Various changes relating to zprobe and non-volatile data

1. Z-probing is now done in two stages: a fast stage at the configured
home feed rate until within 10% of the target value, then a slow stage
at 20% of that feed rate.
2. Provisional support for ultrasonic Z-probe.
3. Added calibration temperature and height temperature coefficient to Z
probe parameters.
4. Z-probe parameters and Z-probe type are now saved to flash memory so
that they survive power-off and reset cycles. Separate parameters are
retained for IR and ultrasonic probes in case both are fitted.
5. Fixed issue with doing slow Z-moves immediately after Z-homing or
probing.

Configuration.h

@@ -24,8 +24,8 @@ Licence: GPL
 #define CONFIGURATION_H
 
 #define NAME "RepRapFirmware"
-#define VERSION "0.57n-dc42"
-#define DATE "2014-02-18"
+#define VERSION "0.57o-dc42"
+#define DATE "2014-02-24"
 #define LAST_AUTHOR "dc42"
 
 // Other firmware that we might switch to be compatible with.

Flash/DueFlashStorage.cpp

@@ -0,0 +1,83 @@
+#include "DueFlashStorage.h"
+
+void DueFlashStorage::init() {
+  /* Initialize flash: 6 wait states for flash writing. */
+  uint32_t retCode = flash_init(FLASH_ACCESS_MODE_128, 6);
+  if (retCode != FLASH_RC_OK) {
+    _FLASH_DEBUG("Flash init failed\n");
+  }
+}
+
+byte DueFlashStorage::read(uint32_t address) {
+  return FLASH_START[address];
+}
+
+void DueFlashStorage::read(uint32_t address, void *data, uint32_t dataLength) {
+  memcpy(data, FLASH_START+address, dataLength);
+}
+
+bool DueFlashStorage::write(uint32_t address, byte value) {
+  uint32_t byteLength = 1;
+  uint32_t retCode = flash_unlock((uint32_t)FLASH_START+address, (uint32_t)FLASH_START+address + byteLength - 1, 0, 0);
+  if (retCode != FLASH_RC_OK) {
+    _FLASH_DEBUG("Failed to unlock flash for write\n");
+    return false;
+  }
+
+  // write data
+  retCode = flash_write((uint32_t)FLASH_START+address, &value, byteLength, 1);
+
+  if (retCode != FLASH_RC_OK) {
+    _FLASH_DEBUG("Flash write failed\n");
+    return false;
+  }
+
+  // Lock page
+  retCode = flash_lock((uint32_t)FLASH_START+address, (uint32_t)FLASH_START+address + byteLength - 1, 0, 0);
+  if (retCode != FLASH_RC_OK) {
+    _FLASH_DEBUG("Failed to lock flash page\n");
+    return false;
+  }
+  return true;
+}
+
+bool DueFlashStorage::write(uint32_t address, const void *data, uint32_t dataLength) {
+  if ((uint32_t)FLASH_START+address < IFLASH1_ADDR) {
+    _FLASH_DEBUG("Flash write address too low\n");
+    return false;
+  }
+
+  if ((uint32_t)FLASH_START+address >= (IFLASH1_ADDR + IFLASH1_SIZE)) {
+    _FLASH_DEBUG("Flash write address too high\n");
+    return false;
+  }
+
+  if (((uint32_t)FLASH_START+address & 3) != 0) {
+    _FLASH_DEBUG("Flash start address must be on four byte boundary\n");
+    return false;
+  }
+
+  // Unlock page
+  uint32_t retCode = flash_unlock((uint32_t)FLASH_START+address, (uint32_t)FLASH_START+address + dataLength - 1, 0, 0);
+  if (retCode != FLASH_RC_OK) {
+    _FLASH_DEBUG("Failed to unlock flash for write\n");
+    return false;
+  }
+
+  // write data
+  retCode = flash_write((uint32_t)FLASH_START+address, data, dataLength, 1);
+
+  if (retCode != FLASH_RC_OK) {
+    _FLASH_DEBUG("Flash write failed\n");
+    return false;
+  }
+
+  // Lock page
+    retCode = flash_lock((uint32_t)FLASH_START+address, (uint32_t)FLASH_START+address + dataLength - 1, 0, 0);
+  if (retCode != FLASH_RC_OK) {
+    _FLASH_DEBUG("Failed to lock flash page\n");
+    return false;
+  }
+  return true;
+}
+

Flash/DueFlashStorage.h

@@ -0,0 +1,52 @@
+/* 
+DueFlashStorage saves non-volatile data for Arduino Due.
+The library is made to be similar to EEPROM library
+Uses flash block 1 per default.
+
+Note: uploading new software will erase all flash so data written to flash
+using this library will not survive a new software upload. 
+
+Inspiration from Pansenti at https://github.com/Pansenti/DueFlash
+Rewritten and modified by Sebastian Nilsson
+Further modified up by David Crocker
+*/
+
+
+#ifndef DUEFLASHSTORAGE_H
+#define DUEFLASHSTORAGE_H
+
+#include <Arduino.h>
+#include "flash_efc.h"
+#include "efc.h"
+
+// 1Kb of data
+#define DATA_LENGTH   ((IFLASH1_PAGE_SIZE/sizeof(byte))*4)
+
+// Choose a start address close to the top of the Flash 1 memory space
+#define  FLASH_START  ((byte *)(IFLASH1_ADDR + IFLASH1_SIZE - DATA_LENGTH))
+
+//  FLASH_DEBUG can be enabled to get debugging information displayed.
+//#define FLASH_DEBUG
+
+#ifdef FLASH_DEBUG
+#define _FLASH_DEBUG(x) Serial.print(x);
+#else
+#define _FLASH_DEBUG(x)
+#endif
+
+//  DueFlash is the main namespace for flash functions
+namespace DueFlashStorage {
+  void init();
+
+  // write() writes the specified amount of data into flash.
+  // flashStart is the address in memory where the write should start
+  // data is a pointer to the data to be written
+  // dataLength is length of data in bytes
+
+  byte read(uint32_t address);
+  void read(uint32_t address, void *data, uint32_t dataLength);
+  bool write(uint32_t address, byte value);
+  bool write(uint32_t address, const void *data, uint32_t dataLength);
+};
+
+#endif