Version 1.19.1v1.19.1

M208 XY limits are now applied to SCARA printers
Minimum limits are applied to M92, M291, M203 and M566 parameters

5 files changed, 19 insertions, 20 deletions

diff --git a/Release/RADDS/Edge/RepRapFirmware-RADDS-1.19.1.bin b/Release/RADDS/Edge/RepRapFirmware-RADDS-1.19.1.bin
new file mode 100644
index 00000000..74dceff8
--- /dev/null
+++ b/Release/RADDS/Edge/RepRapFirmware-RADDS-1.19.1.bin
diff --git a/src/Movement/Kinematics/ScaraKinematics.cpp b/src/Movement/Kinematics/ScaraKinematics.cpp
index fe956355..8fd1cad2 100644
--- a/src/Movement/Kinematics/ScaraKinematics.cpp
+++ b/src/Movement/Kinematics/ScaraKinematics.cpp
@@ -180,7 +180,11 @@ bool ScaraKinematics::IsReachable(float x, float y) const
 // TODO take account of arm angle limits
 bool ScaraKinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesBitmap axesHomed) const
 {
-	bool limited = false;
+	// First limit all axes according to M208
+	const bool m208Limited = Kinematics::LimitPosition(coords, numVisibleAxes, axesHomed);
+
+	// Now check that the XY position is within radius limits, in case the M208 limits are too generous
+	bool radiusLimited = false;
 	float x = coords[X_AXIS] + xOffset;
 	float y = coords[Y_AXIS] + yOffset;
 	const float r2 = fsquare(x) + fsquare(y);
@@ -198,29 +202,23 @@ bool ScaraKinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesB
 			x *= minRadius/r;
 			y *= minRadius/r;
 		}
-		limited = true;
+		radiusLimited = true;
 	}
 	else if (r2 > maxRadiusSquared)
 	{
 		const float r = sqrtf(r2);
 		x *= maxRadius/r;
 		y *= maxRadius/r;
-		limited = true;
+		radiusLimited = true;
 	}
 
-	if (limited)
+	if (radiusLimited)
 	{
 		coords[X_AXIS] = x - xOffset;
 		coords[Y_AXIS] = y - yOffset;
 	}
 
-	// Limit Z and any additional axes according to the M208 limits
-	if (LimitPositionFromAxis(coords, Z_AXIS, numVisibleAxes, axesHomed))
-	{
-		limited = true;
-	}
-
-	return limited;
+	return m208Limited || radiusLimited;
 }
 
 // Return the initial Cartesian coordinates we assume after switching to this kinematics
diff --git a/src/Platform.cpp b/src/Platform.cpp
index 4159e983..90126cd1 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -1948,8 +1948,9 @@ void Platform::Diagnostics(MessageType mtype)
 			const char* const reasonText = (reason == (uint32_t)SoftwareResetReason::user) ? "User"
 											: (reason == (uint32_t)SoftwareResetReason::NMI) ? "NMI"
 												: (reason == (uint32_t)SoftwareResetReason::hardFault) ? "Hard fault"
-													: (reason == (uint32_t)SoftwareResetReason::otherFault) ? "Other fault"
-														: "Unknown";
+													: (reason == (uint32_t)SoftwareResetReason::stuckInSpin) ? "Stuck in spin loop"
+														: (reason == (uint32_t)SoftwareResetReason::otherFault) ? "Other fault"
+															: "Unknown";
 			MessageF(mtype, "%s, spinning module %s, available RAM %u bytes (slot %d)\n",
 					reasonText, moduleName[srdBuf[slot].resetReason & 0x0F], srdBuf[slot].neverUsedRam, slot);
 			// Our format buffer is only 256 characters long, so the next 2 lines must be written separately
diff --git a/src/Platform.h b/src/Platform.h
index 3c3e21da..d1fa886d 100644
--- a/src/Platform.h
+++ b/src/Platform.h
@@ -164,9 +164,9 @@ enum class SoftwareResetReason : uint16_t
 	erase = 0x10,					// special M999 command to erase firmware and reset
 	NMI = 0x20,
 	hardFault = 0x30,				// most exceptions get escalated to a hard fault
+	stuckInSpin = 0x40,				// we got stuck in a Spin() function for too long
 	otherFault = 0x70,
 	inAuxOutput = 0x0800,			// this bit is or'ed in if we were in aux output at the time
-	stuckInSpin = 0x1000,			// we got stuck in a Spin() function for too long
 	inLwipSpin = 0x2000,			// we got stuck in a call to LWIP for too long
 	inUsbOutput = 0x4000			// this bit is or'ed in if we were in USB output at the time
 };
@@ -974,7 +974,7 @@ inline float Platform::DriveStepsPerUnit(size_t drive) const
 
 inline void Platform::SetDriveStepsPerUnit(size_t drive, float value)
 {
-	driveStepsPerUnit[drive] = value;
+	driveStepsPerUnit[drive] = max<float>(value, 1.0);	// don't allow zero or negative
 }
 
 inline float Platform::Acceleration(size_t drive) const
@@ -989,7 +989,7 @@ inline const float* Platform::Accelerations() const
 
 inline void Platform::SetAcceleration(size_t drive, float value)
 {
-	accelerations[drive] = value;
+	accelerations[drive] = max<float>(value, 1.0);		// don't allow zero or negative
 }
 
 inline float Platform::MaxFeedrate(size_t drive) const
@@ -1004,7 +1004,7 @@ inline const float* Platform::MaxFeedrates() const
 
 inline void Platform::SetMaxFeedrate(size_t drive, float value)
 {
-	maxFeedrates[drive] = value;
+	maxFeedrates[drive] = max<float>(value, 1.0);		// don't allow zero or negative
 }
 
 inline float Platform::ConfiguredInstantDv(size_t drive) const
@@ -1014,7 +1014,7 @@ inline float Platform::ConfiguredInstantDv(size_t drive) const
 
 inline void Platform::SetInstantDv(size_t drive, float value)
 {
-	instantDvs[drive] = value;
+	instantDvs[drive] = max<float>(value, 1.0);			// don't allow zero or negative values, they causes Move to loop indefinitely
 }
 
 inline void Platform::SetDirectionValue(size_t drive, bool dVal)
diff --git a/src/Version.h b/src/Version.h
index 30779646..638a0373 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -9,11 +9,11 @@
 #define SRC_VERSION_H_
 
 #ifndef VERSION
-# define VERSION "1.19+3"
+# define VERSION "1.19.1"
 #endif
 
 #ifndef DATE
-# define DATE "2017-08-25"
+# define DATE "2017-08-26"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman"