Version 0.78r

Increased default heater S factor to 1.0 to make it easier for users to
switch from RRP official firmware
Minor fix to move lookahead code
Added support for M570 command (set max time to hot)
M81 command now waits for moves to finish before turning power off
Other minor changes

Configuration.h

@@ -24,8 +24,8 @@ Licence: GPL
 #define CONFIGURATION_H
 
 #define NAME "RepRapFirmware"
-#define VERSION "0.78r-alpha-dc42"
-#define DATE "2014-08-31"
+#define VERSION "0.78r-dc42"
+#define DATE "2014-09-06"
 #define AUTHORS "reprappro, dc42, zpl"
 
 // Other firmware that we might switch to be compatible with.

GCodes.cpp

@@ -1923,8 +1923,13 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 		break;
 
 	case 80:	// ATX power on
+		platform->SetAtxPower(true);
+		break;
+
 	case 81:	// ATX power off
-		platform->SetAtxPower(code == 80);
+		if (!AllMovesAreFinishedAndMoveBufferIsLoaded())
+			return false;
+		platform->SetAtxPower(false);
 		break;
 
 	case 82:	// Use absolute extruder positioning
@@ -2856,6 +2861,17 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
 		}
 		break;
 
+	case 570: // Set/report heater timeout
+		if(gb->Seen('S'))
+		{
+			platform->SetTimeToHot(gb->GetFValue());
+		}
+		else
+		{
+			reply.printf("Time allowed to get to temperature: %.1f seconds.", platform->TimeToHot());
+		}
+		break;
+
     case 906: // Set/report Motor currents
 		{
 			bool seen = false;

Heat.cpp

@@ -184,7 +184,7 @@ void PID::Spin()
 	  if(temperature < tmp)
 	  {
 		  float tim = platform->Time() - timeSetHeating;
-		  if(tim > TIME_TO_HOT)
+		  if(tim > platform->TimeToHot())
 		  {
 			  platform->SetHeater(heater, 0.0);
 			  temperatureFault = true;

Move.cpp

@@ -460,10 +460,6 @@ void Move::DoLookAhead()
   if(LookAheadRingEmpty())
     return;
   
-  LookAhead* n0;
-  LookAhead* n1;
-  LookAhead* n2;
-  
   // If there are a reasonable number of moves in there (LOOK_AHEAD), or if we are
   // doing single moves with no other move immediately following on, run up and down
   // the moves using the DDA Init() function to reduce the start or the end speed
@@ -475,10 +471,9 @@ void Move::DoLookAhead()
     
     // Run up the moves
     
-    n1 = lookAheadRingGetPointer;
-    n0 = n1->Previous();
-    n2 = n1->Next();
-    while(n2 != lookAheadRingAddPointer)
+	LookAhead* n1 = lookAheadRingGetPointer;
+	LookAhead* n0 = n1->Previous();
+    while(n1 != lookAheadRingAddPointer)
     {
       if(!(n1->Processed() & complete))
       {
@@ -494,8 +489,7 @@ void Move::DoLookAhead()
         }
       }
       n0 = n1;
-      n1 = n2;
-      n2 = n2->Next();
+      n1 = n1->Next();
     }
     
     // Now run down
@@ -516,7 +510,6 @@ void Move::DoLookAhead()
           n1->SetProcessed(complete);
         }
       }
-      n2 = n1;
       n1 = n0;
       n0 = n0->Previous();      
     } while(n0 != lookAheadRingGetPointer);
@@ -528,9 +521,9 @@ void Move::DoLookAhead()
   
   if(addNoMoreMoves || !gCodes->HaveIncomingData() || lookAheadRingCount > 1)
   {
-    n1 = lookAheadRingGetPointer;
-    n0 = n1->Previous();
-    n2 = n1->Next();
+	LookAhead* n1 = lookAheadRingGetPointer;
+	LookAhead* n0 = n1->Previous();
+	LookAhead* n2 = n1->Next();
     while(n2 != lookAheadRingAddPointer)
     {
       if(n1->Processed() == unprocessed)

Platform.cpp

@@ -227,6 +227,7 @@ void Platform::Init()
 	activeTemperatures = ACTIVE_TEMPERATURES;
 	coolingFanPin = COOLING_FAN_PIN;
 	coolingFanRpmPin = COOLING_FAN_RPM_PIN;
+	timeToHot = TIME_TO_HOT;
 	lastRpmResetTime = 0.0;
 
 	webDir = WEB_DIR;
@@ -807,13 +808,12 @@ void Platform::Diagnostics()
 	AppendMessage(BOTH_MESSAGE, "Error status: %u\n", errorCodeBits);
 
 	// Show the current probe position heights
-	scratchString.copy("Bed probe heights:");
+	AppendMessage(BOTH_MESSAGE, "Bed probe heights:");
 	for (size_t i = 0; i < NUMBER_OF_PROBE_POINTS; ++i)
 	{
-		scratchString.catf(" %.3f", reprap.GetMove()->ZBedProbePoint(i));
+		AppendMessage(BOTH_MESSAGE, " %.3f", reprap.GetMove()->ZBedProbePoint(i));
 	}
-	scratchString.cat("\n");
-	AppendMessage(BOTH_MESSAGE, scratchString);
+	AppendMessage(BOTH_MESSAGE, "\n");
 
 	// Show the number of free entries in the file table
 	unsigned int numFreeFiles = 0;
@@ -1351,10 +1351,7 @@ void MassStorage::Init()
 	int mounted = f_mount(0, &fileSystem);
 	if (mounted != FR_OK)
 	{
-		platform->Message(HOST_MESSAGE, "Can't mount filesystem 0: code ");
-		snprintf(scratchString, STRING_LENGTH, "%d", mounted);
-		platform->Message(HOST_MESSAGE, scratchString);
-		platform->Message(HOST_MESSAGE, "\n");
+		platform->Message(HOST_MESSAGE, "Can't mount filesystem 0: code %d\n", mounted);
 	}
 }
 
@@ -1508,7 +1505,7 @@ bool MassStorage::Delete(const char* directory, const char* fileName)
 								: fileName;
 	if (f_unlink(location) != FR_OK)
 	{
-		platform->Message(BOTH_MESSAGE, "Can't delete file %s\n, location");
+		platform->Message(BOTH_MESSAGE, "Can't delete file %s\n", location);
 		return false;
 	}
 	return true;

Platform.h

@@ -164,7 +164,7 @@ const float defaultPidKis[HEATERS] = {5.0, 0.1, 0.1, 0.1, 0.1, 0.1}; 			// Integ
 const float defaultPidKds[HEATERS] = {500.0, 100.0, 100.0, 100.0, 100.0, 100.0}; // Derivative PID constants
 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 defaultPidKss[HEATERS] = {1.0, 1.0, 1.0, 1.0, 1.0, 1.0};			// 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
 const float defaultPidMin[HEATERS] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};			// minimum value of I-term
 const float defaultPidMax[HEATERS] = {255, 180, 180, 180, 180, 180};			// maximum value of I-term, must be high enough to reach 245C for ABS printing
@@ -654,6 +654,8 @@ public:
   float GetFanRPM();
   void SetPidParameters(size_t heater, const PidParameters& params);
   const PidParameters& GetPidParameters(size_t heater);
+  float TimeToHot() const;
+  void SetTimeToHot(float t);
 
 //-------------------------------------------------------------------------------------------------------
   
@@ -756,6 +758,7 @@ private:
   float activeTemperatures[HEATERS];
   int8_t coolingFanPin;
   int8_t coolingFanRpmPin;
+  float timeToHot;
   float lastRpmResetTime;
 
 // Serial/USB
@@ -1051,6 +1054,16 @@ inline void Platform::SetHeatSampleTime(float st)
 	heatSampleTime = st;
 }
 
+inline float Platform::TimeToHot() const
+{
+	return timeToHot;
+}
+
+inline void Platform::SetTimeToHot(float t)
+{
+	timeToHot = t;
+}
+
 inline const byte* Platform::IPAddress() const
 {
 	return nvData.ipAddress;

Webserver.cpp

@@ -1557,10 +1557,9 @@ bool Webserver::HttpInterpreter::ProcessMessage()
     	platform->Message(HOST_MESSAGE, "HTTP request:");
     	for (unsigned int i = 0; i < numCommandWords; ++i)
     	{
-    		platform->Message(HOST_MESSAGE, " ");
-    		platform->Message(HOST_MESSAGE, commandWords[i]);
+    		platform->AppendMessage(HOST_MESSAGE, " %s", commandWords[i]);
     	}
-    	platform->Message(HOST_MESSAGE, "\n");
+    	platform->AppendMessage(HOST_MESSAGE, "\n");
     }
 
     if (numCommandWords < 2)
@@ -1598,9 +1597,7 @@ bool Webserver::HttpInterpreter::ProcessMessage()
 // Reject the current message. Always returns true to indicate that we should stop reading the message.
 bool Webserver::HttpInterpreter::RejectMessage(const char* response, unsigned int code)
 {
-	platform->Message(HOST_MESSAGE, "Webserver: rejecting message with: ");
-	platform->Message(HOST_MESSAGE, response);
-	platform->Message(HOST_MESSAGE, "\n");
+	platform->Message(HOST_MESSAGE, "Webserver: rejecting message with: %s\n", response);
 
 	Network *net = reprap.GetNetwork();
 	RequestState *req = net->GetRequest();
@@ -1734,7 +1731,7 @@ bool Webserver::FtpInterpreter::CharFromClient(char c)
 
 			if (DebugEnabled())
 			{
-				platform->Message(DEBUG_MESSAGE, "FtpInterpreter::ProcessLine call finished.");
+				platform->Message(DEBUG_MESSAGE, "FtpInterpreter::ProcessLine call finished.\n");
 			}
 
 			clientPointer = 0;
@@ -2505,6 +2502,7 @@ bool Webserver::GetFileInfo(const char *directory, const char *fileName, GcodeFi
 					// Look for layer height
 					foundLayerHeight = FindLayerHeight(buf, sizeToRead, info.layerHeight);
 
+					// Look for slicer generated-by comment program
 					const char* generatedByString = "; generated by ";
 					const char* pos = strstr(buf, generatedByString);
 					size_t generatedByLength = ARRAY_SIZE(info.generatedBy);
@@ -2529,6 +2527,31 @@ bool Webserver::GetFileInfo(const char *directory, const char *fileName, GcodeFi
 						info.generatedBy[i] = 0;
 					}
 
+					// Look for Cura comment
+					const char* slicedAtString = ";Sliced at: ";
+					pos = strstr(buf, slicedAtString);
+					if (pos != NULL)
+					{
+						pos += strlen(slicedAtString);
+						strcpy(info.generatedBy, "Cura at ");
+						size_t i = 8;
+						while (i < ARRAY_SIZE(info.generatedBy) - 1 && *pos >= ' ')
+						{
+							char c = *pos++;
+							if (c == '"' || c == '\\')
+							{
+								// Need to escape the quote-mark for JSON
+								if (i > ARRAY_SIZE(info.generatedBy) - 3)
+								{
+									break;
+								}
+								info.generatedBy[i++] = '\\';
+							}
+							info.generatedBy[i++] = c;
+						}
+						info.generatedBy[i] = 0;
+					}
+
 					// Add code to look for other values here...
 				}
 			}
@@ -2612,7 +2635,7 @@ bool Webserver::GetFileInfo(const char *directory, const char *fileName, GcodeFi
 bool Webserver::FindHeight(const char* buf, size_t len, float& height)
 {
 //debugPrintf("Scanning %u bytes starting %.100s\n", len, buf);
-	if (len >= 5)
+	if (len >= 5)			// need to check this here to prevent arithmetic underflow later on
 	{
 		size_t i = len - 5;
 		for(;;)
@@ -2652,18 +2675,34 @@ bool Webserver::FindHeight(const char* buf, size_t len, float& height)
 // Scan the buffer for the layer height. The buffer is null-terminated.
 bool Webserver::FindLayerHeight(const char *buf, size_t len, float& layerHeight)
 {
-	const char* layerHeightString = "; layer_height ";
-	const char *pos = strstr(buf, layerHeightString);
+	// Look for layer_height as generated by Slic3r
+	const char* layerHeightStringSlic3r = "; layer_height ";
+	const char *pos = strstr(buf, layerHeightStringSlic3r);
 	if (pos != NULL)
 	{
-		pos += strlen(layerHeightString);
-		while (strchr(" \t=", *pos))
+		pos += strlen(layerHeightStringSlic3r);
+		while (strchr(" \t=:", *pos))
 		{
 			++pos;
 		}
 		layerHeight = strtod(pos, NULL);
 		return true;
 	}
+
+	// Look for layer height as generated by Cura
+	const char* layerHeightStringCura = "Layer height: ";
+	pos = strstr(buf, layerHeightStringCura);
+	if (pos != NULL)
+	{
+		pos += strlen(layerHeightStringCura);
+		while (strchr(" \t=:", *pos))
+		{
+			++pos;
+		}
+		layerHeight = strtod(pos, NULL);
+		return true;
+	}
+
 	return false;
 }