Version 1.16beta3

Added stub for DueX5 support
Fixed bugs with homing and position reporting of U,V,W axes

src/Configuration.h

@@ -26,11 +26,11 @@ Licence: GPL
 // Firmware name is now defined in the Pins file
 
 #ifndef VERSION
-# define VERSION "1.16beta2"
+# define VERSION "1.16beta3"
 #endif
 
 #ifndef DATE
-# define DATE "2016-10-19"
+# define DATE "2016-10-20"
 #endif
 
 #define AUTHORS "reprappro, dc42, zpl, t3p3, dnewman"

src/DuetNG/SX1509B.cpp

@@ -0,0 +1,36 @@
+/*
+ * SX1509B.cpp
+ *
+ *  Created on: 19 Oct 2016
+ *      Author: David
+ */
+
+#include "SX1509B.h"
+
+const uint8_t DueXnAddress = 0x3E;				// address of the SX1509B on the DueX0/DueX2/DueX5
+
+// Initialise the device and identify which expansion board (if any) is attached
+ExpansionBoardType SX1509B::Init()
+{
+	Wire.begin();								// initialise TWI as master
+
+	Wire.beginTransmission(DueXnAddress);		// start a block
+
+	// Return codes from Wire.endTransmission are:
+	// 0: success
+	// 1: data too long to fit in transmit buffer
+	// 2: received NACK on transmit of address
+	// 3: received NACK on transmit of data
+	// 4: other error
+	// We assume that any return code other than 0 means the device was not found.
+	if (Wire.endTransmission() != 0)
+	{
+		// No device found at that address, or a serious error
+		return ExpansionBoardType::none;
+	}
+
+	return ExpansionBoardType::none;	//TODO
+}
+
+
+// End

src/DuetNG/SX1509B.h

@@ -0,0 +1,27 @@
+/*
+ * SX1509B.h
+ *
+ *  Created on: 19 Oct 2016
+ *      Author: David
+ */
+
+#ifndef SRC_DUETNG_SX1509B_H_
+#define SRC_DUETNG_SX1509B_H_
+
+#include "Wire.h"
+
+enum class ExpansionBoardType : uint8_t
+{
+	none,
+	DueX0,
+	DueX2,
+	DueX5
+};
+
+class SX1509B
+{
+public:
+	ExpansionBoardType Init();			// Initialise the device and identify which expansion board (if any) is attached
+};
+
+#endif /* SRC_DUETNG_SX1509B_H_ */

src/GCodes/GCodes.cpp

@@ -3244,7 +3244,7 @@ bool GCodes::HandleMcode(GCodeBuffer* gb, StringRef& reply)
 				reply.copy("Steps/mm: ");
 				for (size_t axis = 0; axis < numAxes; ++axis)
 				{
-					reply.catf("%c: %.3f, ", platform->DriveStepsPerUnit(axis));
+					reply.catf("%c: %.3f, ", axisLetters[axis], platform->DriveStepsPerUnit(axis));
 				}
 				reply.catf("E: ");
 				for (size_t drive = numAxes; drive < DRIVES; drive++)
@@ -3846,8 +3846,9 @@ bool GCodes::HandleMcode(GCodeBuffer* gb, StringRef& reply)
 			reply.printf("Accelerations: ");
 			for (size_t axis = 0; axis < numAxes; ++axis)
 			{
-				reply.catf("%c: %.1f, ", platform->Acceleration(axis) / distanceScale);
+				reply.catf("%c: %.1f, ", axisLetters[axis], platform->Acceleration(axis) / distanceScale);
 			}
+			reply.cat("E: ");
 			for (size_t drive = numAxes; drive < DRIVES; drive++)
 			{
 				reply.catf("%.1f", platform->Acceleration(drive) / distanceScale);
@@ -3864,7 +3865,7 @@ bool GCodes::HandleMcode(GCodeBuffer* gb, StringRef& reply)
 	case 203: // Set/print maximum feedrates
 		{
 			bool seen = false;
-			for (size_t axis = 0; axis < numAxes; axis++)
+			for (size_t axis = 0; axis < numAxes; ++axis)
 			{
 				if (gb->Seen(axisLetters[axis]))
 				{
@@ -3888,9 +3889,9 @@ bool GCodes::HandleMcode(GCodeBuffer* gb, StringRef& reply)
 			if (!seen)
 			{
 				reply.copy("Maximum feedrates: ");
-				for (size_t axis = 0; axis < numAxes; axis++)
+				for (size_t axis = 0; axis < numAxes; ++axis)
 				{
-					reply.catf("%c: %.1f, ", platform->MaxFeedrate(axis) / (distanceScale * secondsToMinutes));
+					reply.catf("%c: %.1f, ", axisLetters[axis], platform->MaxFeedrate(axis) / (distanceScale * secondsToMinutes));
 				}
 				reply.cat("E: ");
 				for (size_t drive = numAxes; drive < DRIVES; drive++)
@@ -4697,7 +4698,7 @@ bool GCodes::HandleMcode(GCodeBuffer* gb, StringRef& reply)
 			reply.copy("Maximum jerk rates: ");
 			for (size_t axis = 0; axis < numAxes; ++axis)
 			{
-				reply.catf("%c: %.1f, ", platform->ConfiguredInstantDv(axis) / (distanceScale * secondsToMinutes));
+				reply.catf("%c: %.1f, ", axisLetters[axis], platform->ConfiguredInstantDv(axis) / (distanceScale * secondsToMinutes));
 			}
 			reply.cat("E:");
 			char sep = ' ';
@@ -5170,6 +5171,10 @@ bool GCodes::HandleMcode(GCodeBuffer* gb, StringRef& reply)
 		break;
 
 	case 584: // Set axis/extruder to stepper driver(s) mapping
+		if (!AllMovesAreFinishedAndMoveBufferIsLoaded())	// we also rely on this to retrieve the current motor positions to moveBuffer
+		{
+			return false;
+		}
 		{
 			bool seen = false, badDrive = false;
 			for (size_t drive = 0; drive < MAX_AXES; ++drive)
@@ -5204,9 +5209,10 @@ bool GCodes::HandleMcode(GCodeBuffer* gb, StringRef& reply)
 					{
 						while (numAxes <= drive)
 						{
-							moveBuffer.coords[numAxes] = 0.0;		// user has defined a new axis
+							moveBuffer.coords[numAxes] = 0.0;		// user has defined a new axis, so set its position
 							++numAxes;
 						}
+						SetPositions(moveBuffer.coords);			// tell the Move system where any new axes are
 						platform->SetAxisDriversConfig(drive, config);
 					}
 				}

src/Movement/DDA.cpp

@@ -633,7 +633,8 @@ bool DDA::FetchEndPosition(volatile int32_t ep[DRIVES], volatile float endCoords
 	}
 	if (endCoordinatesValid)
 	{
-		for (size_t axis = 0; axis < MAX_AXES; ++axis)
+		const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
+		for (size_t axis = 0; axis < numAxes; ++axis)
 		{
 			endCoords[axis] = endCoordinates[axis];
 		}
@@ -654,7 +655,7 @@ void DDA::SetPositions(const float move[DRIVES], size_t numDrives)
 
 // Get a Cartesian end coordinate from this move
 float DDA::GetEndCoordinate(size_t drive, bool disableDeltaMapping)
-pre(disableDeltaMapping || drive < AXES)
+pre(disableDeltaMapping || drive < MAX_AXES)
 {
 	if (disableDeltaMapping)
 	{

src/Movement/Move.cpp

@@ -527,8 +527,8 @@ void Move::MachineToEndPoint(const int32_t motorPos[], float machinePos[], size_
 		}
 	}
 
-	// Convert the extruders
+	// Convert any additional axes and the extruders
-	for (size_t drive = reprap.GetGCodes()->GetNumAxes(); drive < numDrives; ++drive)
+	for (size_t drive = MIN_AXES; drive < numDrives; ++drive)
 	{
 		machinePos[drive] = motorPos[drive]/stepsPerUnit[drive];
 	}
@@ -1220,18 +1220,7 @@ void Move::HitLowStop(size_t axis, DDA* hitDDA)
 {
 	if (axis < reprap.GetGCodes()->GetNumAxes() && !IsDeltaMode())		// should always be true
 	{
-		float hitPoint;
+		JustHomed(axis, reprap.GetPlatform()->AxisMinimum(axis), hitDDA);
-		if (axis == Z_AXIS)
-		{
-			// Special case of doing a G1 S1 Z move on a Cartesian printer. This is not how we normally home the Z axis, we use G30 instead.
-			// But I think it used to work, so let's not break it.
-			hitPoint = reprap.GetPlatform()->ZProbeStopHeight();
-		}
-		else
-		{
-			hitPoint = reprap.GetPlatform()->AxisMinimum(axis);
-		}
-		JustHomed(axis, hitPoint, hitDDA);
 	}
 }
 
@@ -1323,7 +1312,7 @@ void Move::GetCurrentUserPosition(float m[DRIVES], uint8_t moveType) const
 // Interrupts are assumed enabled on entry, so do not call this from an ISR
 void Move::LiveCoordinates(float m[DRIVES])
 {
-	// The live coordinates and live endpoints are modified by the ISR, to be careful to get a self-consistent set of them
+	// The live coordinates and live endpoints are modified by the ISR, so be careful to get a self-consistent set of them
 	cpu_irq_disable();
 	if (liveCoordinatesValid)
 	{

src/Platform.cpp

@@ -26,8 +26,8 @@
 #include "sam/drivers/hsmci/hsmci.h"
 #include "sd_mmc.h"
 
-#if defined(DUET_NG) && !defined(PROTOTYPE_1)
+#if defined(DUET_NG)
-# include <TMC2660.h>
+# include "TMC2660.h"
 #endif
 
 #ifdef DUET_NG
@@ -213,7 +213,7 @@ void Platform::Init()
 
 	fileStructureInitialised = true;
 
-#if !defined(DUET_NG) || defined(PROTOTYPE_1)
+#if !defined(DUET_NG)
 	mcpDuet.begin();							// only call begin once in the entire execution, this begins the I2C comms on that channel for all objects
 	mcpExpansion.setMCP4461Address(0x2E);		// not required for mcpDuet, as this uses the default address
 #endif
@@ -237,7 +237,7 @@ void Platform::Init()
 	ARRAY_INIT(driveStepsPerUnit, DRIVE_STEPS_PER_UNIT);
 	ARRAY_INIT(instantDvs, INSTANT_DVS);
 
-#if !defined(DUET_NG) || defined(PROTOTYPE_1)
+#if !defined(DUET_NG)
 	ARRAY_INIT(potWipes, POT_WIPES);
 	senseResistor = SENSE_RESISTOR;
 	maxStepperDigipotVoltage = MAX_STEPPER_DIGIPOT_VOLTAGE;
@@ -337,7 +337,24 @@ void Platform::Init()
 	slowDrivers = 0;											// assume no drivers need extended step pulse timing
 
 #ifdef DUET_NG
-	numTMC2660Drivers = 5;										// until we have the DueX5 expansion board, assume that additional drivers are dumb enable/step/dir ones
+	// Test for presence of a DueX2 or DueX5 expansion board and work out how many TMC2660 drivers we have
+	ExpansionBoardType et = expansion.Init();
+	switch (et)
+	{
+	case ExpansionBoardType::DueX2:
+		numTMC2660Drivers = 7;
+		break;
+	case ExpansionBoardType::DueX5:
+		numTMC2660Drivers = 10;
+		break;
+	case ExpansionBoardType::none:
+	case ExpansionBoardType::DueX0:
+	default:
+		numTMC2660Drivers = 5;									// assume that additional drivers are dumb enable/step/dir ones
+		break;
+	}
+
+	// Initialise TMC2660 drivers
 	driversPowered = false;
 	TMC2660::Init(ENABLE_PINS, numTMC2660Drivers);
 #endif
@@ -1781,7 +1798,7 @@ void Platform::EnableDriver(size_t driver)
 		driverState[driver] = DriverStatus::enabled;
 		UpdateMotorCurrent(driver);						// the current may have been reduced by the idle timeout
 
-#if defined(DUET_NG) && !defined(PROTOTYPE_1)
+#if defined(DUET_NG)
 		if (driver < numTMC2660Drivers)
 		{
 			TMC2660::EnableDrive(driver, true);
@@ -1790,7 +1807,7 @@ void Platform::EnableDriver(size_t driver)
 		{
 #endif
 			digitalWrite(ENABLE_PINS[driver], enableValues[driver]);
-#if defined(DUET_NG) && !defined(PROTOTYPE_1)
+#if defined(DUET_NG)
 		}
 #endif
 	}
@@ -1801,7 +1818,7 @@ void Platform::DisableDriver(size_t driver)
 {
 	if (driver < DRIVES)
 	{
-#if defined(DUET_NG) && !defined(PROTOTYPE_1)
+#if defined(DUET_NG)
 		if (driver < numTMC2660Drivers)
 		{
 			TMC2660::EnableDrive(driver, false);
@@ -1810,7 +1827,7 @@ void Platform::DisableDriver(size_t driver)
 		{
 #endif
 			digitalWrite(ENABLE_PINS[driver], !enableValues[driver]);
-#if defined(DUET_NG) && !defined(PROTOTYPE_1)
+#if defined(DUET_NG)
 		}
 #endif
 		driverState[driver] = DriverStatus::disabled;
@@ -1915,7 +1932,7 @@ void Platform::UpdateMotorCurrent(size_t driver)
 			current *= motorCurrentFraction[driver];
 		}
 
-#if defined(DUET_NG) && !defined(PROTOTYPE_1)
+#if defined(DUET_NG)
 		if (driver < numTMC2660Drivers)
 		{
 			TMC2660::SetCurrent(driver, current);
@@ -1999,7 +2016,7 @@ bool Platform::SetDriverMicrostepping(size_t driver, int microsteps, int mode)
 {
 	if (driver < DRIVES)
 	{
-#if defined(DUET_NG) && !defined(PROTOTYPE_1)
+#if defined(DUET_NG)
 		if (driver < numTMC2660Drivers)
 		{
 			return TMC2660::SetMicrostepping(driver, microsteps, mode);
@@ -2010,7 +2027,7 @@ bool Platform::SetDriverMicrostepping(size_t driver, int microsteps, int mode)
 			// Other drivers only support x16 microstepping.
 			// We ignore the interpolation on/off parameter so that e.g. M350 I1 E16:128 won't give an error if E1 supports interpolation but E0 doesn't.
 			return microsteps == 16;
-#if defined(DUET_NG) && !defined(PROTOTYPE_1)
+#if defined(DUET_NG)
 		}
 #endif
 	}
@@ -2040,7 +2057,7 @@ bool Platform::SetMicrostepping(size_t drive, int microsteps, int mode)
 // Get the microstepping for a driver
 unsigned int Platform::GetDriverMicrostepping(size_t driver, bool& interpolation) const
 {
-#if defined(DUET_NG) && !defined(PROTOTYPE_1)
+#if defined(DUET_NG)
 	if (driver < numTMC2660Drivers)
 	{
 		return TMC2660::GetMicrostepping(driver, interpolation);
@@ -2537,11 +2554,7 @@ void Platform::SetBoardType(BoardType bt)
 	if (bt == BoardType::Auto)
 	{
 #ifdef DUET_NG
-# ifdef PROTOTYPE_1
-		board = BoardType::DuetWiFi_06;
-# else
 		board = BoardType::DuetWiFi_10;
-# endif
 #elif defined(__RADDS__)
 		board = BoardType::RADDS_15;
 #else
@@ -2572,11 +2585,7 @@ const char* Platform::GetElectronicsString() const
 	switch (board)
 	{
 #ifdef DUET_NG
-# ifdef PROTOTYPE_1
-	case BoardType::DuetWiFi_06:			return "Duet WiFi 0.6";
-# else
 	case BoardType::DuetWiFi_10:			return "Duet WiFi 1.0";
-# endif
 #elif defined(__RADDS__)
 	case BoardType::RADDS_15:				return "RADDS 1.5";
 #else
@@ -2594,11 +2603,7 @@ const char* Platform::GetBoardString() const
 	switch (board)
 	{
 #ifdef DUET_NG
-# ifdef PROTOTYPE_1
-	case BoardType::DuetWiFi_06:			return "duetwifi06";
-# else
 	case BoardType::DuetWiFi_10:			return "duetwifi10";
-# endif
 #elif defined(__RADDS__)
 	case BoardType::RADDS_15:				return "radds15";
 #else

src/Platform.h

@@ -50,7 +50,9 @@ Licence: GPL
 #include "OutputMemory.h"
 #include "Libraries/Fatfs/ff.h"
 
-#if !defined(DUET_NG) || defined(PROTOTYPE_1)
+#if defined(DUET_NG)
+# include "SX1509B.h"
+#else
 # include "Libraries/MCP4461/MCP4461.h"
 #endif
 
@@ -186,11 +188,7 @@ enum class BoardType : uint8_t
 {
 	Auto = 0,
 #ifdef DUET_NG
-# ifdef PROTOTYPE_1
-	DuetWiFi_06 = 1
-# else
 	DuetWiFi_10 = 1
-# endif
 #elif defined(__RADDS__)
 	RADDS_15 = 1
 #else
@@ -757,11 +755,11 @@ private:
 	float idleCurrentFactor;
 	float maxAverageAcceleration;
 
-	// Digipots
+#if defined(DUET_NG)
-
+	SX1509B expansion;								// I/O expander on DueXn board
-#if defined(DUET_NG) && !defined(PROTOTYPE_1)
 	size_t numTMC2660Drivers;						// the number of TMC2660 drivers we have, the remaining are simple enable/step/dir drivers
 #else
+	// Digipots
 	MCP4461 mcpDuet;
 	MCP4461 mcpExpansion;
 	Pin potWipes[8];								// we have only 8 digipots, on the Duet 0.8.5 we use the DAC for the 9th