Version 1.21RC1

Added support for M260 and M261
Added support for workspacve coordinates (G10 L2, G53 to G59.3)
Added absolute bebystepping mode in M290 command
Support endstops 5-9 when no DueX board is present
Show Duet board revision as 1.02+ when we can
If no temperature sensor is configured for a heater. M305 Pn with no
other parameters no longer allocates a thermistor
Fixed "listen failed" error with repeated use of FTP
Fixed M304
Fixed crash when an attempt was made to configure a filament monitor on
a DueX endstop input
Fixed jerky curves when pressure advance is used and the slicer doesn't
command a uniform extrusion rate
Fixed missing newline at end of "Done printing file" message

5 files changed, 16 insertions, 14 deletions

diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 06e758f1..521f95c9 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -4005,7 +4005,7 @@ void GCodes::StopPrint(bool normalCompletion)
 		if (platform.Emulating() == marlin)
 		{
 			// Pronterface expects a "Done printing" message
-			platform.Message(UsbMessage, "Done printing file");
+			platform.Message(UsbMessage, "Done printing file\n");
 		}
 		const uint32_t printMinutes = lrintf(reprap.GetPrintMonitor().GetPrintDuration()/60.0);
 		platform.MessageF(LoggedGenericMessage, "%s printing file %s, print time was %" PRIu32 "h %" PRIu32 "m\n",
diff --git a/src/Movement/DriveMovement.cpp b/src/Movement/DriveMovement.cpp
index 53ddcc92..6dba1005 100644
--- a/src/Movement/DriveMovement.cpp
+++ b/src/Movement/DriveMovement.cpp
@@ -184,7 +184,6 @@ void DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, fl
 			const float averageExtrusionSpeed = (dda.totalDistance * dv * DDA::stepClockRate)/dda.clocksNeeded;
 			const float factor = 1.0 + min<float>((averageExtrusionSpeed * a) + (averageExtrusionSpeed * averageExtrusionSpeed * b), limit);
 			stepsPerMm *= factor;
-			totalSteps = (uint32_t)(totalSteps * factor);		// round this down to avoid step errors
 		}
 	}
 #endif
@@ -200,15 +199,15 @@ void DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, fl
 		mp.cart.compensationClocks = roundU32(compensationTime * (float)DDA::stepClockRate);
 		mp.cart.accelCompensationClocks = roundU32(compensationTime * (float)DDA::stepClockRate * params.compFactor);
 
+#ifdef COMPENSATE_SPEED_CHANGES
 		// If there is a speed change at the start of the move, theoretically we should instantly advance or retard the filament by the associated compensation amount.
 		// We can't do that, so increase or decrease the extrusion factor instead, so that at least the extrusion will be correct by the end of the move.
 		const float factor = 1.0 + (speedChange * compensationTime)/dda.totalDistance;
 		stepsPerMm *= factor;
-		totalSteps = (uint32_t)(totalSteps * factor);			// round this down to avoid step errors
-
-		// Calculate the net total step count to allow for compensation. It may be negative.
+#endif
+		// Recalculate the net total step count to allow for compensation. It may be negative.
 		const float compensationDistance = (dda.endSpeed - dda.startSpeed) * compensationTime;
-		netSteps = (int32_t)(compensationDistance * stepsPerMm) + (int32_t)totalSteps;
+		netSteps = (int32_t)((dda.totalDistance + compensationDistance) * stepsPerMm);
 
 		// Calculate the acceleration phase parameters
 		accelCompensationDistance = compensationTime * (dda.topSpeed - dda.startSpeed);
@@ -218,7 +217,7 @@ void DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, fl
 	{
 		accelCompensationDistance = compensationTime = 0.0;
 		mp.cart.compensationClocks = mp.cart.accelCompensationClocks = 0;
-		netSteps = (int32_t)totalSteps;
+		netSteps = (int32_t)(dda.totalDistance * stepsPerMm);		// it may have changed from totalSteps if we are using nonlinear extrusion
 
 		// Calculate the acceleration phase parameters
 		mp.cart.accelStopStep = (uint32_t)(dda.accelDistance * stepsPerMm) + 1;
@@ -229,7 +228,7 @@ void DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, fl
 	// Constant speed phase parameters
 	mp.cart.mmPerStepTimesCKdivtopSpeed = (uint32_t)((float)((uint64_t)DDA::stepClockRate * K1)/(stepsPerMm * dda.topSpeed));
 
-	// Calculate the deceleration and reverse phase parameters
+	// Calculate the deceleration and reverse phase parameters and update totalSteps
 	// First check whether there is any deceleration at all, otherwise we may get strange results because of rounding errors
 	if (dda.decelDistance * stepsPerMm < 0.5)		// if less than 1 deceleration step
 	{
diff --git a/src/Platform.h b/src/Platform.h
index 29c96548..ef29b657 100644
--- a/src/Platform.h
+++ b/src/Platform.h
@@ -1199,11 +1199,13 @@ inline OutputBuffer *Platform::GetAuxGCodeReply()
 }
 
 // *** These next three functions must use the same bit assignments in the drivers bitmap ***
-// The bitmaps are organised like this:
+// Each stepper driver must be assigned one bit in a 32-bit word, in such a way that multiple drivers can be stepped efficiently
+// and more or less simultaneously by doing parallel writes to several bits in one or more output ports.
+// The bitmaps for various controller electronics are organised like this:
 // Duet WiFi:
-//	All step pins are on port D, so the bitmap is just the map of bits in port D.
+//	All step pins are on port D, so the bitmap is just the map of step bits in port D.
 // Duet M:
-//	All step pins are on port C, so the bitmap is just the map of bits in port C.
+//	All step pins are on port C, so the bitmap is just the map of step bits in port C.
 // Duet 0.6 and 0.8.5:
 //	Step pins are PA0, PC7,9,11,14,25,29 and PD0,3.
 //	The PC and PD bit numbers don't overlap, so we use their actual positions.
@@ -1237,7 +1239,7 @@ inline OutputBuffer *Platform::GetAuxGCodeReply()
 #endif
 }
 
-// Set the specified step pins high and all other step pins low
+// Set the specified step pins high
 // This needs to be as fast as possible, so we do a parallel write to the port(s).
 // We rely on only those port bits that are step pins being set in the PIO_OWSR register of each port
 /*static*/ inline void Platform::StepDriversHigh(uint32_t driverMap)
diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h
index 10e98ed3..8764ddcb 100644
--- a/src/RepRapFirmware.h
+++ b/src/RepRapFirmware.h
@@ -111,7 +111,8 @@ extern RepRap reprap;
 
 // Debugging support
 extern "C" void debugPrintf(const char* fmt, ...) __attribute__ ((format (printf, 1, 2)));
-#define DEBUG_HERE do { debugPrintf("At " __FILE__ " line %d\n", __LINE__); delay(50); } while (false)
+#define DEBUG_HERE do { } while (false)
+//#define DEBUG_HERE do { debugPrintf("At " __FILE__ " line %d\n", __LINE__); delay(50); } while (false)
 
 // Functions and globals not part of any class
 bool StringEndsWith(const char* string, const char* ending);
diff --git a/src/Version.h b/src/Version.h
index 64eacefe..f841a8b5 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -13,7 +13,7 @@
 #endif
 
 #ifndef DATE
-# define DATE "2018-01-22"
+# define DATE "2018-01-25"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman"