Merge remote-tracking branch 'dc42/v3-dev' into v3-dev-lpc

Author: sdavi

.cproject

@@ -241,7 +241,7 @@
 								<option id="gnu.cpp.compiler.option.optimization.level.1835678360" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.more" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.debugging.level.737051102" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.none" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.other.verbose.1225557122" name="Verbose (-v)" superClass="gnu.cpp.compiler.option.other.verbose" useByScannerDiscovery="false" value="false" valueType="boolean"/>
-								<option id="gnu.cpp.compiler.option.other.other.1423466590" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="-c -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fexceptions -nostdlib -Wundef -Wdouble-promotion -fsingle-precision-constant &quot;-Wa,-ahl=$*.s&quot;" valueType="string"/>
+								<option id="gnu.cpp.compiler.option.other.other.1423466590" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="-c -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fno-exceptions -nostdlib -Wundef -Wdouble-promotion -fsingle-precision-constant &quot;-Wa,-ahl=$*.s&quot;" valueType="string"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.1505018967" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/cores/arduino}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/libraries/Flash}&quot;"/>
@@ -397,7 +397,7 @@
 								<option id="gnu.cpp.compiler.option.optimization.level.1017091230" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.more" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.debugging.level.326047343" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.none" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.other.verbose.1316817271" name="Verbose (-v)" superClass="gnu.cpp.compiler.option.other.verbose" useByScannerDiscovery="false" value="false" valueType="boolean"/>
-								<option id="gnu.cpp.compiler.option.other.other.434744183" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="-c -mcpu=cortex-m4 -mthumb -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fexceptions -nostdlib -Wundef -Wdouble-promotion -fsingle-precision-constant &quot;-Wa,-ahl=$*.s&quot;" valueType="string"/>
+								<option id="gnu.cpp.compiler.option.other.other.434744183" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="-c -mcpu=cortex-m4 -mthumb -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fno-exceptions -nostdlib -Wundef -Wdouble-promotion -fsingle-precision-constant &quot;-Wa,-ahl=$*.s&quot;" valueType="string"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.1102345734" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/cores/arduino}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/libraries/Flash}&quot;"/>
@@ -1018,7 +1018,7 @@
 									<listOptionValue builtIn="false" value="__SAME70Q20B__"/>
 									<listOptionValue builtIn="false" value="RTOS"/>
 									<listOptionValue builtIn="false" value="DUET3_V05"/>
-									<listOptionValue builtIn="false" value="LWIP_GMAC_TASK=0"/>
+									<listOptionValue builtIn="false" value="LWIP_GMAC_TASK=1"/>
 								</option>
 								<option id="gnu.c.compiler.option.dialect.std.1184547155" name="Language standard" superClass="gnu.c.compiler.option.dialect.std" useByScannerDiscovery="true" value="gnu.c.compiler.dialect.default" valueType="enumerated"/>
 								<option id="gnu.c.compiler.option.dialect.flags.1834251763" name="Other dialect flags" superClass="gnu.c.compiler.option.dialect.flags" useByScannerDiscovery="true" value="-std=gnu99" valueType="string"/>
@@ -1085,7 +1085,7 @@
 									<listOptionValue builtIn="false" value="__SAME70Q20B__"/>
 									<listOptionValue builtIn="false" value="RTOS"/>
 									<listOptionValue builtIn="false" value="DUET3_V05"/>
-									<listOptionValue builtIn="false" value="LWIP_GMAC_TASK=0"/>
+									<listOptionValue builtIn="false" value="LWIP_GMAC_TASK=1"/>
 									<listOptionValue builtIn="false" value="_XOPEN_SOURCE"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.dialect.std.264694574" name="Language standard" superClass="gnu.cpp.compiler.option.dialect.std" useByScannerDiscovery="true" value="gnu.cpp.compiler.dialect.default" valueType="enumerated"/>

WHATS_NEW_BETA.md renamed to WHATS_NEW_RRF3.md

@@ -1,5 +1,5 @@
-RepRapFirmware 3.0beta13 (in preparation)
-========================
+RepRapFirmware 3.0RC1
+=====================
 
 Recommended compatible firmware:
 - Duet Web Control 2.0.4
@@ -13,19 +13,21 @@ Feature changes since beta 12:
 - Max bed heaters increased to 9 on Duet 3, 2 on Duet Meastro (still 4 on Duet WiFi/Ethernet)
 - Max chamber heaters increased to 4 on Duet 3 and on Duet WiFi/Ethernet
 - CRC calculation has been speeded up, which improves the speed of file uploads in standalone mode when CRC checking is enabled in DWC
+- G1 H1 E moves (stopping on motor stall) are now implemented
+- rr_config and M408 S5 responses now include field "sysdir" which is the system files folder set using M505
+- M950 P, M950 S, M42 and M280 are implemented on expansion boards
+- B parameter added to M408 to query expansion boards (for expansion board ATE)
+- M122 P parameter is passed to the expansion board if the B parameter is present and selects an expansion board (for ATE)
 
 Bug fixes:
 - Duet 3 only: Files uploaded in standalone modes were frequently corruption during uploading, resulting in CRC mismatches reported
 - The M574 S0 parameter was teated the same as S2 (i.e. triggered when input high) except on endstop inputs connected to Duet 3 expansion boards
 - If a print that was sliced using absolute extrusion mode was resurrected, unwanted extrusion occurred just before the print was resumed
 - Bed compensation did not take account of the XY offset of the printing nozzle from the head reference point
-- When using SCARA kinematics the calculation of the minimum achoievable radius was incorrect. Depending on the B parameter of the M667 command, this could result in spurious "Intermediate position unreachable" errors, or non-extruding G1 moves being turned into G0 moves.
+- When using SCARA kinematics the calculation of the minimum achievable radius was incorrect. Depending on the B parameter of the M667 command, this could result in spurious "Intermediate position unreachable" errors, or non-extruding G1 moves being turned into G0 moves.
 - A badly-formed GCode file that returned the layer height or object height as nan or inf caused DWC to disconnect because of a JSON parse failure
 - M579 scale factors were not applied correctly to G2 and G3 arc moves
-- [TO TEST] Stall detection endstops should now work when multiple axes are homed simultaneously
-
-Known issues:
-- Extruder stall detection (G1 H1 E moves) is not implemented
+- M119 crashed if an axis had no endstop
 
 RepRapFirmware 3.0beta12
 ========================

src/Duet3_V05/Pins_Duet3_V05.h

@@ -7,7 +7,21 @@
 const size_t NumFirmwareUpdateModules = 1;
 
 #define IAP_FIRMWARE_FILE		"Duet3Firmware_" BOARD_SHORT_NAME ".bin"
-#define IAP_UPDATE_FILE			"Duet3iap_sd_" BOARD_SHORT_NAME ".bin"
+
+#define IAP_IN_RAM				1
+
+#if IAP_IN_RAM
+# define IAP_UPDATE_FILE			"Duet3_SDiap_" BOARD_SHORT_NAME ".bin"
+constexpr uint32_t IAP_IMAGE_START = 0x20450000;		// last 64kb of RAM
+#else
+# define IAP_UPDATE_FILE			"Duet3iap_sd_" BOARD_SHORT_NAME ".bin"
+
+// SAME70 Flash locations
+// These are designed to work with 1Mbyte flash processors as well as 2Mbyte
+// We can only erase complete 128kb sectors on the SAME70, so we allow 128Kb for IAP
+constexpr uint32_t IAP_IMAGE_START = 0x004E0000;
+constexpr uint32_t IAP_IMAGE_END = 0x004FFFFF;
+#endif
 
 // Features definition
 #define HAS_LWIP_NETWORKING		1
@@ -41,8 +55,6 @@ const size_t NumFirmwareUpdateModules = 1;
 #define USE_CACHE				0					// Cache controller disabled for now
 #define USE_MPU					1
 
-#define NO_EXTRUDER_ENDSTOPS	1	// Temporary!!!
-
 // The physical capabilities of the machine
 
 constexpr size_t NumDirectDrivers = 6;				// The maximum number of drives supported by the electronics inc. direct expansion
@@ -52,8 +64,7 @@ constexpr size_t MaxCanBoards = 18;
 
 constexpr float MaxTmc5160Current = 3200.0;			// The maximum current we allow the TMC5160/5161 drivers to be set to
 
-constexpr size_t MaxSensorsInSystem = 64;
-typedef uint64_t SensorsBitmap;
+constexpr size_t MaxSensors = 64;
 
 constexpr size_t MaxHeaters = 12;
 constexpr size_t MaxExtraHeaterProtections = 8;		// The number of extra heater protection instances
@@ -248,12 +259,6 @@ constexpr unsigned int NumNamedPins = ARRAY_SIZE(PinTable);
 // Function to look up a pin name pass back the corresponding index into the pin table
 bool LookupPinName(const char *pn, LogicalPin& lpin, bool& hardwareInverted);
 
-// SAME70 Flash locations
-// These are designed to work with 1Mbyte flash processors as well as 2Mbyte
-// We can only erase complete 128kb sectors on the SAME70, so we allow 128Kb for IAP
-constexpr uint32_t IAP_FLASH_START = 0x004E0000;
-constexpr uint32_t IAP_FLASH_END = 0x004FFFFF;
-
 // Duet pin numbers for the Linux interface
 constexpr Pin LinuxTfrReadyPin = PortEPin(2);
 Spi * const LinuxSpi = SPI1;

src/Duet3_V06/Pins_Duet3_V06.h

@@ -8,10 +8,10 @@ const size_t NumFirmwareUpdateModules = 1;
 
 #define IAP_FIRMWARE_FILE		"Duet3Firmware_" BOARD_SHORT_NAME ".bin"
 
-#define IAP_IN_RAM				0
+#define IAP_IN_RAM				1
 
 #if IAP_IN_RAM
-# define IAP_UPDATE_FILE			"Duet3iap_sd_ram_" BOARD_SHORT_NAME ".bin"
+# define IAP_UPDATE_FILE			"Duet3_SDiap_" BOARD_SHORT_NAME ".bin"
 constexpr uint32_t IAP_IMAGE_START = 0x20450000;		// last 64kb of RAM
 #else
 # define IAP_UPDATE_FILE			"Duet3iap_sd_" BOARD_SHORT_NAME ".bin"
@@ -23,7 +23,6 @@ constexpr uint32_t IAP_IMAGE_START = 0x004E0000;
 constexpr uint32_t IAP_IMAGE_END = 0x004FFFFF;
 #endif
 
-
 // Features definition
 #define HAS_LWIP_NETWORKING		1
 #define HAS_WIFI_NETWORKING		0
@@ -60,8 +59,6 @@ constexpr uint32_t IAP_IMAGE_END = 0x004FFFFF;
 #define USE_MPU					1					// Needed if USE_CACHE is set, so that we can have non-cacheable memory regions
 #define USE_CACHE				1
 
-#define NO_EXTRUDER_ENDSTOPS	1	// Temporary!!!
-
 // The physical capabilities of the machine
 
 constexpr size_t NumDirectDrivers = 6;				// The maximum number of drives supported by the electronics inc. direct expansion
@@ -71,8 +68,7 @@ constexpr size_t MaxCanBoards = 18;
 
 constexpr float MaxTmc5160Current = 6300.0;			// The maximum current we allow the TMC5160/5161 drivers to be set to
 
-constexpr size_t MaxSensorsInSystem = 64;
-typedef uint64_t SensorsBitmap;
+constexpr size_t MaxSensors = 64;
 
 constexpr size_t MaxHeaters = 12;
 constexpr size_t MaxExtraHeaterProtections = 8;		// The number of extra heater protection instances

src/DuetM/Pins_DuetM.h

@@ -56,15 +56,12 @@ constexpr uint32_t IAP_IMAGE_END = 0x0047FFFF;								// we allow a full 64K on
 #define SUPPORT_ASYNC_MOVES		1
 #define ALLOCATE_DEFAULT_PORTS	1
 
-#define NO_EXTRUDER_ENDSTOPS	1	// Temporary!!!
-
 // The physical capabilities of the machine
 
 constexpr size_t NumDirectDrivers = 7;				// The maximum number of drives supported by the electronics
 constexpr size_t MaxSmartDrivers = 7;				// The maximum number of smart drivers
 
-constexpr size_t MaxSensorsInSystem = 32;
-typedef uint32_t SensorsBitmap;
+constexpr size_t MaxSensors = 32;
 
 constexpr size_t MaxHeaters = 4;					// The maximum number of heaters in the machine
 constexpr size_t MaxExtraHeaterProtections = 4;		// The number of extra heater protection instances

src/DuetNG/Pins_DuetNG.h

@@ -54,15 +54,12 @@ constexpr size_t NumFirmwareUpdateModules = 4;		// 3 modules, plus one for manua
 #define USE_CACHE				1					// set nonzero to enable the cache
 #define USE_MPU					0					// set nonzero to enable the memory protection unit
 
-#define NO_EXTRUDER_ENDSTOPS	1	// Temporary!!!
-
 // The physical capabilities of the machine
 
 constexpr size_t NumDirectDrivers = 12;				// The maximum number of drives supported directly by the electronics
 constexpr size_t MaxSmartDrivers = 10;				// The maximum number of smart drivers
 
-constexpr size_t MaxSensorsInSystem = 32;
-typedef uint32_t SensorsBitmap;
+constexpr size_t MaxSensors = 32;
 
 constexpr size_t MaxHeaters = 10;					// The maximum number of heaters in the machine
 constexpr size_t MaxExtraHeaterProtections = 8;		// The number of extra heater protection instances

src/Endstops/EndstopDefs.h

@@ -26,7 +26,7 @@ enum class EndstopHitAction : uint8_t
 // Struct to return info about what endstop has been triggered and what to do about it
 struct EndstopHitDetails
 {
-	EndstopHitDetails() : action((uint32_t)EndstopHitAction::none), internalUse(0), axis(0), setAxisLow(false), setAxisHigh(false), isZProbe(false)
+	EndstopHitDetails() : action((uint32_t)EndstopHitAction::none), internalUse(0), axis(NO_AXIS), setAxisLow(false), setAxisHigh(false), isZProbe(false)
 	{
 		driver.Clear();
 	}

src/Endstops/EndstopsManager.cpp

@@ -27,7 +27,7 @@
 
 ReadWriteLock EndstopsManager::endstopsLock;					// used to lock both endstops and Z probes
 
-EndstopsManager::EndstopsManager() : activeEndstops(nullptr), isHomingMove(false)
+EndstopsManager::EndstopsManager() : activeEndstops(nullptr), extrudersEndstop(nullptr), isHomingMove(false)
 {
 	for (Endstop *& es : axisEndstops)
 	{
@@ -78,21 +78,20 @@ void EndstopsManager::AddToActive(EndstopOrZProbe& e)
 bool EndstopsManager::EnableAxisEndstops(AxesBitmap axes, bool forHoming)
 {
 	activeEndstops = nullptr;
-	isHomingMove = forHoming;
+	isHomingMove = forHoming && axes != 0;
 	const Kinematics& kin = reprap.GetMove().GetKinematics();
-	for (size_t axis = 0; axis < reprap.GetGCodes().GetVisibleAxes(); ++axis)
+	while (axes != 0)
 	{
-		if (IsBitSet(axes, axis))
+		const unsigned int axis = LowestSetBit(axes);
+		ClearBit(axes, axis);
+		if (axisEndstops[axis] != nullptr && axisEndstops[axis]->Prime(kin, reprap.GetPlatform().GetAxisDriversConfig(axis)))
 		{
-			if (axisEndstops[axis] != nullptr && axisEndstops[axis]->Prime(kin, reprap.GetPlatform().GetAxisDriversConfig(axis)))
-			{
-				AddToActive(*axisEndstops[axis]);
-			}
-			else
-			{
-				activeEndstops = nullptr;
-				return false;
-			}
+			AddToActive(*axisEndstops[axis]);
+		}
+		else
+		{
+			activeEndstops = nullptr;
+			return false;
 		}
 	}
 	return true;
@@ -111,19 +110,44 @@ bool EndstopsManager::EnableZProbe(size_t probeNumber, bool probingAway)
 	return true;
 }
 
-// Enable extruder endstops
-bool EndstopsManager::EnableExtruderEndstop(size_t extruder)
+// Enable extruder endstops. This adds to any existing axis endstops, so you must call EnableAxisEndstops before calling this.
+bool EndstopsManager::EnableExtruderEndstops(ExtrudersBitmap extruders)
 {
-#ifdef NO_EXTRUDER_ENDSTOPS
-	// not supported for now
-	return false;
+	if (extruders != 0)
+	{
+		if (extrudersEndstop == nullptr)
+		{
+			extrudersEndstop = new StallDetectionEndstop;
+		}
+		DriversBitmap drivers = 0;
+		while (extruders != 0)
+		{
+			const unsigned int extruder = LowestSetBit(extruders);
+			ClearBit(extruders, extruder);
+			const DriverId driver = reprap.GetPlatform().GetExtruderDriver(extruder);
+#if SUPPORT_CAN_EXPANSION
+			if (driver.IsLocal())
+			{
+				SetBit(drivers, driver.localDriver);
+			}
+			else
+			{
+				//TODO remote stall detect endstop
+				return false;
+			}
 #else
-	qq;		//TODO
+			SetBit(drivers, driver.localDriver);
 #endif
+		}
+
+		extrudersEndstop->SetDrivers(drivers);
+		AddToActive(*extrudersEndstop);
+	}
+	return true;
 }
 
 // Check the endstops.
-// If an endstop has triggered, remove it from the active list, return its action, and return a pointer to it via 'es'.
+// If an endstop has triggered, remove it from the active list and return its details
 EndstopHitDetails EndstopsManager::CheckEndstops(bool goingSlow)
 {
 	EndstopHitDetails ret;									// the default constructor will clear all fields
@@ -345,7 +369,7 @@ void EndstopsManager::GetM119report(const StringRef& reply)
 	reply.copy("Endstops - ");
 	for (size_t axis = 0; axis < reprap.GetGCodes().GetTotalAxes(); ++axis)
 	{
-		const char * const status = (axisEndstops == nullptr)
+		const char * const status = (axisEndstops[axis] == nullptr)
 										? "no endstop"
 											: TranslateEndStopResult(axisEndstops[axis]->Stopped(), axisEndstops[axis]->GetAtHighEnd());
 		reply.catf("%c: %s, ", reprap.GetGCodes().GetAxisLetters()[axis], status);
@@ -371,7 +395,7 @@ const char *EndstopsManager::TranslateEndStopResult(EndStopHit es, bool atHighEn
 
 ZProbe& EndstopsManager::GetCurrentZProbe() const
 {
-	ZProbe * const zp = zProbes[currentZProbeNumber];
+	ZProbe * const zp = (currentZProbeNumber < MaxZProbes) ? zProbes[currentZProbeNumber] : nullptr;
 	return (zp == nullptr) ? *defaultZProbe : *zp;
 }
 

src/Endstops/EndstopsManager.h

@@ -18,6 +18,8 @@
 class CanMessageBuffer;
 #endif
 
+class StallDetectionEndstop;
+
 // Endstop manager class
 class EndstopsManager
 {
@@ -36,7 +38,7 @@ class EndstopsManager
 	bool EnableCurrentZProbe(bool probingAway = false) __attribute__ ((warn_unused_result)) { return EnableZProbe(currentZProbeNumber, probingAway); }
 
 	// Enable extruder endstops
-	bool EnableExtruderEndstop(size_t extruder);
+	bool EnableExtruderEndstops(ExtrudersBitmap extruders);
 
 	// Get the first endstop that has triggered and remove it from the active list if appropriate
 	EndstopHitDetails CheckEndstops(bool goingSlow);
@@ -87,6 +89,7 @@ class EndstopsManager
 	size_t currentZProbeNumber;							// which Z probe we are using
 
 	Endstop *axisEndstops[MaxAxes];						// the endstops assigned to each axis (each one may have several switches), each may be null
+	StallDetectionEndstop *extrudersEndstop;				// the endstop used for extruder stall detection, one will do for all extruders
 	ZProbe *zProbes[MaxZProbes];						// the Z probes used. The first one is always non-null.
 	ZProbe *defaultZProbe;
 

src/Endstops/StallDetectionEndstop.cpp

@@ -16,6 +16,11 @@ StallDetectionEndstop::StallDetectionEndstop(uint8_t axis, EndStopPosition pos,
 {
 }
 
+StallDetectionEndstop::StallDetectionEndstop()
+	: Endstop(NO_AXIS, EndStopPosition::noEndStop), driversMonitored(0), individualMotors(false), stopAll(true)
+{
+}
+
 // Test whether we are at or near the stop
 EndStopHit StallDetectionEndstop::Stopped() const
 {
@@ -46,7 +51,11 @@ EndstopHitDetails StallDetectionEndstop::CheckTriggered(bool goingSlow)
 	if (relevantStalledDrivers != 0)
 	{
 		rslt.axis = GetAxis();
-		if (stopAll)
+		if (rslt.axis == NO_AXIS)
+		{
+			rslt.SetAction(EndstopHitAction::stopAll);
+		}
+		else if (stopAll)
 		{
 			rslt.SetAction(EndstopHitAction::stopAll);
 			if (GetAtHighEnd())
@@ -109,4 +118,10 @@ void StallDetectionEndstop::AppendDetails(const StringRef& str)
 	str.cat((individualMotors) ? "motor stall (individual motors)" : "motor stall (any motor)");
 }
 
+void StallDetectionEndstop::SetDrivers(DriversBitmap extruderDrivers)
+{
+	driversMonitored = extruderDrivers;
+	stopAll = true;
+}
+
 // End