Version 1.20 alpha 2

Removed define of printf=iprintf in build settings
Removed Platform::Time() function, use millis() or millis64() instead
Added event logging to SD card. MessageType is now a bitmap. Implemented
M929.
Enable pullup resistors on endstops 10 and 11
SCARA printers can now use the manual bed levelling assistant
When using the manual bed levelling assitant, don't give an error if the
bed screw corrections were out of range, and always leave the first
screw alone
M552 now supports connection to a specified SSID
M572 now allows multiple D values
Thermocouple type letter in M305 command may now be in lower case
Bug fix: G29 bed probing on a SCARA printer gave spurious "not
reachable" warnings and skipped probe points
Protect against a dud command line containing the letter M being
interpreted as a M0 command
Fix reference to towers in the error message when trying to move a SCARA
printer before homing it
When updating firmware, warn that USB will disconnect
Fix duplicate error messatge when opening a gcode file fails

1 files changed, 34 insertions, 36 deletions

diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index 8a0d56ad..d77e0f2e 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -104,18 +104,18 @@ void RepRap::Init()
 	printMonitor->Init();
 	active = true;					// must do this before we start the network, else the watchdog may time out
 
-	platform->MessageF(HOST_MESSAGE, "%s Version %s dated %s\n", FIRMWARE_NAME, VERSION, DATE);
+	platform->MessageF(UsbMessage, "%s Version %s dated %s\n", FIRMWARE_NAME, VERSION, DATE);
 
 	// Run the configuration file
 	const char *configFile = platform->GetConfigFile();
-	platform->Message(HOST_MESSAGE, "\nExecuting ");
+	platform->Message(UsbMessage, "\nExecuting ");
 	if (platform->GetMassStorage()->FileExists(platform->GetSysDir(), configFile))
 	{
-		platform->MessageF(HOST_MESSAGE, "%s...", platform->GetConfigFile());
+		platform->MessageF(UsbMessage, "%s...", platform->GetConfigFile());
 	}
 	else
 	{
-		platform->MessageF(HOST_MESSAGE, "%s (no configuration file found)...", platform->GetDefaultFile());
+		platform->MessageF(UsbMessage, "%s (no configuration file found)...", platform->GetDefaultFile());
 		configFile = platform->GetDefaultFile();
 	}
 
@@ -126,11 +126,11 @@ void RepRap::Init()
 			// GCodes::Spin will read the macro and ensure IsDaemonBusy returns false when it's done
 			Spin();
 		}
-		platform->Message(HOST_MESSAGE, "Done!\n");
+		platform->Message(UsbMessage, "Done!\n");
 	}
 	else
 	{
-		platform->Message(HOST_MESSAGE, "Error, not found\n");
+		platform->Message(UsbMessage, "Error, not found\n");
 	}
 	processingConfig = false;
 
@@ -140,10 +140,10 @@ void RepRap::Init()
 #if !defined(__RADDS__) && !defined(__ALLIGATOR__)
 	hsmci_set_idle_func(hsmciIdle);
 #endif
-	platform->MessageF(HOST_MESSAGE, "%s is up and running.\n", FIRMWARE_NAME);
-	fastLoop = FLT_MAX;
-	slowLoop = 0.0;
-	lastTime = platform->Time();
+	platform->MessageF(UsbMessage, "%s is up and running.\n", FIRMWARE_NAME);
+	fastLoop = UINT32_MAX;
+	slowLoop = 0;
+	lastTime = micros();
 }
 
 void RepRap::Exit()
@@ -236,15 +236,15 @@ void RepRap::Spin()
 		{
 			if (t->DisplayColdExtrudeWarning())
 			{
-				platform->MessageF(GENERIC_MESSAGE, "Warning: Tool %d was not driven because its heater temperatures were not high enough or it has a heater fault\n", t->myNumber);
+				platform->MessageF(WarningMessage, "Tool %d was not driven because its heater temperatures were not high enough or it has a heater fault\n", t->myNumber);
 				lastWarningMillis = now;
 			}
 		}
 	}
 
 	// Keep track of the loop time
-	const float t = platform->Time();
-	const float dt = t - lastTime;
+	const uint32_t t = micros();
+	const uint32_t dt = t - lastTime;
 	if (dt < fastLoop)
 	{
 		fastLoop = dt;
@@ -258,9 +258,9 @@ void RepRap::Spin()
 
 void RepRap::Timing(MessageType mtype)
 {
-	platform->MessageF(mtype, "Slowest main loop (seconds): %f; fastest: %f\n", slowLoop, fastLoop);
-	fastLoop = FLT_MAX;
-	slowLoop = 0.0;
+	platform->MessageF(mtype, "Slowest main loop (seconds): %f; fastest: %f\n", (float)slowLoop * 0.000001, (float)fastLoop * 0.000001);
+	fastLoop = UINT32_MAX;
+	slowLoop = 0;
 }
 
 void RepRap::Diagnostics(MessageType mtype)
@@ -291,7 +291,7 @@ void RepRap::EmergencyStop()
 	}
 
 	heat->Exit();
-	for(size_t heater = 0; heater < Heaters; heater++)
+	for (size_t heater = 0; heater < Heaters; heater++)
 	{
 		platform->SetHeater(heater, 0.0);
 	}
@@ -300,12 +300,10 @@ void RepRap::EmergencyStop()
 	for (int i = 0; i < 2; i++)
 	{
 		move->Exit();
-		for (size_t drive = 0; drive < DRIVES; drive++)
-		{
-			platform->SetMotorCurrent(drive, 0.0, false);
-			platform->DisableDrive(drive);
-		}
+		platform->DisableAllDrives();
 	}
+
+	platform->StopLogging();
 }
 
 void RepRap::SetDebug(Module m, bool enable)
@@ -330,27 +328,27 @@ void RepRap::PrintDebug()
 {
 	if (debug != 0)
 	{
-		platform->Message(GENERIC_MESSAGE, "Debugging enabled for modules:");
+		platform->Message(GenericMessage, "Debugging enabled for modules:");
 		for (size_t i = 0; i < numModules; i++)
 		{
 			if ((debug & (1 << i)) != 0)
 			{
-				platform->MessageF(GENERIC_MESSAGE, " %s(%u)", moduleName[i], i);
+				platform->MessageF(GenericMessage, " %s(%u)", moduleName[i], i);
 			}
 		}
-		platform->Message(GENERIC_MESSAGE, "\nDebugging disabled for modules:");
+		platform->Message(GenericMessage, "\nDebugging disabled for modules:");
 		for (size_t i = 0; i < numModules; i++)
 		{
 			if ((debug & (1 << i)) == 0)
 			{
-				platform->MessageF(GENERIC_MESSAGE, " %s(%u)", moduleName[i], i);
+				platform->MessageF(GenericMessage, " %s(%u)", moduleName[i], i);
 			}
 		}
-		platform->Message(GENERIC_MESSAGE, "\n");
+		platform->Message(GenericMessage, "\n");
 	}
 	else
 	{
-		platform->Message(GENERIC_MESSAGE, "Debugging disabled\n");
+		platform->Message(GenericMessage, "Debugging disabled\n");
 	}
 }
 
@@ -464,7 +462,7 @@ void RepRap::StandbyTool(int toolNumber)
 	}
 	else
 	{
-		platform->MessageF(GENERIC_MESSAGE, "Error: Attempt to standby a non-existent tool: %d.\n", toolNumber);
+		platform->MessageF(ErrorMessage, "Attempt to standby a non-existent tool: %d.\n", toolNumber);
 	}
 }
 
@@ -499,7 +497,7 @@ void RepRap::SetToolVariables(int toolNumber, const float* standbyTemperatures,
 	}
 	else
 	{
-		platform->MessageF(GENERIC_MESSAGE, "Error: Attempt to set variables for a non-existent tool: %d.\n", toolNumber);
+		platform->MessageF(ErrorMessage, "Attempt to set variables for a non-existent tool: %d.\n", toolNumber);
 	}
 }
 
@@ -872,7 +870,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source)
 		bool first = true;
 		for (size_t heater = FirstVirtualHeater; heater < FirstVirtualHeater + MaxVirtualHeaters; ++heater)
 		{
-			const char *nm = heat->GetHeaterName(heater);
+			const char * const nm = heat->GetHeaterName(heater);
 			if (nm != nullptr)
 			{
 				if (!first)
@@ -892,7 +890,7 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source)
 	}
 
 	// Time since last reset
-	response->catf(",\"time\":%.1f", platform->Time());
+	response->catf(",\"time\":%.1f", (float)millis64() * 0.001);
 
 #if SUPPORT_SCANNER
 	// Scanner
@@ -914,16 +912,16 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source)
 		response->catf(",\"tempLimit\":%1.f", heat->GetHighestTemperatureLimit());
 
 		// Endstops
-		uint16_t endstops = 0;
+		uint32_t endstops = 0;
 		for(size_t drive = 0; drive < DRIVES; drive++)
 		{
 			EndStopHit stopped = platform->Stopped(drive);
 			if (stopped == EndStopHit::highHit || stopped == EndStopHit::lowHit)
 			{
-				endstops |= (1 << drive);
+				endstops |= (1u << drive);
 			}
 		}
-		response->catf(",\"endstops\":%d", endstops);
+		response->catf(",\"endstops\":%u", endstops);
 
 		// Firmware name, machine geometry and number of axes
 		response->catf(",\"firmwareName\":\"%s\",\"geometry\":\"%s\",\"axes\":%u", FIRMWARE_NAME, move->GetGeometryString(), numAxes);
@@ -1195,7 +1193,7 @@ OutputBuffer *RepRap::GetConfigResponse()
 
 	// Motor idle parameters
 	response->catf(",\"idleCurrentFactor\":%.1f", platform->GetIdleCurrentFactor() * 100.0);
-	response->catf(",\"idleTimeout\":%.1f", move->IdleTimeout());
+	response->catf(",\"idleTimeout\":%u", move->IdleTimeout());
 
 	// Minimum feedrates
 	response->cat(",\"minFeedrates\":");