Version 2.03RC4

Print Z shift in Move diagnostics
In Move diagnostics, only print bed probe heights if 3/4/5-point bed compensation is in use
M1 no longer disables drives (you can do that in sleep.g)
M0/M1 with a stop.g/sleep.g file no longer deselects the tool, it just turns off tool heaters if no H1 parameter
After grid probing, print min/max error as well as mean and std dev, also record them in the height map file
Implemented M675 (thanks wilriker)
Emit a warning if you run mesh bed probing and there is a substantial height offset
Emit a warning if you load a mesh and the Z datum has not been set by probing and there is a Z probe
M114 displays bed compensation amount at current position
Bug fix: in 2.03RC3, G10 L20 gave wrong results when a workplace coordinate offset was in use
Bug fix for Z shift if Z probe averaging mode is being used
Bug fix: M0 H1 turns heaters off there is a stop.g file

6 files changed, 75 insertions, 45 deletions

diff --git a/src/BugList.txt b/src/BugList.txt
index 3748dd01..592dc6b0 100644
--- a/src/BugList.txt
+++ b/src/BugList.txt
@@ -154,14 +154,17 @@ Done in 2.0 RC3:
 
 For 2.03RC4:
 - [done] Print Z shift in Move diagnostics
-- [done] In Move diagnostics, only print bed probe heights if 3/4/5-point bed compensatoin is in use
-- [done] Bug fix for Z shift if Z probe averaging mnode is being used
-- Check behaviour of mesh probing with an offset probe
+- [done] In Move diagnostics, only print bed probe heights if 3/4/5-point bed compensation is in use
+- [done] Bug fix for Z shift if Z probe averaging mode is being used
 - [done, test]Bug fix: M0 H1 turns heaters off there is a stop.g file
 - [done] M1 no longer disables drives (you can do that in sleep.g)
 - [done] M0/M1 with a stop.g/sleep.g file no longer deselects the tool, it just turns off tool heaters if no H1 parameter
-- [done, test, test height map view in DWC] After grid probing, print min/max error as well as mean and std dev, also record them in the height map file
-- M675 PR
+- [done, ok] After grid probing, print min/max error as well as mean and std dev, also record them in the height map file
+- [done] M675 PR
+- [done] Warning if you run mesh bed probing and there is a substantial height offset
+- [done] Warning if you load a mesh and the Z datum has not been set by probing and there is a Z probe
+- [done] Fix 2.03RC3 bug: G10 L20 gave wrong results when a workplace coordinate offset was in use
+- [done] M114 displays bed compensation amount at current position
 
 Planned for 3.0:
 - [on hold] investigate filament file not run on initial tool change, https://forum.duet3d.com/topic/9405/first-t0-in-gcode-does-not-work/5
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 7f1651ef..b31b1fc9 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -1154,9 +1154,10 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 				error = SaveHeightMap(gb, reply);
 				reprap.GetMove().AccessHeightMap().ExtrapolateMissing();
 				reprap.GetMove().UseMesh(true);
-				if (fabsf(mean) >= 2 * deviation)
+				const float absMean = fabsf(mean);
+				if (absMean >= 0.05 && absMean >= 2 * deviation)
 				{
-					platform.Message(WarningMessage, "Height map has a substantial Z offset. Recommend use Z-probe to re-establish Z=0 position, then re-probe the mesh.\n");
+					platform.Message(WarningMessage, "the height map has a substantial Z offset. Suggest use Z-probe to establish Z=0 datum, then re-probe the mesh.\n");
 				}
 			}
 			else
@@ -1259,7 +1260,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 				platform.SetProbing(true);
 				SetMoveBufferDefaults();
 				moveBuffer.endStopsToCheck = ZProbeActive;
-				moveBuffer.coords[Z_AXIS] = (GetAxisIsHomed(Z_AXIS))
+				moveBuffer.coords[Z_AXIS] = (IsAxisHomed(Z_AXIS))
 											? -platform.GetZProbeDiveHeight()			// Z axis has been homed, so no point in going very far
 											: -1.1 * platform.AxisTotalLength(Z_AXIS);	// Z axis not homed yet, so treat this as a homing move
 				moveBuffer.feedRate = platform.GetCurrentZProbeParameters().probeSpeed;
@@ -1325,6 +1326,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 					reprap.GetMove().SetZeroHeightError(moveBuffer.coords);
 					g30zHeightErrorSum = g30zHeightError = 0;					// there is no longer any height error from this probe
 					SetAxisIsHomed(Z_AXIS);										// this is only correct if the Z axis is Cartesian-like, but other architectures must be homed before probing anyway
+					zDatumSetByProbing = true;
 				}
 			}
 
@@ -1420,6 +1422,10 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 			else if (g30SValue >= -1)
 			{
 				error = reprap.GetMove().FinishedBedProbing(g30SValue, reply);
+				if (!error && reprap.GetMove().GetKinematics().SupportsAutoCalibration())
+				{
+					zDatumSetByProbing = true;			// if we successfully auto calibrated or adjusted leadscrews, we've set the Z datum by probing
+				}
 			}
 			gb.SetState(GCodeState::normal);
 		}
@@ -2208,7 +2214,7 @@ void GCodes::SaveResumeInfo(bool wasPowerFailure)
 					const float totalOffset = currentBabyStepOffsets[axis] - GetCurrentToolOffset(axis);
 					buf.catf(" %c%.3f", axisLetters[axis], (double)(pauseRestorePoint.moveCoords[axis] - totalOffset));
 				}
-				buf.cat('\n');
+				buf.cat("\nG60 S1\n");										// save the coordinates as restore point 1 too
 				ok = f->Write(buf.c_str());
 			}
 			if (ok)
@@ -3490,15 +3496,19 @@ GCodeResult GCodes::LoadHeightMap(GCodeBuffer& gb, const StringRef& reply)
 	f->Close();
 	reprap.GetMove().UseMesh(!err);
 
-	if (!err)
+	if (err)
+	{
+		return GCodeResult::error;
+	}
+
+	reply.Clear();						// get rid of the error message
+	if (!zDatumSetByProbing && platform.GetZProbeType() != ZProbeType::none)
 	{
-		reply.Clear();															// wipe the error message
-		// Update the current position to allow for any bed compensation at the current XY coordinates
-		reprap.GetMove().GetCurrentUserPosition(moveBuffer.coords, 0, reprap.GetCurrentXAxes(), reprap.GetCurrentYAxes());
-		ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);		// update user coordinates to reflect any height map offset at the current position
+		reply.copy("the height map was loaded when the current Z=0 datum was not determined probing. This may result in a height offset.");
+		return GCodeResult::warning;
 	}
 
-	return (err) ? GCodeResult::error : GCodeResult::ok;
+	return GCodeResult::ok;
 }
 
 // Save the height map and append the success or error message to 'reply', returning true if an error occurred
@@ -3549,18 +3559,6 @@ void GCodes::ClearBedMapping()
 // Coordinates are updated at the end of each movement, so this won't tell you where you are mid-movement.
 void GCodes::GetCurrentCoordinates(const StringRef& s) const
 {
-	// Get the live machine coordinates, we'll need them later
-	float liveCoordinates[MaxTotalDrivers];
-	reprap.GetMove().LiveCoordinates(liveCoordinates, reprap.GetCurrentXAxes(), reprap.GetCurrentYAxes());
-	const Tool * const currentTool = reprap.GetCurrentTool();
-	if (currentTool != nullptr)
-	{
-		for (size_t i = 0; i < numVisibleAxes; ++i)
-		{
-			liveCoordinates[i] += currentTool->GetOffset(i);
-		}
-	}
-
 	// Start with the axis coordinates
 	s.Clear();
 	for (size_t axis = 0; axis < numVisibleAxes; ++axis)
@@ -3569,6 +3567,10 @@ void GCodes::GetCurrentCoordinates(const StringRef& s) const
 		s.catf("%c:%.3f ", axisLetters[axis], HideNan(GetUserCoordinate(axis)));
 	}
 
+	// Get the live machine coordinates, we'll need them later
+	float liveCoordinates[MaxTotalDrivers];
+	reprap.GetMove().LiveCoordinates(liveCoordinates, reprap.GetCurrentXAxes(), reprap.GetCurrentYAxes());
+
 	// Now the extruder coordinates
 	for (size_t i = numTotalAxes; i < MaxTotalDrivers; i++)
 	{
@@ -3585,10 +3587,17 @@ void GCodes::GetCurrentCoordinates(const StringRef& s) const
 
 	// Add the machine coordinates because they may be different from the user coordinates under some conditions
 	s.cat(" Machine");
+	float machineCoordinates[MaxAxes];
+	ToolOffsetTransform(currentUserPosition, machineCoordinates);
 	for (size_t axis = 0; axis < numVisibleAxes; ++axis)
 	{
-		s.catf(" %.3f", HideNan(liveCoordinates[axis]));
+		s.catf(" %.3f", HideNan(machineCoordinates[axis]));
 	}
+
+	// Add the bed compensation
+	const float machineZ = machineCoordinates[Z_AXIS];
+	reprap.GetMove().AxisAndBedTransform(machineCoordinates, reprap.GetCurrentXAxes(), reprap.GetCurrentYAxes(), true);
+	s.catf(" Bed comp %.3f", (double)(machineCoordinates[Z_AXIS] - machineZ));
 }
 
 // Set up a file to print, but don't print it yet.
@@ -4759,7 +4768,7 @@ void GCodes::RestorePosition(const RestorePoint& rp, GCodeBuffer *gb)
 // Convert user coordinates to head reference point coordinates, optionally allowing for X axis mapping
 // If the X axis is mapped to some other axes not including X, then the X coordinate of coordsOut will be left unchanged.
 // So make sure it is suitably initialised before calling this.
-void GCodes::ToolOffsetTransform(const float coordsIn[MaxAxes], float coordsOut[MaxAxes], AxesBitmap explicitAxes)
+void GCodes::ToolOffsetTransform(const float coordsIn[MaxAxes], float coordsOut[MaxAxes], AxesBitmap explicitAxes) const
 {
 	const Tool * const currentTool = reprap.GetCurrentTool();
 	if (currentTool == nullptr)
@@ -4793,7 +4802,7 @@ void GCodes::ToolOffsetTransform(const float coordsIn[MaxAxes], float coordsOut[
 
 // Convert head reference point coordinates to user coordinates, allowing for XY axis mapping
 // Caution: coordsIn and coordsOut may address the same array!
-void GCodes::ToolOffsetInverseTransform(const float coordsIn[MaxAxes], float coordsOut[MaxAxes])
+void GCodes::ToolOffsetInverseTransform(const float coordsIn[MaxAxes], float coordsOut[MaxAxes]) const
 {
 	const Tool * const currentTool = reprap.GetCurrentTool();
 	if (currentTool == nullptr)
@@ -4962,6 +4971,23 @@ void GCodes::SetAxisIsHomed(unsigned int axis)
 	SetBit(axesHomed, axis);
 }
 
+// Tell us that the axis is not homed
+void GCodes::SetAxisNotHomed(unsigned int axis)
+{
+	ClearBit(axesHomed, axis);
+	if (axis == Z_AXIS)
+	{
+		zDatumSetByProbing = false;
+	}
+}
+
+// Flag all axes as not homed
+void GCodes::SetAllAxesNotHomed()
+{
+	axesHomed = 0;
+	zDatumSetByProbing = false;
+}
+
 // Write the config-override file returning true if an error occurred
 GCodeResult GCodes::WriteConfigOverrideFile(GCodeBuffer& gb, const StringRef& reply) const
 {
diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h
index dc2ead4d..50372a0b 100644
--- a/src/GCodes/GCodes.h
+++ b/src/GCodes/GCodes.h
@@ -158,13 +158,11 @@ public:
 	bool RunConfigFile(const char* fileName);							// Start running the config file
 	bool IsDaemonBusy() const;											// Return true if the daemon is busy running config.g or a trigger file
 
-	bool GetAxisIsHomed(unsigned int axis) const						// Has the axis been homed?
+	bool IsAxisHomed(unsigned int axis) const							// Has the axis been homed?
 		{ return IsBitSet(axesHomed, axis); }
 	void SetAxisIsHomed(unsigned int axis);								// Tell us that the axis is now homed
-	void SetAxisNotHomed(unsigned int axis)								// Tell us that the axis is not homed
-		{ ClearBit(axesHomed, axis); }
-	void SetAllAxesNotHomed()											// Flag all axes as not homed
-		{ axesHomed = 0; }
+	void SetAxisNotHomed(unsigned int axis);							// Tell us that the axis is not homed
+	void SetAllAxesNotHomed();											// Flag all axes as not homed
 
 	float GetSpeedFactor() const;										// Return the current speed factor
 #if SUPPORT_12864_LCD
@@ -345,9 +343,9 @@ private:
 
 	void SetMachinePosition(const float positionNow[MaxTotalDrivers], bool doBedCompensation = true); // Set the current position to be this
 	void UpdateCurrentUserPosition();											// Get the current position from the Move class
-	void ToolOffsetTransform(const float coordsIn[MaxAxes], float coordsOut[MaxAxes], AxesBitmap explicitAxes = 0);
+	void ToolOffsetTransform(const float coordsIn[MaxAxes], float coordsOut[MaxAxes], AxesBitmap explicitAxes = 0) const;
 																				// Convert user coordinates to head reference point coordinates
-	void ToolOffsetInverseTransform(const float coordsIn[MaxAxes], float coordsOut[MaxAxes]);	// Convert head reference point coordinates to user coordinates
+	void ToolOffsetInverseTransform(const float coordsIn[MaxAxes], float coordsOut[MaxAxes]) const;	// Convert head reference point coordinates to user coordinates
 	float GetCurrentToolOffset(size_t axis) const;								// Get an axis offset of the current tool
 
 	const char *TranslateEndStopResult(EndStopHit es);							// Translate end stop result to text
@@ -559,6 +557,7 @@ private:
 	bool doingManualBedProbe;					// true if we are waiting for the user to jog the nozzle until it touches the bed
 	bool probeIsDeployed;						// true if M401 has been used to deploy the probe and M402 has not yet been used t0 retract it
 	bool hadProbingError;						// true if there was an error probing the last point
+	bool zDatumSetByProbing;					// true if the Z position was last set by probing, not by an endstop switch or by G92
 	uint8_t tapsDone;							// how many times we tapped the current point
 
 	float simulationTime;						// Accumulated simulation time
diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp
index b136854c..dc0f3b66 100644
--- a/src/GCodes/GCodes3.cpp
+++ b/src/GCodes/GCodes3.cpp
@@ -173,6 +173,10 @@ GCodeResult GCodes::SetPositions(GCodeBuffer& gb)
 		}
 		reprap.GetMove().SetNewPosition(moveBuffer.coords, true);
 		axesHomed |= reprap.GetMove().GetKinematics().AxesAssumedHomed(axesIncluded);
+		if (IsBitSet(axesIncluded, Z_AXIS))
+		{
+			zDatumSetByProbing -= false;
+		}
 
 #if SUPPORT_ROLAND
 		if (reprap.GetRoland()->Active())
@@ -251,9 +255,7 @@ GCodeResult GCodes::GetSetWorkplaceCoordinates(GCodeBuffer& gb, const StringRef&
 					}
 					seen = true;
 				}
-				workplaceCoordinates[cs - 1][axis] = (compute)
-													? currentUserPosition[axis] - coord + workplaceCoordinates[currentCoordinateSystem][axis]
-														: coord;
+				workplaceCoordinates[cs - 1][axis] = (compute) ? currentUserPosition[axis] - coord : coord;
 			}
 		}
 
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index 035528c7..ac190942 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -850,7 +850,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source)
 	ch = '[';
 	for (size_t axis = 0; axis < numVisibleAxes; ++axis)
 	{
-		response->catf("%c%d", ch, (gCodes->GetAxisIsHomed(axis)) ? 1 : 0);
+		response->catf("%c%d", ch, (gCodes->IsAxisHomed(axis)) ? 1 : 0);
 		ch = ',';
 	}
 
@@ -1779,7 +1779,7 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq)
 	ch = '[';
 	for (size_t axis = 0; axis < numVisibleAxes; ++axis)
 	{
-		response->catf("%c%d", ch, (gCodes->GetAxisIsHomed(axis)) ? 1 : 0);
+		response->catf("%c%d", ch, (gCodes->IsAxisHomed(axis)) ? 1 : 0);
 		ch = ',';
 	}
 	response->cat(']');
diff --git a/src/Version.h b/src/Version.h
index 37d16989..db3a975b 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -11,16 +11,16 @@
 
 #ifndef VERSION
 #ifdef RTOS
-# define MAIN_VERSION	"2.03RC3+1"
+# define MAIN_VERSION	"2.03RC4"
 #else
-# define MAIN_VERSION	"1.24RC3+1"
+# define MAIN_VERSION	"1.24RC4"
 #endif
 
 # define VERSION MAIN_VERSION
 #endif
 
 #ifndef DATE
-# define DATE "2019-05-29b1"
+# define DATE "2019-05-29b4"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"