop
+      vertex 6.94877 12.3649 8
+      vertex 0.125541 90.3548 8
+      vertex -7 89.7314 8
+    endloop
+  endfacet
+  facet normal 0 0 1
+    outer loop
+      vertex 8.65685 10.6569 8
+      vertex 6.94877 12.3649 8
+      vertex 7.2236 9.2236 8
+    endloop
+  endfacet
   facet normal 0 0 1
     outer loop
       vertex 90 8 8
@@ -365,15 +407,57 @@ solid OpenSCAD_Model
   endfacet
   facet normal 0.996195 0.0871557 0
     outer loop
-      vertex 0.314059 88.2 4
+      vertex 7.33065 8 0
-      vertex 0.125541 90.3548 0
+      vertex 7.2236 9.2236 0
-      vertex 0.125541 90.3548 8
+      vertex 7.2236 9.2236 8
     endloop
   endfacet
   facet normal 0.996195 0.0871557 0
     outer loop
       vertex 7.33065 8 8
       vertex 7.33065 8 0
+      vertex 7.2236 9.2236 8
+    endloop
+  endfacet
+  facet normal 0.707107 -0.707107 0
+    outer loop
+      vertex 7.2236 9.2236 8
+      vertex 7.2236 9.2236 0
+      vertex 8.65685 10.6569 0
+    endloop
+  endfacet
+  facet normal 0.707107 -0.707107 0
+    outer loop
+      vertex 8.65685 10.6569 8
+      vertex 7.2236 9.2236 8
+      vertex 8.65685 10.6569 0
+    endloop
+  endfacet
+  facet normal 0.707107 0.707107 0
+    outer loop
+      vertex 6.94877 12.3649 0
+      vertex 6.94877 12.3649 8
+      vertex 8.65685 10.6569 0
+    endloop
+  endfacet
+  facet normal 0.707107 0.707107 0
+    outer loop
+      vertex 8.65685 10.6569 0
+      vertex 6.94877 12.3649 8
+      vertex 8.65685 10.6569 8
+    endloop
+  endfacet
+  facet normal 0.996195 0.0871557 0
+    outer loop
+      vertex 0.314059 88.2 4
+      vertex 0.125541 90.3548 0
+      vertex 0.125541 90.3548 8
+    endloop
+  endfacet
+  facet normal 0.996195 0.0871557 0
+    outer loop
+      vertex 6.94877 12.3649 8
+      vertex 6.94877 12.3649 0
       vertex 0.125541 90.3548 8
     endloop
   endfacet
@@ -386,14 +470,14 @@ solid OpenSCAD_Model
   endfacet
   facet normal 0.996195 0.0871557 0
     outer loop
-      vertex 7.33065 8 0
+      vertex 6.94877 12.3649 0
       vertex 0.125541 90.3548 0
       vertex 0.45404 86.6 1.22872
     endloop
   endfacet
   facet normal 0.996195 0.0871557 0
     outer loop
-      vertex 7.33065 8 0
+      vertex 6.94877 12.3649 0
       vertex 0.45404 86.6 1.22872
       vertex 0.734004 83.4 1.22872
     endloop
@@ -402,19 +486,19 @@ solid OpenSCAD_Model
     outer loop
       vertex 0.734004 83.4 1.22872
       vertex 0.873986 81.8 4
-      vertex 7.33065 8 0
+      vertex 6.94877 12.3649 0
     endloop
   endfacet
   facet normal 0.996195 0.0871557 0
     outer loop
-      vertex 7.33065 8 0
+      vertex 6.94877 12.3649 0
       vertex 0.734004 83.4 6.77128
       vertex 0.125541 90.3548 8
     endloop
   endfacet
   facet normal 0.996195 0.0871557 0
     outer loop
-      vertex 7.33065 8 0
+      vertex 6.94877 12.3649 0
       vertex 0.873986 81.8 4
       vertex 0.734004 83.4 6.77128
     endloop
@@ -447,20 +531,6 @@ solid OpenSCAD_Model
       vertex 0.125541 90.3548 8
     endloop
   endfacet
-  facet normal -4.6166e-17 0.978147 0.207913
-    outer loop
-      vertex -4 83.4783 3.50557
-      vertex -7 83.4783 3.50557
-      vertex -4 83.4088 3.83275
-    endloop
-  endfacet
-  facet normal -4.6166e-17 0.978147 0.207913
-    outer loop
-      vertex -4 83.4088 3.83275
-      vertex -7 83.4783 3.50557
-      vertex -7 83.4088 3.83275
-    endloop
-  endfacet
   facet normal 0 1 0
     outer loop
       vertex -4 83.4088 4.16725
@@ -475,6 +545,20 @@ solid OpenSCAD_Model
       vertex -7 83.4088 3.83275
     endloop
   endfacet
+  facet normal -4.6166e-17 0.978147 0.207913
+    outer loop
+      vertex -4 83.4783 3.50557
+      vertex -7 83.4783 3.50557
+      vertex -4 83.4088 3.83275
+    endloop
+  endfacet
+  facet normal -4.6166e-17 0.978147 0.207913
+    outer loop
+      vertex -4 83.4088 3.83275
+      vertex -7 83.4783 3.50557
+      vertex -7 83.4088 3.83275
+    endloop
+  endfacet
   facet normal 4.6166e-17 0.978147 -0.207913
     outer loop
       vertex -4 83.4783 4.49443
@@ -867,20 +951,6 @@ solid OpenSCAD_Model
       vertex -7 83.4783 3.50557
     endloop
   endfacet
-  facet normal -1.11022e-16 -0.866025 0.5
-    outer loop
-      vertex -4 86.6 1.22872
-      vertex 0.45404 86.6 1.22872
-      vertex 0.314059 88.2 4
-    endloop
-  endfacet
-  facet normal -1.11022e-16 -0.866025 0.5
-    outer loop
-      vertex -4 88.2 4
-      vertex -4 86.6 1.22872
-      vertex 0.314059 88.2 4
-    endloop
-  endfacet
   facet normal 1.11022e-16 -0.866025 -0.5
     outer loop
       vertex -4 88.2 4
@@ -895,6 +965,20 @@ solid OpenSCAD_Model
       vertex 0.45404 86.6 6.77128
     endloop
   endfacet
+  facet normal -1.11022e-16 -0.866025 0.5
+    outer loop
+      vertex -4 86.6 1.22872
+      vertex 0.45404 86.6 1.22872
+      vertex 0.314059 88.2 4
+    endloop
+  endfacet
+  facet normal -1.11022e-16 -0.866025 0.5
+    outer loop
+      vertex -4 88.2 4
+      vertex -4 86.6 1.22872
+      vertex 0.314059 88.2 4
+    endloop
+  endfacet
   facet normal 2.22045e-16 -4.56422e-08 -1
     outer loop
       vertex 0.45404 86.6 6.77128

GCodes.cpp

@@ -37,6 +37,7 @@ GCodes::GCodes(Platform* p, Webserver* w)
 
 void GCodes::Exit()
 {
+   platform->Message(HOST_MESSAGE, "GCodes class exited.\n");
    active = false;
 }
 

Heat.cpp

@@ -39,6 +39,7 @@ void Heat::Init()
 
 void Heat::Exit()
 {
+  platform->Message(HOST_MESSAGE, "Heat class exited.\n");
   active = false;
 }
 
@@ -110,9 +111,6 @@ void PID::Init()
 
 void PID::Spin()
 {
-  if(temperatureFault)
-	  return;
-
   temperature = platform->GetTemperature(heater);
   
   if(temperature < BAD_LOW_TEMPERATURE || temperature > BAD_HIGH_TEMPERATURE)
@@ -174,5 +172,7 @@ void PID::Spin()
   if (result < 0.0) result = 0.0;
   if (result > 255.0) result = 255.0;
   result = result/255.0;
+
+  if(!temperatureFault)
 	  platform->SetHeater(heater, result);
 }

Move.cpp

@@ -147,6 +147,7 @@ void Move::Init()
   tanXY = 0.0;
   tanYZ = 0.0;
   tanXZ = 0.0;
+  zPlaneSet = false;
 
   lastZHit = 0.0;
   zProbing = false;
@@ -157,6 +158,7 @@ void Move::Init()
 
 void Move::Exit()
 {
+  platform->Message(HOST_MESSAGE, "Move class exited.\n");
   active = false;
 }
 
@@ -625,6 +627,7 @@ void Move::SetProbedBedPlane()
 	aX = -a/c;
 	aY = -b/c;
 	aC = -d/c;
+	zPlaneSet = true;
 }
 
 // FIXME

Move.h

@@ -214,6 +214,7 @@ class Move
     float extruderStepDistances[(1<<(DRIVES-AXES))]; // NB - limits us to 5 extruders
     long nextMachineEndPoints[DRIVES+1];
     float aX, aY, aC; // Bed plane explicit equation z' = z + aX*x + aY*y + aC
+    bool zPlaneSet;
     float tanXY, tanYZ, tanXZ; // 90 degrees + angle gives angle between axes
     float lastZHit;
     bool zProbing;

Platform.cpp

@@ -262,20 +262,25 @@ void Platform::Diagnostics()
   Message(HOST_MESSAGE, "Platform Diagnostics:\n"); 
 }
 
-//extern int __bss_end; // void? long?
+extern char _end;
-//extern void *__brkval;
+extern "C" char *sbrk(int i);
-//
+
-//long Platform::GetFreeMemory()
+void Platform::PrintMemoryUsage()
-//{
+{
-//	long free_memory;
+	char *ramstart=(char *)0x20070000;
-//
+	char *ramend=(char *)0x20088000;
-//  if((long)__brkval == 0)
+    char *heapend=sbrk(0);
-//    free_memory = ((long)&free_memory) - ((long)&__bss_end);
+	register char * stack_ptr asm ("sp");
-//  else
+	struct mallinfo mi=mallinfo();
-//    free_memory = ((long)&free_memory) - ((long)__brkval);
+	snprintf(scratchString, STRING_LENGTH, "\nMemory usage:\nDynamic ram used: %d\n",mi.uordblks);
-//
+	Message(HOST_MESSAGE, scratchString);
-//  return free_memory;
+	snprintf(scratchString, STRING_LENGTH, "Program static ram used %d\n",&_end - ramstart);
-//}
+	Message(HOST_MESSAGE, scratchString);
+	snprintf(scratchString, STRING_LENGTH, "Stack ram used %d\n",ramend - stack_ptr);
+	Message(HOST_MESSAGE, scratchString);
+	snprintf(scratchString, STRING_LENGTH, "My guess at free mem: %d\n\n",stack_ptr - heapend + mi.fordblks);
+	Message(HOST_MESSAGE, scratchString);
+}
 
 
 //===========================================================================

Platform.h

@@ -39,6 +39,8 @@ Licence: GPL
 #include <stdio.h>
 #include <ctype.h>
 #include <string.h>
+#include <malloc.h>
+#include <stdlib.h>
 
 // Platform-specific includes
 
@@ -408,7 +410,11 @@ class Platform
 
   void Diagnostics();
   
-  // long GetFreeMemory();
+  void PrintMemoryUsage();  // Print memory stats for debugging
+
+  void GetMemoryPointers(unsigned long& heap, unsigned long& stack);
+
+  int FreeMemory();
 
   // Timing
   
@@ -584,6 +590,7 @@ inline float Platform::Time()
 
 inline void Platform::Exit()
 {
+  Message(HOST_MESSAGE, "Platform class exited.\n");
   active = false;
 }
 

RepRapFirmware.cpp

@@ -191,6 +191,7 @@ void RepRap::Exit()
   move->Exit();
   gCodes->Exit();
   webserver->Exit();
+  platform->Message(HOST_MESSAGE, "RepRap class exited.\n");
   platform->Exit();
 }
 

Reprap.h

@@ -57,7 +57,7 @@ inline Heat* RepRap::GetHeat() { return heat; }
 inline GCodes* RepRap::GetGCodes() { return gCodes; }
 inline Webserver* RepRap::GetWebserver() { return webserver; }
 inline bool RepRap::Debug() { return debug; }
-inline void RepRap::SetDebug(bool d) { debug = d; }
+inline void RepRap::SetDebug(bool d) { debug = d; if(debug) platform->PrintMemoryUsage(); }
 inline void RepRap::Interrupt() { move->Interrupt(); }
 
 

SD-image/sys/config.g

@@ -1,13 +1,13 @@
 ; RepRapPro Ormerod
 ; Standard configuration G Codes
 M111 S1; Debug on
+M501 POrmerod
+M500 Preprap
 G21 ; mm
 G90 ; Absolute positioning
 M83 ; Extrusion relative
-M107; Fan off
+G31 Z0.7 P550 ; Set Z probe height and threshold
-G31 Z0.7 P344 ; Set Z probe height and threshold
+M906 X800 Y800 Z800 E800 ; Motor currents (mA)
-M906 X500 Y500 Z500 E500 ; Motor currents (mA)
-;M201 X4000 Y4000 E4000 ; Accelerations (mms-2)
 T0 ; Extruder 0
 
 

SD-image/www/reprap.htm

@@ -1,8 +1,11 @@
 <!DOCTYPE HTML>
 <head>
 
+<!--
 <link rel="shortcut icon" href="https://github.com/reprappro/RepRapFirmware/raw/due/SD-image/www/favicon.ico" /> 
-<!-- <link rel="shortcut icon" href="favicon.ico" /> -->
+-->
+
+<link rel="shortcut icon" href="favicon.ico" />
 
 <style type="text/css">
 .pages 
@@ -139,7 +142,12 @@ function heatRowHTML(heater, hNumber)
 </script>
 
 <!-- HEADER -->
-<a href="http://reprappro.com" target="_blank"><img src="https://github.com/reprappro/RepRapFirmware/raw/due/SD-image/www/logo.png" alt="RepRapPro logo" align="right"></a>
+
+<a href="http://reprappro.com" target="_blank"><img src="https://github.com/reprappro/RepRapFirmware/raw/duet/SD-image/www/logo.png" alt="RepRapPro logo" align="right"></a>
+
+<!--
+<a href="http://reprappro.com" target="_blank"><img src="logo.png" alt="RepRapPro logo" align="right"></a>
+-->
 
 <div style="font-size:20px" data-bind="with: machineName">RepRap: <strong data-bind="text: myName"></strong></div>
 

Webserver.cpp

@@ -699,6 +699,7 @@ void Webserver::Init()
 
 void Webserver::Exit()
 {
+  platform->Message(HOST_MESSAGE, "Webserver class exited.\n");
   active = false;
 }