Version 2.02RC12.02RC1

Reduced default stealthChop/spreadCycle crossover speed
Increased length of stepper driver open load timer to avoid false open load reports#If heater failes due to bad curve fit, report gani/time constant/dead time as A, C and D as in M307
When pausing, inclucde the pause coordinates in the "Print paused" message

6 files changed, 67 insertions, 13 deletions

diff --git a/src/BugList.txt b/src/BugList.txt
index cb8ead50..4123907b 100644
--- a/src/BugList.txt
+++ b/src/BugList.txt
@@ -41,6 +41,8 @@ Remaining:
 - [done, ok on DuetM, test on Duet2] No warning messages when TMC2224 drivers overheat, https://forum.duet3d.com/topic/6309/little-monster-s-hort-to-ground/13
 - [done] Different numbers of endstop inputs and motor drivers
 - [done, ok] Support mixed stealthchop/spread cycle mode on Maestro via TPWMTHRS register, https://forum.duet3d.com/topic/6512/duet-2-maestro-stealthchop-default/7
+- [done, test] Add paused coordinates to 'printing paused' message? https://reprap.org/forum/read.php?416,832303,832440#msg-832440
+- [done] If a bad curve fit occurs during tuning, display the values as A, C and D instead of G, tc and td to better relate to M307
 - Add check digit to serial number
 - check DAA working as intended, results are inconsistent
 - chrishamm's watchdog issue, see his email oif 2018-08-01
diff --git a/src/Configuration.h b/src/Configuration.h
index ff09ac51..be15ebfd 100644
--- a/src/Configuration.h
+++ b/src/Configuration.h
@@ -32,7 +32,7 @@ constexpr float ROOM_TEMPERATURE = 21.0;				// Celsius
 
 // Timeouts
 constexpr uint32_t FanCheckInterval = 500;				// Milliseconds
-constexpr uint32_t OpenLoadTimeout = 500;				// Milliseconds
+constexpr uint32_t OpenLoadTimeout = 5000;				// Milliseconds. A value of 500 resulted in lots of spurious detections in the SCARA extruder. Even 2000 resulted in a couple.
 constexpr uint32_t MinimumWarningInterval = 4000;		// Milliseconds, must be at least as long as FanCheckInterval
 constexpr uint32_t LogFlushInterval = 15000;			// Milliseconds
 constexpr uint32_t DriverCoolingTimeout = 4000;			// Milliseconds
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index aca91dfe..f3ca91a2 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -679,8 +679,12 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 	case GCodeState::pausing2:
 		if (LockMovementAndWaitForStandstill(gb))
 		{
-			reply.copy("Printing paused");
-			platform.Message(LogMessage, "Printing paused\n");
+			reply.printf("Printing paused at");
+			for (size_t axis = 0; axis < numVisibleAxes; ++axis)
+			{
+				reply.catf(" %c%.1f", axisLetters[axis], (double)pauseRestorePoint.moveCoords[axis]);
+			}
+			platform.MessageF(LogMessage, "%s\n", reply.c_str());
 			gb.SetState(GCodeState::normal);
 		}
 		break;
@@ -1735,6 +1739,13 @@ void GCodes::DoPause(GCodeBuffer& gb, PauseReason reason, const char *msg)
 		}
 	}
 
+#if SUPPORT_LASER
+	if (machineType == MachineType::laser)
+	{
+		moveBuffer.laserPwmOrIoBits.laserPwm = 0;		// turn off the laser when we start moving
+	}
+#endif
+
 	SaveFanSpeeds();
 	pauseRestorePoint.toolNumber = reprap.GetCurrentToolNumber();
 
@@ -2382,9 +2393,18 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 #if SUPPORT_LASER
 	else if (machineType == MachineType::laser)
 	{
-		moveBuffer.laserPwmOrIoBits.laserPwm = (moveBuffer.moveType == 0 && isCoordinated && gb.Seen('S'))
-												? ConvertLaserPwm(gb.GetFValue())
-												: 0;
+		if (!isCoordinated || moveBuffer.moveType != 0)
+		{
+			moveBuffer.laserPwmOrIoBits.laserPwm = 0;
+		}
+		else if (gb.Seen('S'))
+		{
+			moveBuffer.laserPwmOrIoBits.laserPwm = ConvertLaserPwm(gb.GetFValue());
+		}
+		else
+		{
+			// leave the laser PWM alone because this is what LaserWeb expects
+		}
 	}
 #endif
 #if SUPPORT_IOBITS
@@ -2696,6 +2716,37 @@ const char* GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise)
 
 	LoadExtrusionAndFeedrateFromGCode(gb);
 
+#if SUPPORT_LASER
+	if (machineType == MachineType::laser)
+	{
+		if (gb.Seen('S'))
+		{
+			moveBuffer.laserPwmOrIoBits.laserPwm = ConvertLaserPwm(gb.GetFValue());
+		}
+		else
+		{
+			// leave the laser PWM alone because this is what LaserWeb expects
+		}
+	}
+# if SUPPORT_IOBITS
+	else
+# endif
+#endif
+#if SUPPORT_IOBITS
+	{
+		// Update the iobits parameter
+		if (gb.Seen('P'))
+		{
+			moveBuffer.laserPwmOrIoBits.ioBits = (IoBits_t)gb.GetIValue();
+		}
+		else
+		{
+			// Leave moveBuffer.ioBits alone so that we keep the previous value
+		}
+	}
+#endif
+
+
 	moveBuffer.usePressureAdvance = moveBuffer.hasExtrusion;
 
 	arcRadius = sqrtf(iParam * iParam + jParam * jParam);
diff --git a/src/Heating/Pid.cpp b/src/Heating/Pid.cpp
index 152bdd40..10eacbd4 100644
--- a/src/Heating/Pid.cpp
+++ b/src/Heating/Pid.cpp
@@ -749,7 +749,7 @@ void PID::DoTuningStep()
 			const int peakIndex = GetPeakTempIndex();
 			if (peakIndex < 0)
 			{
-				if (millis() - tuningPhaseStartTime < 60 * 1000)			// allow 1 minute for the bed temperature reach peal temperature
+				if (millis() - tuningPhaseStartTime < 60 * 1000)			// allow 1 minute for the bed temperature reach peak temperature
 				{
 					return;			// still waiting for peak temperature
 				}
@@ -898,7 +898,8 @@ void PID::CalculateModel()
 	{
 		DisplayBuffer("At completion");
 	}
-	const float tc = (float)((tuningReadingsTaken - 1) * tuningReadingInterval)/(1000.0 * logf((tuningTempReadings[0] - tuningStartTemp)/(tuningTempReadings[tuningReadingsTaken - 1] - tuningStartTemp)));
+	const float tc = (float)((tuningReadingsTaken - 1) * tuningReadingInterval)
+						/(1000.0 * logf((tuningTempReadings[0] - tuningStartTemp)/(tuningTempReadings[tuningReadingsTaken - 1] - tuningStartTemp)));
 	const float heatingTime = (tuningHeatingTime - tuningPeakDelay) * 0.001;
 	const float gain = (tuningHeaterOffTemp - tuningStartTemp)/(1.0 - expf(-heatingTime/tc));
 
@@ -925,7 +926,7 @@ void PID::CalculateModel()
 	}
 	else
 	{
-		platform.MessageF(WarningMessage, "Auto tune of heater %u failed due to bad curve fit (G=%.1f, tc=%.1f, td=%.1f)\n", heater, (double)gain, (double)tc, (double)td);
+		platform.MessageF(WarningMessage, "Auto tune of heater %u failed due to bad curve fit (A=%.1f, C=%.1f, D=%.1f)\n", heater, (double)gain, (double)tc, (double)td);
 	}
 }
 
diff --git a/src/RepRapFirmware.cpp b/src/RepRapFirmware.cpp
index 87a70d3e..929001a1 100644
--- a/src/RepRapFirmware.cpp
+++ b/src/RepRapFirmware.cpp
@@ -209,10 +209,10 @@ bool MillisTimer::Check(uint32_t timeoutMillis) const
 	return running && millis() - whenStarted >= timeoutMillis;
 }
 
-// Check whether a timeout has expired and don't stop the timer if it has, else leave it running if it was
+// Check whether a timeout has expired and stop the timer if it has, else leave it running if it was running
 bool MillisTimer::CheckAndStop(uint32_t timeoutMillis)
 {
-	const bool ret = running && millis() - whenStarted >= timeoutMillis;
+	const bool ret = Check(timeoutMillis);
 	if (ret)
 	{
 		running = false;
diff --git a/src/Version.h b/src/Version.h
index 9762aaa2..938e6eec 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -12,7 +12,7 @@
 #ifndef VERSION
 #ifdef RTOS
 # define RTOSVER		"(RTOS)"
-# define MAIN_VERSION	"2.02beta2"
+# define MAIN_VERSION	"2.02RC1"
 #else
 # define MAIN_VERSION	"1.22"
 # define RTOSVER
@@ -22,7 +22,7 @@
 #endif
 
 #ifndef DATE
-# define DATE "2018-08-30b3"
+# define DATE "2018-08-31b4"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"