Version 1.21RC0

Fix stepper driver warning/error messages
Reduce SPI speed on Duet Ethernet
M350 Enn with just one E value given is now applied to all extruders
Corrected nonlinear extrusion steps calculation
Refactored the filament monitor support
Added laser filament monitor support
Added pulse-type filament monitor support
Corrected display of M574 endstop type when the type is active low
Added support for extruder "endstops" using motor load detection
M305 Pn with no other parameters no longer allocates a thermistor to the
heater

1 files changed, 41 insertions, 30 deletions

diff --git a/src/Platform.cpp b/src/Platform.cpp
index ef3baf88..5fa5aeda 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -26,7 +26,7 @@
 #include "Movement/Move.h"
 #include "Network.h"
 #include "PrintMonitor.h"
-#include "FilamentSensors/FilamentSensor.h"
+#include "FilamentMonitors/FilamentMonitor.h"
 #include "RepRap.h"
 #include "Scanner.h"
 #include "Version.h"
@@ -948,7 +948,7 @@ bool Platform::ProgramZProbe(GCodeBuffer& gb, StringRef& reply)
 	{
 		uint32_t zProbeProgram[MaxZProbeProgramBytes];
 		size_t len = MaxZProbeProgramBytes;
-		gb.GetUnsignedArray(zProbeProgram, len);
+		gb.GetUnsignedArray(zProbeProgram, len, false);
 		if (len != 0)
 		{
 			for (size_t i = 0; i < len; ++i)
@@ -1579,8 +1579,8 @@ void Platform::Spin()
 		{
 			bool reported = false;
 #if HAS_SMART_DRIVERS
-			ReportDrivers(shortToGroundDrivers, "Error: Short-to-ground", reported);
-			ReportDrivers(temperatureShutdownDrivers, "Error: Over temperature shutdown", reported);
+			ReportDrivers(ErrorMessage, shortToGroundDrivers, "short-to-ground", reported);
+			ReportDrivers(ErrorMessage, temperatureShutdownDrivers, "over temperature shutdown", reported);
 			// Don't report open load because we get too many spurious open load reports
 			//ReportDrivers(openLoadDrivers, "Error: Open load", reported);
 
@@ -1594,7 +1594,7 @@ void Platform::Spin()
 					|| (offBoardOtw && (!offBoardDriversFanRunning || now - offBoardDriversFanStartMillis >= DriverCoolingTimeout))
 				   )
 				{
-					ReportDrivers(temperatureWarningDrivers, "Warning: high temperature", reported);
+					ReportDrivers(WarningMessage, temperatureWarningDrivers, "high temperature", reported);
 				}
 			}
 #endif
@@ -1702,7 +1702,7 @@ void Platform::Spin()
 
 // Report driver status conditions that require attention.
 // Sets 'reported' if we reported anything, else leaves 'reported' alone.
-void Platform::ReportDrivers(DriversBitmap whichDrivers, const char* text, bool& reported)
+void Platform::ReportDrivers(MessageType mt, DriversBitmap whichDrivers, const char* text, bool& reported)
 {
 	if (whichDrivers != 0)
 	{
@@ -1715,7 +1715,7 @@ void Platform::ReportDrivers(DriversBitmap whichDrivers, const char* text, bool&
 			}
 			whichDrivers >>= 1;
 		}
-		MessageF(WarningMessage, "%s\n", scratchString.Pointer());
+		MessageF(mt, "%s\n", scratchString.Pointer());
 		reported = true;
 	}
 }
@@ -1724,8 +1724,8 @@ void Platform::ReportDrivers(DriversBitmap whichDrivers, const char* text, bool&
 
 #if HAS_STALL_DETECT
 
-// Return true if any motor driving this axis or extruder is stalled
-bool Platform::AnyMotorStalled(size_t drive) const
+// Return true if any motor driving this axis is stalled
+bool Platform::AnyAxisMotorStalled(size_t drive) const
 {
 	const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
 	if (drive < numAxes)
@@ -1743,6 +1743,12 @@ bool Platform::AnyMotorStalled(size_t drive) const
 	return (SmartDrivers::GetLiveStatus(extruderDrivers[drive - numAxes]) & TMC_RR_SG) != 0;
 }
 
+// Return true if the motor driving this extruder is stalled
+bool Platform::ExtruderMotorStalled(size_t extruder) const pre(drive < DRIVES)
+{
+	return (SmartDrivers::GetLiveStatus(extruderDrivers[extruder]) & TMC_RR_SG) != 0;
+}
+
 #endif
 
 #if HAS_VOLTAGE_MONITOR
@@ -1925,7 +1931,7 @@ static void FanInterrupt(CallbackParameter)
 	++fanInterruptCount;
 	if (fanInterruptCount == fanMaxInterruptCount)
 	{
-		uint32_t now = micros();
+		const uint32_t now = micros();
 		fanInterval = now - fanLastResetTime;
 		fanLastResetTime = now;
 		fanInterruptCount = 0;
@@ -2681,7 +2687,8 @@ void Platform::UpdateConfiguredHeaters()
 
 EndStopHit Platform::Stopped(size_t drive) const
 {
-	if (drive < reprap.GetGCodes().GetTotalAxes())
+	const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
+	if (drive < numAxes)
 	{
 		switch (endStopInputType[drive])
 		{
@@ -2702,28 +2709,28 @@ EndStopHit Platform::Stopped(size_t drive) const
 				case KinematicsType::coreXY:
 					// Both X and Y motors are involved in homing X or Y
 					motorIsStalled = (drive == X_AXIS || drive == Y_AXIS)
-										? AnyMotorStalled(X_AXIS) || AnyMotorStalled(Y_AXIS)
-											: AnyMotorStalled(drive);
+										? AnyAxisMotorStalled(X_AXIS) || AnyAxisMotorStalled(Y_AXIS)
+											: AnyAxisMotorStalled(drive);
 					break;
 
 				case KinematicsType::coreXYU:
 					// Both X and Y motors are involved in homing X or Y, and both U and V motors are involved in homing U
 					motorIsStalled = (drive == X_AXIS || drive == Y_AXIS)
-										? AnyMotorStalled(X_AXIS) || AnyMotorStalled(Y_AXIS)
+										? AnyAxisMotorStalled(X_AXIS) || AnyAxisMotorStalled(Y_AXIS)
 											: (drive == U_AXIS)
-												? AnyMotorStalled(U_AXIS) || AnyMotorStalled(V_AXIS)
-													: AnyMotorStalled(drive);
+												? AnyAxisMotorStalled(U_AXIS) || AnyAxisMotorStalled(V_AXIS)
+													: AnyAxisMotorStalled(drive);
 					break;
 
 				case KinematicsType::coreXZ:
 					// Both X and Z motors are involved in homing X or Z
 					motorIsStalled = (drive == X_AXIS || drive == Z_AXIS)
-										? AnyMotorStalled(X_AXIS) || AnyMotorStalled(Z_AXIS)
-											: AnyMotorStalled(drive);
+										? AnyAxisMotorStalled(X_AXIS) || AnyAxisMotorStalled(Z_AXIS)
+											: AnyAxisMotorStalled(drive);
 					break;
 
 				default:
-					motorIsStalled = AnyMotorStalled(drive);
+					motorIsStalled = AnyAxisMotorStalled(drive);
 					break;
 				}
 				return (!motorIsStalled) ? EndStopHit::noStop
@@ -2734,14 +2741,17 @@ EndStopHit Platform::Stopped(size_t drive) const
 #endif
 
 		case EndStopInputType::activeLow:
+			if (endStopPins[drive] != NoPin)
+			{
+				const bool b = IoPort::ReadPin(endStopPins[drive]);
+				return (b) ? EndStopHit::noStop : (endStopPos[drive] == EndStopPosition::highEndStop) ? EndStopHit::highHit : EndStopHit::lowHit;
+			}
+			break;
+
 		case EndStopInputType::activeHigh:
 			if (endStopPins[drive] != NoPin)
 			{
-				bool b = IoPort::ReadPin(endStopPins[drive]);
-				if (endStopInputType[drive] == EndStopInputType::activeHigh)
-				{
-					b = !b;
-				}
+				const bool b = !IoPort::ReadPin(endStopPins[drive]);
 				return (b) ? EndStopHit::noStop : (endStopPos[drive] == EndStopPosition::highEndStop) ? EndStopHit::highHit : EndStopHit::lowHit;
 			}
 			break;
@@ -2750,12 +2760,13 @@ EndStopHit Platform::Stopped(size_t drive) const
 			break;
 		}
 	}
+#if HAS_STALL_DETECT
 	else if (drive < DRIVES)
 	{
-		// Endstop not used for an axis, so no configuration data available.
-		// To allow us to see its status in DWC, pretend it is configured as a high-end active high endstop.
-		return (endStopPins[drive] != NoPin && IoPort::ReadPin(endStopPins[drive])) ? EndStopHit::highHit : EndStopHit::noStop;
+		// Endstop is for an extruder drive, so use stall detection
+		return (ExtruderMotorStalled(drive - numAxes)) ? EndStopHit::highHit : EndStopHit::noStop;
 	}
+#endif
 	return EndStopHit::noStop;
 }
 
@@ -4269,7 +4280,7 @@ bool Platform::ConfigureStallDetection(GCodeBuffer& gb, StringRef& reply)
 	{
 		uint32_t drives[DRIVES];
 		size_t dCount = DRIVES;
-		gb.GetUnsignedArray(drives, dCount);
+		gb.GetUnsignedArray(drives, dCount, false);
 		for (size_t i = 0; i < dCount; i++)
 		{
 			if (drives[i] >= numSmartDrivers)
@@ -4469,7 +4480,7 @@ void STEP_TC_HANDLER()
 {
 	const irqflags_t flags = cpu_irq_save();
 	const int32_t diff = (int32_t)(tim - GetInterruptClocks());		// see how long we have to go
-	if (diff < (int32_t)DDA::minInterruptInterval)					// if less than about 6us or already passed
+	if (diff < (int32_t)DDA::MinInterruptInterval)					// if less than about 6us or already passed
 	{
 		cpu_irq_restore(flags);
 		return true;												// tell the caller to simulate an interrupt instead
@@ -4502,7 +4513,7 @@ void STEP_TC_HANDLER()
 {
 	const irqflags_t flags = cpu_irq_save();
 	const int32_t diff = (int32_t)(tim - GetInterruptClocks());		// see how long we have to go
-	if (diff < (int32_t)DDA::minInterruptInterval)					// if less than about 6us or already passed
+	if (diff < (int32_t)DDA::MinInterruptInterval)					// if less than about 6us or already passed
 	{
 		cpu_irq_restore(flags);
 		return true;												// tell the caller to simulate an interrupt instead