Interim build 1.10+1

Fixed incorrect parameters for un-retraction moves when z-hop,
orthogonal axis compensation and pressure advance are all enabled
Further refactoring of SD_HSMCI library in preparation for moving hsmci,
dmac and rtc modules into CoreDuet

7 files changed, 35 insertions, 27 deletions

diff --git a/src/Configuration.h b/src/Configuration.h
index 28973a3c..57c10c2e 100644
--- a/src/Configuration.h
+++ b/src/Configuration.h
@@ -26,11 +26,11 @@ Licence: GPL
 #define NAME "RepRapFirmware"
 
 #ifndef VERSION
-#define VERSION "1.10"
+#define VERSION "1.10+1"
 #endif
 
 #ifndef DATE
-#define DATE "2016-03-24"
+#define DATE "2016-03-25"
 #endif
 
 #define AUTHORS "reprappro, dc42, zpl, t3p3, dnewman"
diff --git a/src/DDA.cpp b/src/DDA.cpp
index 0b7496e3..547432cc 100644
--- a/src/DDA.cpp
+++ b/src/DDA.cpp
@@ -80,14 +80,14 @@ void DDA::Init()
 }
 
 // Set up a real move. Return true if it represents real movement, else false.
-bool DDA::Init(const float nextMove[], float reqSpeed, EndstopChecks ce, bool doMotorMapping, FilePosition fPos)
+bool DDA::Init(const GCodes::RawMove *nextMove, bool doMotorMapping)
 {
 	// 1. Compute the new endpoints and the movement vector
 	const int32_t *positionNow = prev->DriveCoordinates();
 	const Move *move = reprap.GetMove();
 	if (doMotorMapping)
 	{
-		move->MotorTransform(nextMove, endPoint);			// transform the axis coordinates if on a delta or CoreXY printer
+		move->MotorTransform(nextMove->coords, endPoint);			// transform the axis coordinates if on a delta or CoreXY printer
 		isDeltaMovement = move->IsDeltaMode()
 							&& (endPoint[X_AXIS] != positionNow[X_AXIS] || endPoint[Y_AXIS] != positionNow[Y_AXIS] || endPoint[Z_AXIS] != positionNow[Z_AXIS]);
 	}
@@ -106,13 +106,13 @@ bool DDA::Init(const float nextMove[], float reqSpeed, EndstopChecks ce, bool do
 		accelerations[drive] = normalAccelerations[drive];
 		if (drive >= AXES || !doMotorMapping)
 		{
-			endPoint[drive] = Move::MotorEndPointToMachine(drive, nextMove[drive]);
+			endPoint[drive] = Move::MotorEndPointToMachine(drive, nextMove->coords[drive]);
 		}
 
 		int32_t delta;
 		if (drive < AXES)
 		{
-			endCoordinates[drive] = nextMove[drive];
+			endCoordinates[drive] = nextMove->coords[drive];
 			delta = endPoint[drive] - positionNow[drive];
 		}
 		else
@@ -123,7 +123,7 @@ bool DDA::Init(const float nextMove[], float reqSpeed, EndstopChecks ce, bool do
 		DriveMovement& dm = ddm[drive];
 		if (drive < AXES && !isSpecialDeltaMove)
 		{
-			directionVector[drive] = nextMove[drive] - prev->GetEndCoordinate(drive, false);
+			directionVector[drive] = nextMove->coords[drive] - prev->GetEndCoordinate(drive, false);
 			dm.state = (isDeltaMovement || delta != 0)
 						? DMState::moving				// on a delta printer, if one tower moves then we assume they all do
 						: DMState::idle;
@@ -168,10 +168,12 @@ bool DDA::Init(const float nextMove[], float reqSpeed, EndstopChecks ce, bool do
 	}
 
 	// 3. Store some values
-	endStopsToCheck = ce;
-	filePos = fPos;
+	endStopsToCheck = nextMove->endStopsToCheck;
+	filePos = nextMove->filePos;
+	usePressureAdvance = nextMove->usePressureAdvance;
+
 	// The end coordinates will be valid at the end of this move if it does not involve endstop checks and is not a special move on a delta printer
-	endCoordinatesValid = (ce == 0) && (doMotorMapping || !move->IsDeltaMode());
+	endCoordinatesValid = (endStopsToCheck == 0) && (doMotorMapping || !move->IsDeltaMode());
 
 	// 4. Normalise the direction vector and compute the amount of motion.
 	// If there is any XYZ movement, then we normalise it so that the total XYZ movement has unit length.
@@ -269,6 +271,7 @@ bool DDA::Init(const float nextMove[], float reqSpeed, EndstopChecks ce, bool do
 
 	// Set the speed to the smaller of the requested and maximum speed.
 	// Also enforce a minimum speed of 0.5mm/sec. We need a minimum speed to avoid overflow in the movement calculations.
+	float reqSpeed = nextMove->feedRate;
 	if (isSpecialDeltaMove)
 	{
 		// Special case of a raw or homing move on a delta printer
@@ -604,7 +607,6 @@ void DDA::Prepare()
 
 	goingSlow = false;
 	firstDM = nullptr;
-	bool xyMoving = false;
 
 	for (size_t drive = 0; drive < DRIVES; ++drive)
 	{
@@ -615,7 +617,7 @@ void DDA::Prepare()
 			reprap.GetPlatform()->EnableDrive(drive);
 			if (drive >= AXES)
 			{
-				dm.PrepareExtruder(*this, params, drive, xyMoving);
+				dm.PrepareExtruder(*this, params, drive, usePressureAdvance);
 
 				// Check for sensible values, print them if they look dubious
 				if (reprap.Debug(moduleDda)
@@ -631,10 +633,6 @@ void DDA::Prepare()
 			}
 			else if (isDeltaMovement)
 			{
-				if (drive <= Z_AXIS)
-				{
-					xyMoving = true;
-				}
 				dm.PrepareDeltaAxis(*this, params, drive);
 
 				// Check for sensible values, print them if they look dubious
@@ -645,10 +643,6 @@ void DDA::Prepare()
 			}
 			else
 			{
-				if (drive < Z_AXIS)
-				{
-					xyMoving = true;
-				}
 				dm.PrepareCartesianAxis(*this, params, drive);
 
 				// Check for sensible values, print them if they look dubious
diff --git a/src/DDA.h b/src/DDA.h
index 8e030e98..92053f54 100644
--- a/src/DDA.h
+++ b/src/DDA.h
@@ -30,8 +30,7 @@ public:
 
 	DDA(DDA* n);
 
-	bool Init(const float nextMove[], float reqSpeed, EndstopChecks ce,
-			bool doMotorMapping, FilePosition fPos);				// Set up a new move, returning true if it represents real movement
+	bool Init(const GCodes::RawMove *nextMove, bool doMotorMapping);	// Set up a new move, returning true if it represents real movement
 	void Init();													// Set up initial positions for machine startup
 	bool Start(uint32_t tim);										// Start executing the DDA, i.e. move the move.
 	bool Step();													// Take one step of the DDA, called by timed interrupt.
@@ -99,9 +98,9 @@ private:
 	uint8_t canPause : 1;					// True if we can pause at the end of this move
 	uint8_t goingSlow : 1;					// True if we have reduced speed during homing
 	uint8_t isPrintingMove : 1;				// True if this move includes XY movement and extrusion
+	uint8_t usePressureAdvance : 1;			// True if pressure advance should be applied to any forward extrusion
 
     EndstopChecks endStopsToCheck;			// Which endstops we are checking on this move
-    // We are on a half-word boundary here, so expect 2 bytes of padding to be inserted at this point
 
     FilePosition filePos;					// The position in the SD card file after this move was read, or zero if not read fro SD card
 
diff --git a/src/GCodes.cpp b/src/GCodes.cpp
index 9ff398d5..c3d60874 100644
--- a/src/GCodes.cpp
+++ b/src/GCodes.cpp
@@ -356,6 +356,7 @@ void GCodes::Spin()
 			moveBuffer.feedRate = DEFAULT_FEEDRATE/minutesToSeconds;	// ask for a good feed rate, we may have paused during a slow move
 			moveBuffer.moveType = 0;
 			moveBuffer.endStopsToCheck = 0;
+			moveBuffer.usePressureAdvance = false;
 			moveBuffer.filePos = noFilePosition;
 			if (state == GCodeState::resuming1 && currentZ > pausedMoveBuffer[Z_AXIS])
 			{
@@ -826,9 +827,15 @@ int GCodes::SetUpMove(GCodeBuffer *gb, StringRef& reply)
 	}
 
 	// Load the move buffer with either the absolute movement required or the relative movement required
+	const float currentX = moveBuffer.coords[X_AXIS];
+	const float currentY = moveBuffer.coords[Y_AXIS];
 	moveAvailable = LoadMoveBufferFromGCode(gb, false, limitAxes && moveBuffer.moveType == 0);
 	if (moveAvailable)
 	{
+		// Flag whether we should use pressure advance, if there is any extrusion in this move.
+		// We assume it is a normal printing move needing pressure advance if there is forward extrusion and XY movement.
+		// The movement code will only apply pressure advance if there is forward extrusion, so we only need to check for XY movement here.
+		moveBuffer.usePressureAdvance = (moveBuffer.coords[X_AXIS] != currentX || moveBuffer.coords[Y_AXIS] != currentY);
 		moveBuffer.filePos = (gb == fileGCode) ? filePos : noFilePosition;
 		//debugPrintf("Queue move pos %u\n", moveFilePos);
 	}
@@ -918,8 +925,9 @@ bool GCodes::DoCannedCycleMove(EndstopChecks ce)
 		moveBuffer.feedRate = moveToDo[DRIVES];
 		moveBuffer.endStopsToCheck = ce;
 		moveBuffer.filePos = noFilePosition;
-		cannedCycleMoveQueued = true;
+		moveBuffer.usePressureAdvance = false;
 		moveAvailable = true;
+		cannedCycleMoveQueued = true;
 	}
 	return false;
 }
@@ -2334,7 +2342,10 @@ bool GCodes::RetractFilament(bool retract)
 				{
 					moveBuffer.coords[i] = 0.0;
 				}
-				moveBuffer.feedRate = retractSpeed * secondsToMinutes;		// set the feed rate
+				// Set the feed rate. If there is any Z hop then we need to pass the Z speed, else we pass the extrusion speed.
+				moveBuffer.feedRate = (retractHop == 0.0)
+										? retractSpeed * secondsToMinutes
+										: retractSpeed * secondsToMinutes * retractHop/retractLength;
 				moveBuffer.coords[Z_AXIS] += ((retract) ? retractHop : -retractHop);
 				for (size_t i = 0; i < nDrives; ++i)
 				{
@@ -2342,6 +2353,7 @@ bool GCodes::RetractFilament(bool retract)
 				}
 
 				moveBuffer.isFirmwareRetraction = true;
+				moveBuffer.usePressureAdvance = false;
 				moveBuffer.filePos = filePos;
 				moveAvailable = true;
 			}
@@ -2422,6 +2434,7 @@ bool GCodes::HandleGcode(GCodeBuffer* gb, StringRef& reply)
 				moveBuffer.feedRate = (gb->Seen(feedrateLetter)) ? gb->GetFValue() : feedRate;
 			}
 			moveBuffer.filePos = noFilePosition;
+			moveBuffer.usePressureAdvance = false;
 			moveAvailable = true;
 		}
 		else
@@ -4598,7 +4611,7 @@ bool GCodes::HandleMcode(GCodeBuffer* gb, StringRef& reply)
 			}
 			else
 			{
-				reply.printf("Elastic compensation for extruder %u is %.3f seconds", extruder, platform->GetElasticComp(extruder));
+				reply.printf("Pressure advance for extruder %u is %.3f seconds", extruder, platform->GetElasticComp(extruder));
 			}
 		}
 		break;
diff --git a/src/GCodes.h b/src/GCodes.h
index 8cd920c2..a3de3c9d 100644
--- a/src/GCodes.h
+++ b/src/GCodes.h
@@ -83,6 +83,7 @@ public:
 		EndstopChecks endStopsToCheck;									// endstops to check
 		uint8_t moveType;												// the S parameter from the G0 or G1 command, 0 for a normal move
 		bool isFirmwareRetraction;										// true if this is a firmware retraction/un-retraction move
+		bool usePressureAdvance;										// true if we want to us extruder pressure advance, if there is any extrusion
 	};
   
     GCodes(Platform* p, Webserver* w);
diff --git a/src/Move.cpp b/src/Move.cpp
index b869610e..ee3ce5c4 100644
--- a/src/Move.cpp
+++ b/src/Move.cpp
@@ -190,7 +190,7 @@ void Move::Spin()
 				{
 					Transform(nextMove.coords);
 				}
-				if (ddaRingAddPointer->Init(nextMove.coords, nextMove.feedRate, nextMove.endStopsToCheck, doMotorMapping, nextMove.filePos))
+				if (ddaRingAddPointer->Init(&nextMove, doMotorMapping))
 				{
 					ddaRingAddPointer = ddaRingAddPointer->GetNext();
 					idleCount = 0;
diff --git a/src/Platform.h b/src/Platform.h
index 1ab8a286..159db6f9 100644
--- a/src/Platform.h
+++ b/src/Platform.h
@@ -46,6 +46,7 @@ Licence: GPL
 
 #include "Arduino.h"
 #include "OutputMemory.h"
+#include "ff.h"
 #include "SD_HSMCI.h"
 #include "MAX31855.h"
 #include "MCP4461.h"