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, 8 insertions, 1 deletions

diff --git a/src/Movement/Kinematics/Kinematics.cpp b/src/Movement/Kinematics/Kinematics.cpp
index 058aef71..dd55b2ed 100644
--- a/src/Movement/Kinematics/Kinematics.cpp
+++ b/src/Movement/Kinematics/Kinematics.cpp
@@ -11,6 +11,7 @@
 #include "CoreXYKinematics.h"
 #include "CoreXZKinematics.h"
 #include "ScaraKinematics.h"
+#include "CoreXYUKinematics.h"
 #include "RepRap.h"
 #include "Platform.h"
 
@@ -45,9 +46,10 @@ bool Kinematics::IsReachable(float x, float y) const
 
 // Limit the Cartesian position that the user wants to move to
 // This default implementation just applies the rectangular limits set up by M208 to those axes that have been homed.
-void Kinematics::LimitPosition(float coords[], size_t numVisibleAxes, uint16_t axesHomed) const
+bool Kinematics::LimitPosition(float coords[], size_t numVisibleAxes, uint16_t axesHomed) const
 {
 	const Platform& platform = reprap.GetPlatform();
+	bool limited = false;
 	for (size_t axis = 0; axis < numVisibleAxes; axis++)
 	{
 		if ((axesHomed & (1 << axis)) != 0)
@@ -56,13 +58,16 @@ void Kinematics::LimitPosition(float coords[], size_t numVisibleAxes, uint16_t a
 			if (f < platform.AxisMinimum(axis))
 			{
 				f = platform.AxisMinimum(axis);
+				limited = true;
 			}
 			else if (f > platform.AxisMaximum(axis))
 			{
 				f = platform.AxisMaximum(axis);
+				limited = true;
 			}
 		}
 	}
+	return limited;
 }
 
 // Return the initial Cartesian coordinates we assume after switching to this kinematics
@@ -91,6 +96,8 @@ void Kinematics::GetAssumedInitialPosition(size_t numAxes, float positions[]) co
 		return new CoreXZKinematics();
 	case KinematicsType::scara:
 		return new ScaraKinematics();
+	case KinematicsType::coreXYU:
+		return new CoreXYUKinematics();
 	}
 }