Version 2.02RC5

Shortened M591 filament monitor reports
Added filament detection state to M591 report for simple filament sensor
Tool offsets are no longer applied when G54 is in effect
M500 saves workplace coordinates
Implemented M851 for Marlin compatibility
Added check for NaNs when computing derivatives during auto calibration
Scara printers can now xo XY moves before Z has been homed
Don't allow M291 to create messatge popups that can never time out or be dismissed

.cproject

@@ -99,6 +99,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Duet}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Duet/Lwip}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Duet/EMAC}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RRFLibraries/src}&quot;"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.preprocessor.def.1548770846" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="__SAM3X8E__"/>

src/BugList.txt

@@ -159,33 +159,34 @@ Failed tests:
 - [fixed, ok] M557 with even P parameter on circular bed does too few points
 - [bad connection on hot end] Crane Quad hot end reads about 60C at room temperature
 
-To be fixed in 2.02 release:
-- [can't reproduce] Investigate macros causing a hang, https://forum.duet3d.com/topic/7782/issues-with-macros-halting-the-printer/11
+To be investigated for 2.02RC5 or release:
+- [tested, ok] Test error handling when the mesh is badly defined, https://forum.duet3d.com/topic/7759/solved-duet-2-wifi-java-error/10
+- [review M292 handling, even though can't reproduce - I can't see a problem] Investigate macros causing a hang, https://forum.duet3d.com/topic/7782/issues-with-macros-halting-the-printer/11
 - [can't reproduce] re-test M226, https://forum.duet3d.com/topic/7747/reprapfirmware-2-02rc4-released/29
-- investigate incorrect layer count, https://forum.duet3d.com/topic/7747/reprapfirmware-2-02rc4-released/31
-- investigate slow movement, https://forum.duet3d.com/topic/6974/problem-with-3-independent-z-axis-motors-and-endstops/32
+- [was caused by spurious E0 in an travel move] investigate incorrect layer count, https://forum.duet3d.com/topic/7747/reprapfirmware-2-02rc4-released/31
+- [probing speed was too high] Multiple G29 commands in succession, https://forum.duet3d.com/topic/7920/bed-compensation-g29-problems
+- [may be fixed by possible fix for for Z and U moving at different speeds] investigate slow movement, https://forum.duet3d.com/topic/6974/problem-with-3-independent-z-axis-motors-and-endstops/32
+
+To be fixed in 2.02RC5:
 - [done, ok] 12864 display of speed factor wrong, https://forum.duet3d.com/topic/7747/reprapfirmware-2-02rc4-released/10
 - [done, ok] 12864 button menu handling wrong, https://forum.duet3d.com/topic/7747/reprapfirmware-2-02rc4-released/14
-- [tested, ok] Test error handling when the mesh is badly defined, https://forum.duet3d.com/topic/7759/solved-duet-2-wifi-java-error/10
+- [done, ok] 12864 items 510- display user position not machine position
+- [done, ok] M117 on 12864, https://forum.duet3d.com/topic/7826/display-characters-text-in-macro/4
+- [done, ok] M291 and manual Z-probing on 12864, https://forum.duet3d.com/topic/7826/display-characters-text-in-macro/4
+- [done, ok] Live XYZ movement and baby stepping on 12864
 - [done, retest] Change "Resume-after-power-fail state saved" message to something appropriate for an ordinary pause, https://forum.duet3d.com/topic/7784/power-fail-triggers-unexpectedly/3
 - [done, ok] SCARA: after prox and distal are homed allow XY moves, https://forum.duet3d.com/topic/7747/reprapfirmware-2-02rc4-released/24
-- [done, test] Support M851, offset is negated + using M851 causes M500 to save Z probe parameters
-- [done, test] If G31 parameters were read from config-override.g (m501) then a subsequent M500 command saves them too
-- [done, retest] Save workplace coordinate systems in M500
-- [done, retest] Shorten M591 response by removing unnecessary text
-- [done, test] When delta auto calibration produces NaNs, abort calibration and emit an error message suggesting a smaller probing radius
-- [done, test] M106 Pnn Svv always set full PWM if vv > 1 and there were additional parameters e.g. F, https://forum.duet3d.com/topic/7810/question-about-m106/6
+- [done, ok] Support M851, offset is negated + using M851 causes M500 to save Z probe parameters
+- [done, ok] If G31 parameters were read from config-override.g (m501) then a subsequent M500 command saves them too
+- [done, ok] Save workplace coordinate systems in M500
+- [done, ok] Shorten M591 response by removing unnecessary text
+- [done, can't test] When delta auto calibration produces NaNs, abort calibration and emit an error message suggesting a smaller probing radius
+- [done, ok] M106 Pnn Svv always set full PWM if vv > 1 and there were additional parameters e.g. F, https://forum.duet3d.com/topic/7810/question-about-m106/6
 - [done] Possible fix for Z and U moving at different speeds, https://forum.duet3d.com/topic/7755/drive-3-is-slower-as-drive-2-at-homing-in-z-solved/32
-- [done, test] For SimpleFilamentMonitor, include filament present/not present status in M591 report
-- [done, ok] M117 on 12864, https://forum.duet3d.com/topic/7826/display-characters-text-in-macro/4
-- [done, test] M291 and manual Z-probing on 12864? https://forum.duet3d.com/topic/7826/display-characters-text-in-macro/4
+- [done, ok] For SimpleFilamentMonitor, include filament present/not present status in M591 report
 - [done, ok] Heater turn on momentarily when Duet is reset
-- [done, test] When G53 is in effect, don't apply tool offsets or axis mapping
-- Don't alow both S0 and T0 in M291, it creates a message that can't be dismissed
-
-Test failures:
-- M291 T"title" P"message" S0 creates a messasge that can't be dismissed
-- M291 not working on 12864, clears rectangular area but that's all
+- [done, ok] When G53 is in effect, don't apply tool offsets or axis mapping
+- [done, ok] Don't alow both S0 and T0 in M291, it creates a message that can't be dismissed
 
 Future:
 - Option for an endstop input to trigger an emergency pause

src/Duet/Pins_Duet.h

@@ -24,9 +24,8 @@ constexpr size_t NumFirmwareUpdateModules = 1;
 #define SUPPORT_DHT_SENSOR	0					// set nonzero to support DHT temperature/humidity sensors
 
 // The physical capabilities of the machine
-
-constexpr size_t DRIVES = 9;						// The number of drives in the machine, including X, Y, and Z plus extruder drives
-#define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f,g,h,i }
+constexpr size_t NumDirectDrivers = 9;
+constexpr size_t MaxTotalDrivers = NumDirectDrivers;
 
 constexpr size_t NumEndstops = 9;					// The number of inputs we have for endstops, filament sensors etc.
 constexpr size_t NumHeaters = 7;					// The number of heaters in the machine; 0 is the heated bed even if there isn't one
@@ -35,10 +34,8 @@ constexpr size_t NumThermistorInputs = 7;
 
 constexpr size_t MinAxes = 3;						// The minimum and default number of axes
 constexpr size_t MaxAxes = 6;						// The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
-// Initialization macro used in statements needing to initialize values in arrays of size MAX_AXES
-#define AXES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f }
 
-constexpr size_t MaxExtruders = DRIVES - MinAxes;	// The maximum number of extruders
+constexpr size_t MaxExtruders = NumDirectDrivers - MinAxes;	// The maximum number of extruders
 constexpr size_t MaxDriversPerAxis = 4;				// The maximum number of stepper drivers assigned to one axis
 
 constexpr size_t NUM_SERIAL_CHANNELS = 3;			// The number of serial IO channels (USB and two auxiliary UARTs)
@@ -53,9 +50,9 @@ constexpr size_t NUM_SERIAL_CHANNELS = 3;			// The number of serial IO channels
 
 // Drives
 
-constexpr Pin ENABLE_PINS[DRIVES] = { 29, 27, X1, X0, 37, X8, 50, 47, X13 };
-constexpr Pin STEP_PINS[DRIVES] = { 14, 25, 5, X2, 41, 39, X4, 49, X10 };
-constexpr Pin DIRECTION_PINS[DRIVES] = { 15, 26, 4, X3, 35, 53, 51, 48, X11 };
+constexpr Pin ENABLE_PINS[NumDirectDrivers] = { 29, 27, X1, X0, 37, X8, 50, 47, X13 };
+constexpr Pin STEP_PINS[NumDirectDrivers] = { 14, 25, 5, X2, 41, 39, X4, 49, X10 };
+constexpr Pin DIRECTION_PINS[NumDirectDrivers] = { 15, 26, 4, X3, 35, 53, 51, 48, X11 };
 
 // Endstops
 // RepRapFirmware only has a single endstop per axis.

src/FilamentMonitors/FilamentMonitor.cpp

@@ -116,7 +116,7 @@ bool FilamentMonitor::ConfigurePin(GCodeBuffer& gb, const StringRef& reply, Inte
 	}
 	else if (!seen)
 	{
-		reply.printf("Extruder drive %u has no filament sensor", extruder);
+		reply.printf("Extruder %u has no filament sensor", extruder);
 	}
 	return GCodeResult::ok;
 }

src/FilamentMonitors/LaserFilamentMonitor.cpp

@@ -75,8 +75,8 @@ bool LaserFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& reply, bo
 	}
 	else
 	{
-		reply.printf("Duet3D laser filament monitor%s on endstop input %u, %s, allowed movement %ld%% to %ld%%, check every %.1fmm, ",
-						(switchOpenMask != 0) ? " with microswitch" : "",
+		reply.printf("Duet3D laser filament monitor%s on input %u, %s, allow %ld%% to %ld%%, check every %.1fmm, ",
+						(switchOpenMask != 0) ? " with switch" : "",
 						GetEndstopNumber(),
 						(comparisonEnabled) ? "enabled" : "disabled",
 						lrintf(minMovementAllowed * 100.0),
@@ -93,10 +93,10 @@ bool LaserFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& reply, bo
 		}
 		else
 		{
-			reply.catf("current position %.1f, brightness %u, shutter %u, ", (double)GetCurrentPosition(), qualityWord & 0x00FF, (qualityWord >> 8) & 0x3F);
+			reply.catf("current pos %.1f, brightness %u, shutter %u, ", (double)GetCurrentPosition(), qualityWord & 0x00FF, (qualityWord >> 8) & 0x3F);
 			if (laserMonitorState != LaserMonitorState::calibrating && totalExtrusionCommanded > 10.0)
 			{
-				reply.catf("measured minimum %ld%%, average %ld%%, maximum %ld%% over %.1fmm",
+				reply.catf("measured min %ld%% avg %ld%% max %ld%% over %.1fmm",
 					lrintf(100 * minMovementRatio),
 					lrintf((100 * totalMovementMeasured)/totalExtrusionCommanded),
 					lrintf(100 * maxMovementRatio),

src/FilamentMonitors/RotatingMagnetFilamentMonitor.cpp

@@ -77,8 +77,8 @@ bool RotatingMagnetFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef&
 	}
 	else
 	{
-		reply.printf("Duet3D rotating magnet filament monitor%s on endstop input %u, %s, sensitivity %.2fmm/rev, allowed movement %ld%% to %ld%%, check every %.1fmm, ",
-						(switchOpenMask != 0) ? " with microswitch" : "",
+		reply.printf("Duet3D rotating magnet filament monitor%s on input %u, %s, sensitivity %.2fmm/rev, allow %ld%% to %ld%%, check every %.1fmm, ",
+						(switchOpenMask != 0) ? " with switch" : "",
 						GetEndstopNumber(),
 						(comparisonEnabled) ? "enabled" : "disabled",
 						(double)mmPerRev,
@@ -95,11 +95,11 @@ bool RotatingMagnetFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef&
 		}
 		else
 		{
-			reply.catf("current position %.1f, ", (double)GetCurrentPosition());
+			reply.catf("current pos %.1f, ", (double)GetCurrentPosition());
 			if (calibrationStarted && fabsf(totalMovementMeasured) > 1.0 && totalExtrusionCommanded > 20.0)
 			{
 				const float measuredMmPerRev = totalExtrusionCommanded/totalMovementMeasured;
-				reply.catf("measured sensitivity %.2fmm/rev, measured minimum %ld%%, maximum %ld%% over %.1fmm\n",
+				reply.catf("measured sensitivity %.2fmm/rev, min %ld%% max %ld%% over %.1fmm\n",
 					(double)measuredMmPerRev,
 					lrintf(100 * minMovementRatio),
 					lrintf(100 * maxMovementRatio),

src/FilamentMonitors/SimpleFilamentMonitor.cpp

@@ -35,8 +35,11 @@ bool SimpleFilamentMonitor::Configure(GCodeBuffer& gb, const StringRef& reply, b
 	}
 	else
 	{
-		reply.printf("Simple filament sensor on endstop %d, %s, output %s when no filament",
-			GetEndstopNumber(), (enabled) ? "enabled" : "disabled", (highWhenNoFilament) ? "high" : "low");
+		reply.printf("Simple filament sensor on endstop %d, %s, output %s when no filament, filament present: %s",
+						GetEndstopNumber(),
+						(enabled) ? "enabled" : "disabled",
+						(highWhenNoFilament) ? "high" : "low",
+						(filamentPresent) ? "yes" : "no");
 	}
 
 	return false;

src/GCodes/GCodeMachineState.h

@@ -119,6 +119,9 @@ class GCodeMachineState
 	static GCodeMachineState *Allocate()
 	post(!result.IsLive(); result.state == GCodeState::normal);
 
+	// Return true if the G54 command is in effect
+	bool UsingG54() const { return useMachineCoordinates || useMachineCoordinatesSticky; }
+
 	// Copy values that may have been altered by config.g into this state record
 	void CopyStateFrom(const GCodeMachineState& other)
 	{

src/GCodes/GCodes.cpp

@@ -2187,7 +2187,7 @@ void GCodes::SaveResumeInfo(bool wasPowerFailure)
 			}
 			if (ok)
 			{
-				platform.Message(LoggedGenericMessage, "Resume-after-power-fail state saved\n");
+				platform.Message(LoggedGenericMessage, "Resume state saved\n");
 			}
 			else
 			{
@@ -2424,17 +2424,20 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 	if (gb.Seen('H') || (machineType != MachineType::laser && gb.Seen('S')))
 	{
 		const int ival = gb.GetIValue();
-		if (ival == 1 || ival == 2 || ival == 3)
+		if (ival >= 1 && ival <= 3)
 		{
 			moveBuffer.moveType = ival;
 			moveBuffer.xAxes = DefaultXAxisMapping;
 			moveBuffer.yAxes = DefaultYAxisMapping;
 		}
-		else if (ival == 99)		// temporary code to log Z probe change positions
-		{
-			moveBuffer.endStopsToCheck |= LogProbeChanges;
-		}
 	}
+#if SUPPORT_WORKPLACE_COORDINATES
+	else if (gb.MachineState().UsingG54())
+	{
+		moveBuffer.xAxes = DefaultXAxisMapping;
+		moveBuffer.yAxes = DefaultYAxisMapping;
+	}
+#endif
 
 	// Check for 'R' parameter to move relative to a restore point
 	const RestorePoint * rp = nullptr;
@@ -2490,7 +2493,7 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 #endif
 #endif
 
-	if (moveBuffer.moveType != 0)
+	if (moveBuffer.moveType != 0 || gb.MachineState().UsingG54())
 	{
 		// This may be a raw motor move, in which case we need the current raw motor positions in moveBuffer.coords.
 		// If it isn't a raw motor move, it will still be applied without axis or bed transform applied,
@@ -2517,7 +2520,7 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 
 			SetBit(axesMentioned, axis);
 			const float moveArg = gb.GetFValue() * distanceScale;
-			if (moveBuffer.moveType != 0)
+			if (moveBuffer.moveType != 0 || gb.MachineState().UsingG54())
 			{
 				if (gb.MachineState().axesRelative)
 				{
@@ -2536,12 +2539,6 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 			{
 				currentUserPosition[axis] += moveArg;
 			}
-#if SUPPORT_WORKPLACE_COORDINATES
-			else if (gb.MachineState().useMachineCoordinates || gb.MachineState().useMachineCoordinatesSticky)
-			{
-				currentUserPosition[axis] = moveArg - workplaceCoordinates[currentCoordinateSystem][axis];
-			}
-#endif
 			else
 			{
 				currentUserPosition[axis] = moveArg;
@@ -2589,12 +2586,20 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 	}
 	else
 	{
-		if (&gb == fileGCode && !gb.IsDoingFileMacro() && moveBuffer.hasExtrusion && (axesMentioned & ((1 << X_AXIS) | (1 << Y_AXIS))) != 0)
+		if (gb.MachineState().UsingG54())
 		{
-			lastPrintingMoveHeight = currentUserPosition[Z_AXIS];
+			gb.SetState(GCodeState::waitingForSpecialMoveToComplete);			// we need to update the user coordinates after the move
+		}
+		else
+		{
+			if (&gb == fileGCode && !gb.IsDoingFileMacro() && moveBuffer.hasExtrusion && (axesMentioned & ((1 << X_AXIS) | (1 << Y_AXIS))) != 0)
+			{
+				lastPrintingMoveHeight = currentUserPosition[Z_AXIS];
+			}
+
+			ToolOffsetTransform(currentUserPosition, moveBuffer.coords, axesMentioned);	// apply tool offset, axis mapping, baby stepping, Z hop and axis scaling
 		}
 
-		ToolOffsetTransform(currentUserPosition, moveBuffer.coords, axesMentioned);	// apply tool offset, axis mapping, baby stepping, Z hop and axis scaling
 		AxesBitmap effectiveAxesHomed = axesHomed;
 		if (doingManualBedProbe)
 		{
@@ -2629,7 +2634,7 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 			const float moveTime = xyLength/moveBuffer.feedRate;			// this is a best-case time, often the move will take longer
 			totalSegments = (unsigned int)max<int>(1, min<int>(rintf(xyLength/kin.GetMinSegmentLength()), rintf(moveTime * kin.GetSegmentsPerSecond())));
 		}
-		else if (reprap.GetMove().IsUsingMesh())
+		else if (reprap.GetMove().IsUsingMesh() && (isCoordinated || machineType == MachineType::fff))
 		{
 			const HeightMap& heightMap = reprap.GetMove().AccessHeightMap();
 			totalSegments = max<unsigned int>(1, heightMap.GetMinimumSegments(currentUserPosition[X_AXIS] - initialX, currentUserPosition[Y_AXIS] - initialY));
@@ -2714,13 +2719,6 @@ const char* GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise)
 		currentUserPosition[X_AXIS] += xParam;
 		currentUserPosition[Y_AXIS] += yParam;
 	}
-#if SUPPORT_WORKPLACE_COORDINATES
-	else if (gb.MachineState().useMachineCoordinates || gb.MachineState().useMachineCoordinatesSticky)
-	{
-		currentUserPosition[X_AXIS] = xParam - workplaceCoordinates[currentCoordinateSystem][X_AXIS];
-		currentUserPosition[Y_AXIS] = yParam - workplaceCoordinates[currentCoordinateSystem][Y_AXIS];
-	}
-#endif
 	else
 	{
 		currentUserPosition[X_AXIS] = xParam;
@@ -4747,6 +4745,13 @@ GCodeResult GCodes::WriteConfigOverrideFile(GCodeBuffer& gb, const StringRef& re
 		ok = reprap.WriteToolParameters(f);
 	}
 
+#if SUPPORT_WORKPLACE_COORDINATES
+	if (ok)
+	{
+		ok = WriteWorkplaceCoordinates(f);
+	}
+#endif
+
 	if (!f->Close())
 	{
 		ok = false;
@@ -5089,24 +5094,24 @@ void GCodes::CheckHeaterFault()
 	}
 }
 
-// Return the current speed factor
+// Return the current speed factor as a percentage
 float GCodes::GetSpeedFactor() const
 {
 	return speedFactor;
 }
 
-// Return a current extrusion factor
+// Return a current extrusion factor as a percentage
 float GCodes::GetExtrusionFactor(size_t extruder)
 {
-	return (extruder < numExtruders) ? extrusionFactors[extruder] : 0.0;
+	return (extruder < numExtruders) ? extrusionFactors[extruder] * 100.0 : 0.0;
 }
 
-// Set an extrusion factor
+// Set a percentage extrusion factor
 void GCodes::SetExtrusionFactor(size_t extruder, float factor)
 {
 	if (extruder < numExtruders)
 	{
-		extrusionFactors[extruder] = constrain<float>(factor, 0.0, 2.0);
+		extrusionFactors[extruder] = constrain<float>(factor, 0.0, 200.0)/100.0;
 	}
 }
 

src/GCodes/GCodes.h

@@ -309,6 +309,7 @@ class GCodes INHERIT_OBJECT_MODEL
 
 #if SUPPORT_WORKPLACE_COORDINATES
 	GCodeResult GetSetWorkplaceCoordinates(GCodeBuffer& gb, const StringRef& reply, bool compute);	// Set workspace coordinates
+	bool WriteWorkplaceCoordinates(FileStore *f) const;
 #endif
 
 	GCodeResult SetHeaterProtection(GCodeBuffer &gb, const StringRef &reply);	// Configure heater protection (M143)
@@ -504,7 +505,7 @@ class GCodes INHERIT_OBJECT_MODEL
 	float pausedFanSpeeds[NUM_FANS];			// Fan speeds when the print was paused or a tool change started
 	float lastDefaultFanSpeed;					// Last speed given in a M106 command with on fan number
 	float pausedDefaultFanSpeed;				// The speed of the default print cooling fan when the print was paused or a tool change started
-	float speedFactor;							// speed factor, including the conversion from mm/min to mm/sec, normally 1/60
+	float speedFactor;							// speed factor as a percentage (normally 100.0)
 	float extrusionFactors[MaxExtruders];		// extrusion factors (normally 1.0)
 	float volumetricExtrusionFactors[MaxExtruders]; // Volumetric extrusion factors
 	float currentBabyStepZOffset;				// The accumulated Z offset due to baby stepping requests