Version 1.20v1.20

Fixed sending of motor currents to DWC
Immediate LCD messages are now sent in a more timely manner
Clear system paramerters area when uploading new wifi firmware
Baud rates for wifi firmware upload now start at 230400 and end at 9600

8 files changed, 110 insertions, 53 deletions

diff --git a/src/Network2/ESP8266/WifiFirmwareUploader.cpp b/src/Network2/ESP8266/WifiFirmwareUploader.cpp
index 0e8c1800..40861f2c 100644
--- a/src/Network2/ESP8266/WifiFirmwareUploader.cpp
+++ b/src/Network2/ESP8266/WifiFirmwareUploader.cpp
@@ -64,7 +64,7 @@ const char * const resultMessages[] =
 // Probably our UART ISR cannot receive bytes fast enough, perhaps because of the latency of the system tick ISR.
 // 460800b doesn't always manage to connect, but if it does then uploading appears to be reliable.
 // 230400b always manages to connect.
-static const uint32_t uploadBaudRates[] = { 460800, 230400, 115200, 74880 };
+static const uint32_t uploadBaudRates[] = { 230400, 115200, 74880, 9600 };
 
 WifiFirmwareUploader::WifiFirmwareUploader(UARTClass& port)
 	: uploadPort(port), uploadFile(nullptr), state(UploadState::idle)
@@ -470,8 +470,7 @@ WifiFirmwareUploader::EspUploadResult WifiFirmwareUploader::Sync(uint16_t timeou
 WifiFirmwareUploader::EspUploadResult WifiFirmwareUploader::flashBegin(uint32_t addr, uint32_t size)
 {
 	// determine the number of blocks represented by the size
-	uint32_t blkCnt;
-	blkCnt = (size + EspFlashBlockSize - 1) / EspFlashBlockSize;
+	const uint32_t blkCnt = (size + EspFlashBlockSize - 1) / EspFlashBlockSize;
 
 	// ensure that the address is on a block boundary
 	addr &= ~(EspFlashBlockSize - 1);
@@ -562,6 +561,26 @@ WifiFirmwareUploader::EspUploadResult WifiFirmwareUploader::flashWriteBlock(uint
 	return stat;
 }
 
+WifiFirmwareUploader::EspUploadResult WifiFirmwareUploader::DoErase(uint32_t address, uint32_t size)
+{
+	const uint32_t sectorsPerBlock = 16;
+	const uint32_t sectorSize = 4096;
+	const uint32_t numSectors = (size + sectorSize - 1)/sectorSize;
+	const uint32_t startSector = address/sectorSize;
+	uint32_t headSectors = sectorsPerBlock - (startSector % sectorsPerBlock);
+
+	if (numSectors < headSectors)
+	{
+		headSectors = numSectors;
+	}
+    const uint32_t eraseSize = (numSectors < 2 * headSectors)
+    									? (numSectors + 1) / 2 * sectorSize
+    									: (numSectors - headSectors) * sectorSize;
+
+	MessageF("Erasing %u bytes...\n", eraseSize);
+	return flashBegin(uploadAddress, eraseSize);
+}
+
 void WifiFirmwareUploader::Spin()
 {
 	switch (state)
@@ -602,7 +621,7 @@ void WifiFirmwareUploader::Spin()
 				// Successful connection
 //				MessageF(" success on attempt %d\n", (connectAttemptNumber % retriesPerBaudRate) + 1);
 				MessageF(" success\n");
-				state = UploadState::erasing;
+				state = UploadState::erasing1;
 			}
 			else
 			{
@@ -620,25 +639,26 @@ void WifiFirmwareUploader::Spin()
 		}
 		break;
 
-	case UploadState::erasing:
+	case UploadState::erasing1:
 		if (millis() - lastAttemptTime >= blockWriteInterval)
 		{
-			const uint32_t sectorsPerBlock = 16;
-			const uint32_t sectorSize = 4096;
-			const uint32_t numSectors = (fileSize + sectorSize - 1)/sectorSize;
-			const uint32_t startSector = uploadAddress/sectorSize;
-			uint32_t headSectors = sectorsPerBlock - (startSector % sectorsPerBlock);
-
-			if (numSectors < headSectors)
+			uploadResult = DoErase(systemParametersAddress, systemParametersSize);
+			if (uploadResult == EspUploadResult::success)
 			{
-				headSectors = numSectors;
+				state = UploadState::erasing2;
 			}
-	        const uint32_t eraseSize = (numSectors < 2 * headSectors)
-	        									? (numSectors + 1) / 2 * sectorSize
-	        									: (numSectors - headSectors) * sectorSize;
+			else
+			{
+				MessageF("Erase failed\n");
+				state = UploadState::done;
+			}
+		}
+		break;
 
-			MessageF("Erasing %u bytes...\n", fileSize);
-			uploadResult = flashBegin(uploadAddress, eraseSize);
+	case UploadState::erasing2:
+		if (millis() - lastAttemptTime >= blockWriteInterval)
+		{
+			uploadResult = DoErase(uploadAddress, fileSize);
 			if (uploadResult == EspUploadResult::success)
 			{
 				MessageF("Uploading file...\n");
@@ -701,7 +721,7 @@ void WifiFirmwareUploader::Spin()
 		}
 		else
 		{
-			reprap.GetPlatform().MessageF(FirmwareUpdateMessage, "Error: Installation failed due to %s error\n", resultMessages[(size_t)uploadResult]);
+			MessageF("Error: Installation failed due to %s error\n", resultMessages[(size_t)uploadResult]);
 			// Not safe to restart the network
 			reprap.GetNetwork().ResetWiFi();
 		}
@@ -720,7 +740,7 @@ void WifiFirmwareUploader::SendUpdateFile(const char *file, const char *dir, uin
 	uploadFile = platform.OpenFile(dir, file, OpenMode::read);
 	if (uploadFile == nullptr)
 	{
-		platform.MessageF(FirmwareUpdateMessage, "Failed to open file %s\n", file);
+		MessageF("Failed to open file %s\n", file);
 		return;
 	}
 
@@ -728,7 +748,7 @@ void WifiFirmwareUploader::SendUpdateFile(const char *file, const char *dir, uin
 	if (fileSize == 0)
 	{
 		uploadFile->Close();
-		platform.MessageF(FirmwareUpdateMessage, "Upload file is empty %s\n", file);
+		MessageF("Upload file is empty %s\n", file);
 		return;
 	}
 
diff --git a/src/Network2/ESP8266/WifiFirmwareUploader.h b/src/Network2/ESP8266/WifiFirmwareUploader.h
index dc7a0a3d..1fd4195b 100644
--- a/src/Network2/ESP8266/WifiFirmwareUploader.h
+++ b/src/Network2/ESP8266/WifiFirmwareUploader.h
@@ -22,16 +22,18 @@ public:
 	static const uint32_t WebFilesAddress = 0x00100000;
 
 private:
-	static const uint32_t defaultTimeout = 500;				// default timeout in milliseconds
+	static const uint32_t defaultTimeout = 500;					// default timeout in milliseconds
 	static const uint32_t syncTimeout = 1000;
 	static const unsigned int retriesPerBaudRate = 9;
 	static const unsigned int retriesPerReset = 3;
 	static const uint32_t connectAttemptInterval = 50;
 	static const uint32_t resetDelay = 500;
-	static const uint32_t blockWriteInterval = 15;			// 15ms is long enough, 10ms is mostly too short
+	static const uint32_t blockWriteInterval = 15;				// 15ms is long enough, 10ms is mostly too short
 	static const uint32_t blockWriteTimeout = 200;
-	static const uint32_t eraseTimeout = 15000;				// increased from 12 to 15 seconds because Roland's board was timing out
-	static const unsigned int percentToReportIncrement = 5;	// how often we report % complete
+	static const uint32_t eraseTimeout = 15000;					// increased from 12 to 15 seconds because Roland's board was timing out
+	static const unsigned int percentToReportIncrement = 5;		// how often we report % complete
+	static const uint32_t systemParametersAddress = 0x3FE000;	// the address of the system + user parameter area that needs to be cleared when changing SDK version
+	static const uint32_t systemParametersSize = 0x2000;		// the size of the system + user parameter area
 
 	// Return codes - this list must be kept in step with the corresponding messages
 	enum class EspUploadResult
@@ -53,7 +55,8 @@ private:
 		idle,
 		resetting,
 		connecting,
-		erasing,
+		erasing1,
+		erasing2,
 		uploading,
 		done
 	};
@@ -77,6 +80,7 @@ private:
 	EspUploadResult flashFinish(bool reboot);
 	static uint16_t checksum(const uint8_t *data, uint16_t dataLen, uint16_t cksum);
 	EspUploadResult flashWriteBlock(uint16_t flashParmVal, uint16_t flashParmMask);
+	EspUploadResult DoErase(uint32_t address, uint32_t size);
 
 	UARTClass& uploadPort;
 	FileStore *uploadFile;
diff --git a/src/Platform.cpp b/src/Platform.cpp
index 86f820bb..4c54bc67 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -1231,7 +1231,8 @@ void Platform::SendAuxMessage(const char* msg)
 		buf->copy("{\"message\":");
 		buf->EncodeString(msg, strlen(msg), false, true);
 		buf->cat("}\n");
-		Message(LcdMessage, buf);
+		auxOutput->Push(buf);
+		FlushAuxMessages();
 	}
 }
 
@@ -1310,7 +1311,7 @@ void Platform::SetNetMask(byte nm[])
 }
 
 // Flush messages to USB and aux, returning true if there is more to send
-bool Platform::FlushMessages()
+bool Platform::FlushAuxMessages()
 {
 	// Write non-blocking data to the AUX line
 	OutputBuffer *auxOutputBuffer = auxOutput->GetFirstItem();
@@ -1328,6 +1329,13 @@ bool Platform::FlushMessages()
 			auxOutput->SetFirstItem(auxOutputBuffer);
 		}
 	}
+	return auxOutput->GetFirstItem() != nullptr;
+}
+
+// Flush messages to USB and aux, returning true if there is more to send
+bool Platform::FlushMessages()
+{
+	const bool auxHasMore = FlushAuxMessages();
 
 #ifdef SERIAL_AUX2_DEVICE
 	// Write non-blocking data to the second AUX line
@@ -1375,7 +1383,7 @@ bool Platform::FlushMessages()
 		}
 	}
 
-	return auxOutput->GetFirstItem() != nullptr
+	return auxHasMore
 #ifdef SERIAL_AUX2_DEVICE
 		|| aux2Output->GetFirstItem() != nullptr
 #endif
@@ -3459,7 +3467,7 @@ void Platform::RawMessage(MessageType type, const char *message)
 		logger->LogMessage(realTime, message);
 	}
 
-	// Send the nessage to the destinations
+	// Send the message to the destinations
 	if ((type & ImmediateLcdMessage) != 0)
 	{
 		SendAuxMessage(message);
diff --git a/src/Platform.h b/src/Platform.h
index 9f7dc46c..21fa55aa 100644
--- a/src/Platform.h
+++ b/src/Platform.h
@@ -387,6 +387,7 @@ public:
 	void Message(MessageType type, OutputBuffer *buffer);
 	void MessageF(MessageType type, const char *fmt, ...) __attribute__ ((format (printf, 3, 4)));
 	void MessageF(MessageType type, const char *fmt, va_list vargs);
+	bool FlushAuxMessages();
 	bool FlushMessages();							// Flush messages to USB and aux, returning true if there is more to send
 	void SendAlert(MessageType mt, const char *message, const char *title, int sParam, float tParam, AxesBitmap controls);
 	void StopLogging();
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index 60da2d49..78eb9ac8 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -1186,7 +1186,7 @@ OutputBuffer *RepRap::GetConfigResponse()
 	ch = '[';
 	for (size_t drive = 0; drive < DRIVES; drive++)
 	{
-		response->catf("%c%.2f", ch, (double)(platform->GetMotorCurrent(drive, false)));
+		response->catf("%c%.2f", ch, (double)(platform->GetMotorCurrent(drive, 906)));
 		ch = ',';
 	}
 
diff --git a/src/SAME70_TEST/WifiFirmwareUploader.cpp b/src/SAME70_TEST/WifiFirmwareUploader.cpp
index 9d77f18d..d4e41838 100644
--- a/src/SAME70_TEST/WifiFirmwareUploader.cpp
+++ b/src/SAME70_TEST/WifiFirmwareUploader.cpp
@@ -44,7 +44,7 @@ const uint32_t ESP_FLASH_ADDR = 0x40200000;			// address of start of Flash
 const uint32_t ESP_FLASH_READ_STUB_BEGIN = IRAM_ADDR + 0x18;
 
 // Messages corresponding to result codes, should make sense when followed by " error"
-const char *resultMessages[] =
+const char * const resultMessages[] =
 {
 	"no",
 	"timeout",
@@ -65,7 +65,7 @@ const char *resultMessages[] =
 // Probably our UART ISR cannot receive bytes fast enough, perhaps because of the latency of the system tick ISR.
 // 460800b doesn't always manage to connect, but if it does then uploading appears to be reliable.
 // 230400b always manages to connect.
-static const uint32_t uploadBaudRates[] = { 460800, 230400, 115200, 74880 };
+static const uint32_t uploadBaudRates[] = { 230400, 115200, 74880, 9600 };
 
 WifiFirmwareUploader::WifiFirmwareUploader(UARTClass& port, WiFiInterface& iface)
 	: uploadPort(port), interface(iface), uploadFile(nullptr), state(UploadState::idle)
@@ -471,8 +471,7 @@ WifiFirmwareUploader::EspUploadResult WifiFirmwareUploader::Sync(uint16_t timeou
 WifiFirmwareUploader::EspUploadResult WifiFirmwareUploader::flashBegin(uint32_t addr, uint32_t size)
 {
 	// determine the number of blocks represented by the size
-	uint32_t blkCnt;
-	blkCnt = (size + EspFlashBlockSize - 1) / EspFlashBlockSize;
+	const uint32_t blkCnt = (size + EspFlashBlockSize - 1) / EspFlashBlockSize;
 
 	// ensure that the address is on a block boundary
 	addr &= ~(EspFlashBlockSize - 1);
@@ -563,6 +562,26 @@ WifiFirmwareUploader::EspUploadResult WifiFirmwareUploader::flashWriteBlock(uint
 	return stat;
 }
 
+WifiFirmwareUploader::EspUploadResult WifiFirmwareUploader::DoErase(uint32_t address, uint32_t size)
+{
+	const uint32_t sectorsPerBlock = 16;
+	const uint32_t sectorSize = 4096;
+	const uint32_t numSectors = (size + sectorSize - 1)/sectorSize;
+	const uint32_t startSector = address/sectorSize;
+	uint32_t headSectors = sectorsPerBlock - (startSector % sectorsPerBlock);
+
+	if (numSectors < headSectors)
+	{
+		headSectors = numSectors;
+	}
+    const uint32_t eraseSize = (numSectors < 2 * headSectors)
+    									? (numSectors + 1) / 2 * sectorSize
+    									: (numSectors - headSectors) * sectorSize;
+
+	MessageF("Erasing %u bytes...\n", eraseSize);
+	return flashBegin(uploadAddress, eraseSize);
+}
+
 void WifiFirmwareUploader::Spin()
 {
 	switch (state)
@@ -603,7 +622,7 @@ void WifiFirmwareUploader::Spin()
 				// Successful connection
 //				MessageF(" success on attempt %d\n", (connectAttemptNumber % retriesPerBaudRate) + 1);
 				MessageF(" success\n");
-				state = UploadState::erasing;
+				state = UploadState::erasing1;
 			}
 			else
 			{
@@ -621,25 +640,26 @@ void WifiFirmwareUploader::Spin()
 		}
 		break;
 
-	case UploadState::erasing:
+	case UploadState::erasing1:
 		if (millis() - lastAttemptTime >= blockWriteInterval)
 		{
-			const uint32_t sectorsPerBlock = 16;
-			const uint32_t sectorSize = 4096;
-			const uint32_t numSectors = (fileSize + sectorSize - 1)/sectorSize;
-			const uint32_t startSector = uploadAddress/sectorSize;
-			uint32_t headSectors = sectorsPerBlock - (startSector % sectorsPerBlock);
-
-			if (numSectors < headSectors)
+			uploadResult = DoErase(systemParametersAddress, systemParametersSize);
+			if (uploadResult == EspUploadResult::success)
 			{
-				headSectors = numSectors;
+				state = UploadState::erasing2;
 			}
-	        const uint32_t eraseSize = (numSectors < 2 * headSectors)
-	        									? (numSectors + 1) / 2 * sectorSize
-	        									: (numSectors - headSectors) * sectorSize;
+			else
+			{
+				MessageF("Erase failed\n");
+				state = UploadState::done;
+			}
+		}
+		break;
 
-			MessageF("Erasing %u bytes...\n", fileSize);
-			uploadResult = flashBegin(uploadAddress, eraseSize);
+	case UploadState::erasing2:
+		if (millis() - lastAttemptTime >= blockWriteInterval)
+		{
+			uploadResult = DoErase(uploadAddress, fileSize);
 			if (uploadResult == EspUploadResult::success)
 			{
 				MessageF("Uploading file...\n");
diff --git a/src/SAME70_TEST/WifiFirmwareUploader.h b/src/SAME70_TEST/WifiFirmwareUploader.h
index bb7ea506..ef815f87 100644
--- a/src/SAME70_TEST/WifiFirmwareUploader.h
+++ b/src/SAME70_TEST/WifiFirmwareUploader.h
@@ -34,6 +34,8 @@ private:
 	static const uint32_t blockWriteTimeout = 200;
 	static const uint32_t eraseTimeout = 15000;				// increased from 12 to 15 seconds because Roland's board was timing out
 	static const unsigned int percentToReportIncrement = 5;	// how often we report % complete
+	static const uint32_t systemParametersAddress = 0x3FE000;	// the address of the system + user parameter area that needs to be cleared when changing SDK version
+	static const uint32_t systemParametersSize = 0x2000;		// the size of the system + user parameter area
 
 	// Return codes - this list must be kept in step with the corresponding messages
 	enum class EspUploadResult
@@ -55,7 +57,8 @@ private:
 		idle,
 		resetting,
 		connecting,
-		erasing,
+		erasing1,
+		erasing2,
 		uploading,
 		done
 	};
@@ -79,6 +82,7 @@ private:
 	EspUploadResult flashFinish(bool reboot);
 	static uint16_t checksum(const uint8_t *data, uint16_t dataLen, uint16_t cksum);
 	EspUploadResult flashWriteBlock(uint16_t flashParmVal, uint16_t flashParmMask);
+	EspUploadResult DoErase(uint32_t address, uint32_t size);
 
 	UARTClass& uploadPort;
 	WiFiInterface& interface;
diff --git a/src/Version.h b/src/Version.h
index 5e164720..ad59f43f 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -9,11 +9,11 @@
 #define SRC_VERSION_H_
 
 #ifndef VERSION
-# define VERSION "1.20RC4"
+# define VERSION "1.20"
 #endif
 
 #ifndef DATE
-# define DATE "2017-12-20"
+# define DATE "2017-12-23"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman"