Version 1.20beta5

Implemented motor load monitoring and sensorless homing
Various bug fixes and other changes, see whatsnew file

6 files changed, 59 insertions, 11 deletions

diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp
index 40b648b7..090afbbf 100644
--- a/src/Movement/DDA.cpp
+++ b/src/Movement/DDA.cpp
@@ -196,7 +196,7 @@ void DDA::DebugPrint() const
 	{
 		if (pddm[axis] != nullptr)
 		{
-			pddm[axis]->DebugPrint(reprap.GetGCodes().axisLetters[axis], isDeltaMovement);
+			pddm[axis]->DebugPrint(reprap.GetGCodes().GetAxisLetters()[axis], isDeltaMovement);
 		}
 	}
 	for (size_t i = numAxes; i < DRIVES; ++i)
@@ -1212,7 +1212,7 @@ void DDA::CheckEndstops(Platform& platform)
 			reprap.GetGCodes().MoveStoppedByZProbe();
 			return;
 
-		case EndStopHit::lowNear:
+		case EndStopHit::nearStop:
 			ReduceHomingSpeed();
 			break;
 
@@ -1234,7 +1234,7 @@ void DDA::CheckEndstops(Platform& platform)
 			}
 			break;
 
-		case EndStopHit::lowNear:
+		case EndStopHit::nearStop:
 		case EndStopHit::noStop:
 			if (probeTriggered)
 			{
@@ -1283,7 +1283,7 @@ void DDA::CheckEndstops(Platform& platform)
 				}
 				break;
 
-			case EndStopHit::lowNear:
+			case EndStopHit::nearStop:
 				// Only reduce homing speed if there are no more axes to be homed. This allows us to home X and Y simultaneously.
 				if (endStopsToCheck == MakeBitmap<AxesBitmap>(drive))
 				{
diff --git a/src/Movement/DDA.h b/src/Movement/DDA.h
index 231e1db8..c45c453f 100644
--- a/src/Movement/DDA.h
+++ b/src/Movement/DDA.h
@@ -74,7 +74,7 @@ public:
 	void LimitSpeedAndAcceleration(float maxSpeed, float maxAcceleration);	// Limit the speed an acceleration of this move
 
 	int32_t GetStepsTaken(size_t drive) const;
-	float GetProportionDone() const;								// Return the proportion of extrusion for the complete multi-segment move already done
+	float GetProportionDone() const;										// Return the proportion of extrusion for the complete multi-segment move already done
 
 	void MoveAborted();
 
@@ -86,9 +86,13 @@ public:
 	IoBits_t GetIoBits() const { return ioBits; }
 #endif
 
+#if HAS_SMART_DRIVERS
+	uint32_t GetStepInterval(size_t axis, uint32_t microstepShift) const;	// Get the current full step interval for this axis or extruder
+#endif
+
 	void DebugPrint() const;
 
-	static constexpr uint32_t stepClockRate = VARIANT_MCK/128;			// the frequency of the clock used for stepper pulse timing (see Platform::InitialiseInterrupts)
+	static constexpr uint32_t stepClockRate = VARIANT_MCK/128;				// the frequency of the clock used for stepper pulse timing (see Platform::InitialiseInterrupts)
 	static constexpr uint64_t stepClockRateSquared = (uint64_t)stepClockRate * stepClockRate;
 
 	// Note on the following constant:
@@ -214,4 +218,15 @@ inline void DDA::SetDriveCoordinate(int32_t a, size_t drive)
 	endCoordinatesValid = false;
 }
 
+#if HAS_SMART_DRIVERS
+
+// Get the current full step interval for this axis or extruder
+inline uint32_t DDA::GetStepInterval(size_t axis, uint32_t microstepShift) const
+{
+	const DriveMovement * const dm = pddm[axis];
+	return (dm != nullptr) ? dm->GetStepInterval(microstepShift) : 0;
+}
+
+#endif
+
 #endif /* DDA_H_ */
diff --git a/src/Movement/DriveMovement.h b/src/Movement/DriveMovement.h
index 788f495d..70c728a9 100644
--- a/src/Movement/DriveMovement.h
+++ b/src/Movement/DriveMovement.h
@@ -46,6 +46,8 @@ enum class DMState : uint8_t
 class DriveMovement
 {
 public:
+	friend class DDA;
+
 	DriveMovement(DriveMovement *next);
 
 	bool CalcNextStepTimeCartesian(const DDA &dda, bool live) __attribute__ ((hot));
@@ -58,6 +60,10 @@ public:
 	int32_t GetNetStepsLeft() const;
 	int32_t GetNetStepsTaken() const;
 
+#if HAS_SMART_DRIVERS
+	uint32_t GetStepInterval(uint32_t microstepShift) const;	// Get the current full step interval for this axis or extruder
+#endif
+
 	static void InitialAllocate(unsigned int num);
 	static int NumFree() { return numFree; }
 	static int MinFree() { return minFree; }
@@ -73,7 +79,6 @@ private:
 	static int numFree;
 	static int minFree;
 
-public:
 	// Parameters common to Cartesian, delta and extruder moves
 
 	// The following only need to be stored per-drive if we are supporting pressure advance
@@ -223,4 +228,16 @@ inline void DriveMovement::Release(DriveMovement *item)
 	++numFree;
 }
 
+#if HAS_SMART_DRIVERS
+
+// Get the current full step interval for this axis or extruder
+inline uint32_t DriveMovement::GetStepInterval(uint32_t microstepShift) const
+{
+	return ((nextStep >> microstepShift) != 0)		// if at least 1 full step done
+		? stepInterval << microstepShift			// return the interval between steps converted to full steps
+			: 0;
+}
+
+#endif
+
 #endif /* DRIVEMOVEMENT_H_ */
diff --git a/src/Movement/Kinematics/CoreBaseKinematics.cpp b/src/Movement/Kinematics/CoreBaseKinematics.cpp
index f6b74b5e..0ba9046c 100644
--- a/src/Movement/Kinematics/CoreBaseKinematics.cpp
+++ b/src/Movement/Kinematics/CoreBaseKinematics.cpp
@@ -27,7 +27,7 @@ bool CoreBaseKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, StringRe
 		bool seen = false;
 		for (size_t axis = 0; axis < XYZ_AXES; ++axis)
 		{
-			if (gb.Seen(GCodes::axisLetters[axis]))
+			if (gb.Seen(reprap.GetGCodes().GetAxisLetters()[axis]))
 			{
 				axisFactors[axis] = gb.GetFValue();
 				seen = true;
@@ -38,7 +38,7 @@ bool CoreBaseKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, StringRe
 			reply.printf("Printer mode is %s with axis factors", GetName());
 			for (size_t axis = 0; axis < XYZ_AXES; ++axis)
 			{
-				reply.catf(" %c:%f", GCodes::axisLetters[axis], (double)axisFactors[axis]);
+				reply.catf(" %c:%f", reprap.GetGCodes().GetAxisLetters()[axis], (double)axisFactors[axis]);
 			}
 		}
 		return seen;
diff --git a/src/Movement/Kinematics/CoreXYUKinematics.cpp b/src/Movement/Kinematics/CoreXYUKinematics.cpp
index ca327652..80ab8f84 100644
--- a/src/Movement/Kinematics/CoreXYUKinematics.cpp
+++ b/src/Movement/Kinematics/CoreXYUKinematics.cpp
@@ -33,7 +33,7 @@ bool CoreXYUKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, StringRef
 		bool seen = false;
 		for (size_t axis = 0; axis < CoreXYU_AXES; ++axis)
 		{
-			if (gb.Seen(GCodes::axisLetters[axis]))
+			if (gb.Seen(reprap.GetGCodes().GetAxisLetters()[axis]))
 			{
 				axisFactors[axis] = gb.GetFValue();
 				seen = true;
@@ -44,7 +44,7 @@ bool CoreXYUKinematics::Configure(unsigned int mCode, GCodeBuffer& gb, StringRef
 			reply.printf("Printer mode is %s with axis factors", GetName(false));
 			for (size_t axis = 0; axis < CoreXYU_AXES; ++axis)
 			{
-				reply.catf(" %c:%f", GCodes::axisLetters[axis], (double)axisFactors[axis]);
+				reply.catf(" %c:%f", reprap.GetGCodes().GetAxisLetters()[axis], (double)axisFactors[axis]);
 			}
 		}
 		return seen;
diff --git a/src/Movement/Move.h b/src/Movement/Move.h
index 38e55e5e..86eb6ab3 100644
--- a/src/Movement/Move.h
+++ b/src/Movement/Move.h
@@ -119,6 +119,10 @@ public:
 
 	bool WriteResumeSettings(FileStore *f) const;									// Write settings for resuming the print
 
+#if HAS_SMART_DRIVERS
+	uint32_t GetStepInterval(size_t axis, uint32_t microstepShift) const;			// Get the current step interval for this axis or extruder
+#endif
+
 	static int32_t MotorEndPointToMachine(size_t drive, float coord);				// Convert a single motor position to number of steps
 	static float MotorEndpointToPosition(int32_t endpoint, size_t drive);			// Convert number of motor steps to motor position
 
@@ -231,4 +235,16 @@ inline void Move::Interrupt()
 	}
 }
 
+#if HAS_SMART_DRIVERS
+
+// Get the current step interval for this axis or extruder, or 0 if it is not moving
+// This is called from the stepper drivers SPI interface ISR
+inline uint32_t Move::GetStepInterval(size_t axis, uint32_t microstepShift) const
+{
+	const DDA * const cdda = currentDda;		// capture volatile variable
+	return (cdda != nullptr) ? cdda->GetStepInterval(axis, microstepShift) : 0;
+}
+
+#endif
+
 #endif /* MOVE_H_ */