Version 1.19beta7

New features:
- M291 command is provided to display a message box with options for
timeout, acknowledgement and Z jog buttons
- M292 command is provided to acknowledge M291 messages
- Manual delta calibration and bed compensation is supported (use P0 in
the M558 command to indicate that there is no Z probe)
- Minimum value for S parameter (maximum heater PWM) in M307 command is
reduced from 20% to 1%
- Core XYU kinematics are now supported (thanks Lars)
- RADDS build now supports 9 motors (thanks Tom)
- If a homing move uses parameter S3 instead of S1 then the axis minimum
or maximum value is set to the current position instead of vice versa
- M589 with no parameters now reports the Duet's own SSID
- M589 S"*" now deletes the Duet WiFi's own access point details

Bug fixes:
- Tool X offsets are now applied on the next move even if it has no Z
parameter
- The tool change restore point coordinates now take account of X axis
mapping
- M588 P"*" command (forget all access points) now works
- On the Duet WiFi, after using M589 to set up access point parameters,
when M552 S2 was sent to start the WiFi module in AP mode it reported
"WiFi reported error: invalid access point configuration". The fix also
needs DuetWiFiServer version 1.19beta7.
- On a delta printer the effector height is limited to reachable values

Areas of code refactored (so watch out for new bugs):
- G30 bed probing
- Baby stepping
- Tool offset implementation

Upgrade notes:
- SSIDs and passwords in M587, M588 and M589 commands must now be
enclosed in double quotes
- Height map filenames in G29, M374 and M375 commands must now be
enclosed in double quotes
- On a Duet WiFi you should also upgrade DuetWiFiServer.bin to version
1.19beta7. You do not need to perform a simultaneous upgrade, but M587
and M589 reporting functionality won't work correctly if your
DuetWiFiFirmware and DuetWiFiServer versions are out of step.

1 files changed, 3 insertions, 2 deletions

diff --git a/src/Movement/Kinematics/CoreBaseKinematics.h b/src/Movement/Kinematics/CoreBaseKinematics.h
index 1d684830..5132e7f3 100644
--- a/src/Movement/Kinematics/CoreBaseKinematics.h
+++ b/src/Movement/Kinematics/CoreBaseKinematics.h
@@ -17,15 +17,16 @@ public:
 
 	// Overridden base class functions. See Kinematics.h for descriptions.
 	bool CartesianToMotorSteps(const float machinePos[], const float stepsPerMm[], size_t numVisibleAxes, size_t numTotalAxes, int32_t motorPos[]) const override final;
-	bool Configure(unsigned int mCode, GCodeBuffer& gb, StringRef& reply, bool& error) override final;
+	bool Configure(unsigned int mCode, GCodeBuffer& gb, StringRef& reply, bool& error) override;
 	bool SupportsAutoCalibration() const override final { return false; }
+	HomingMode GetHomingMode() const override { return homeCartesianAxes; }
 
 protected:
 	// Calculate the movement fraction for a single axis motor of a Cartesian-like printer.
 	// The default implementation just returns directionVector[drive] but this needs to be overridden for CoreXY and CoreXZ printers.
 	virtual float MotorFactor(size_t drive, const float directionVector[]) const = 0;
 
-	float axisFactors[XYZ_AXES];
+	float axisFactors[MaxAxes];			// allow more than just XYZ so that we can support e.g. CoreXYU kinematics
 };
 
 #endif /* SRC_MOVEMENT_KINEMATICS_COREBASEKINEMATICS_H_ */