Version 1.20beta3 provisional

Fixed CoreXY homing bug
Fixed M585 bug
Fixed motor idle timeout bug
Fixed bug that causes additional M307 lines ot be written to
config-override.g

14 files changed, 102 insertions, 84 deletions

diff --git a/src/DuetNG/HttpResponder.cpp b/src/DuetNG/HttpResponder.cpp
index cb25d9d8..d48e57d8 100644
--- a/src/DuetNG/HttpResponder.cpp
+++ b/src/DuetNG/HttpResponder.cpp
@@ -462,6 +462,10 @@ bool HttpResponder::GetJsonResponse(const char* request, OutputBuffer *&response
 			}
 		}
 
+		// Client has been logged in
+		response->printf("{\"err\":0,\"sessionTimeout\":%" PRIu32 ",\"boardType\":\"%s\"}", HttpSessionTimeout, GetPlatform().GetBoardString());
+		reprap.GetPlatform().MessageF(LogMessage, "HTTP client %s login succeeded\n", IP4String(GetRemoteIP()).c_str());
+
 		// See if we can update the current RTC date and time
 		const char* const timeString = GetKeyValue("time");
 		if (timeString != nullptr && !GetPlatform().IsDateTimeSet())
@@ -470,14 +474,9 @@ bool HttpResponder::GetJsonResponse(const char* request, OutputBuffer *&response
 			memset(&timeInfo, 0, sizeof(timeInfo));
 			if (strptime(timeString, "%Y-%m-%dT%H:%M:%S", &timeInfo) != nullptr)
 			{
-				time_t newTime = mktime(&timeInfo);
-				GetPlatform().SetDateTime(newTime);
+				GetPlatform().SetDateTime(mktime(&timeInfo));
 			}
 		}
-
-		// Client has been logged in
-		response->printf("{\"err\":0,\"sessionTimeout\":%" PRIu32 ",\"boardType\":\"%s\"}", HttpSessionTimeout, GetPlatform().GetBoardString());
-		reprap.GetPlatform().MessageF(LogMessage, "HTTP client %s login succeeded\n", IP4String(GetRemoteIP()).c_str());
 	}
 	else if (!CheckAuthenticated())
 	{
diff --git a/src/GCodes/GCodeMachineState.h b/src/GCodes/GCodeMachineState.h
index 0848f369..a22e0885 100644
--- a/src/GCodes/GCodeMachineState.h
+++ b/src/GCodes/GCodeMachineState.h
@@ -54,7 +54,7 @@ enum class GCodeState : uint8_t
 	gridProbing3,
 	gridProbing4,
 	gridProbing5,
-	gridprobing6,
+	gridProbing6,
 
 	// These next 8 must be contiguous
 	probingAtPoint0,
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 1e5777f9..92178fd4 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -830,7 +830,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, StringRef& reply)
 		}
 		break;
 
-	case GCodeState::gridprobing6:
+	case GCodeState::gridProbing6:
 		// Finished probing the grid, and retracted the probe if necessary
 		{
 			float mean, deviation;
@@ -3096,10 +3096,8 @@ GCodeResult GCodes::DoDwell(GCodeBuffer& gb)
 		simulationTime += (float)dwell * 0.001;
 		return GCodeResult::ok;
 	}
-	else
-	{
-		return DoDwellTime(gb, (uint32_t)dwell);
-	}
+
+	return DoDwellTime(gb, (uint32_t)dwell);
 }
 
 GCodeResult GCodes::DoDwellTime(GCodeBuffer& gb, uint32_t dwellMillis)
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index 5920f434..ac893733 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -29,7 +29,7 @@
 # include "FirmwareUpdater.h"
 #endif
 
-#include <algorithm>			// for std::swap
+#include <utility>			// for std::swap
 
 // If the code to act on is completed, this returns true,
 // otherwise false.  It is called repeatedly for a given
@@ -3358,67 +3358,69 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, StringRef& reply)
 			break;
 		}
 
-		if (LockMovementAndWaitForStandstill(gb))
+		if (!LockMovementAndWaitForStandstill(gb))
 		{
-			for (size_t axis = 0; axis < numTotalAxes; axis++)
+			return false;
+		}
+
+		for (size_t axis = 0; axis < numTotalAxes; axis++)
+		{
+			if (gb.Seen(axisLetters[axis]))
 			{
-				if (gb.Seen(axisLetters[axis]))
+				// Get parameters first and check them
+				const int endStopToUse = gb.Seen('E') ? gb.GetIValue() : 0;
+				if (endStopToUse < 0 || endStopToUse > (int)DRIVES)
 				{
-					// Get parameters first and check them
-					const int endStopToUse = gb.Seen('E') ? gb.GetIValue() : 0;
-					if (endStopToUse < 0 || endStopToUse > (int)DRIVES)
-					{
-						reply.copy("Invalid endstop number");
-						result = GCodeResult::error;
-						break;
-					}
+					reply.copy("Invalid endstop number");
+					result = GCodeResult::error;
+					break;
+				}
 
-					// Save the current axis coordinates
-					memcpy(toolChangeRestorePoint.moveCoords, currentUserPosition, ARRAY_SIZE(currentUserPosition) * sizeof(currentUserPosition[0]));
+				// Save the current axis coordinates
+				memcpy(toolChangeRestorePoint.moveCoords, currentUserPosition, ARRAY_SIZE(currentUserPosition) * sizeof(currentUserPosition[0]));
 
-					// Prepare another move similar to G1 .. S3
-					moveBuffer.moveType = 3;
-					if (endStopToUse == 0)
-					{
-						moveBuffer.endStopsToCheck = 0;
-						SetBit(moveBuffer.endStopsToCheck, axis);
-					}
-					else
-					{
-						moveBuffer.endStopsToCheck = UseSpecialEndstop;
-						SetBit(moveBuffer.endStopsToCheck, endStopToUse);
-					}
-					moveBuffer.xAxes = DefaultXAxisMapping;
-					moveBuffer.yAxes = DefaultYAxisMapping;
-					moveBuffer.usePressureAdvance = false;
-					moveBuffer.filePos = noFilePosition;
-					moveBuffer.canPauseAfter = false;
-					moveBuffer.canPauseBefore = true;
-
-					// Decide which way and how far to go
-					const float axisLength = platform.AxisMaximum(axis) - platform.AxisMinimum(axis) + 5.0;
-					moveBuffer.coords[axis] = (gb.Seen('S') && gb.GetIValue() == 1) ? axisLength * -1.0 : axisLength;
-
-					// Zero every extruder drive
-					for (size_t drive = numTotalAxes; drive < DRIVES; drive++)
-					{
-						moveBuffer.coords[drive] = 0.0;
-					}
-					moveBuffer.hasExtrusion = false;
+				// Prepare another move similar to G1 .. S3
+				moveBuffer.moveType = 3;
+				if (endStopToUse == 0)
+				{
+					moveBuffer.endStopsToCheck = 0;
+					SetBit(moveBuffer.endStopsToCheck, axis);
+				}
+				else
+				{
+					moveBuffer.endStopsToCheck = UseSpecialEndstop;
+					SetBit(moveBuffer.endStopsToCheck, endStopToUse);
+				}
+				moveBuffer.xAxes = DefaultXAxisMapping;
+				moveBuffer.yAxes = DefaultYAxisMapping;
+				moveBuffer.usePressureAdvance = false;
+				moveBuffer.filePos = noFilePosition;
+				moveBuffer.canPauseAfter = false;
+				moveBuffer.canPauseBefore = true;
 
-					// Deal with feed rate
-					if (gb.Seen(feedrateLetter))
-					{
-						const float rate = gb.GetFValue() * distanceScale;
-						gb.MachineState().feedrate = rate * SecondsToMinutes;	// don't apply the speed factor to homing and other special moves
-					}
-					moveBuffer.feedRate = gb.MachineState().feedrate;
+				// Decide which way and how far to go
+				const float axisLength = platform.AxisMaximum(axis) - platform.AxisMinimum(axis) + 5.0;
+				moveBuffer.coords[axis] = (gb.Seen('S') && gb.GetIValue() == 1) ? axisLength * -1.0 : axisLength;
 
-					// Kick off new movement
-					segmentsLeft = 1;
-					gb.SetState(GCodeState::probingToolOffset);
-					break;
+				// Zero every extruder drive
+				for (size_t drive = numTotalAxes; drive < DRIVES; drive++)
+				{
+					moveBuffer.coords[drive] = 0.0;
 				}
+				moveBuffer.hasExtrusion = false;
+
+				// Deal with feed rate
+				if (gb.Seen(feedrateLetter))
+				{
+					const float rate = gb.GetFValue() * distanceScale;
+					gb.MachineState().feedrate = rate * SecondsToMinutes;	// don't apply the speed factor to homing and other special moves
+				}
+				moveBuffer.feedRate = gb.MachineState().feedrate;
+
+				// Kick off new movement
+				segmentsLeft = 1;
+				gb.SetState(GCodeState::probingToolOffset);
+				break;
 			}
 		}
 		break;
diff --git a/src/IoPort.cpp b/src/IoPort.cpp
index 0ce968bc..d5b81821 100644
--- a/src/IoPort.cpp
+++ b/src/IoPort.cpp
@@ -1,5 +1,5 @@
 /*
- * LogicalPort.cpp
+ * IoPort.cpp
  *
  *  Created on: 30 Sep 2017
  *      Author: David
diff --git a/src/IoPort.h b/src/IoPort.h
index 94e9f4cf..17182a2f 100644
--- a/src/IoPort.h
+++ b/src/IoPort.h
@@ -1,5 +1,5 @@
 /*
- * LogicalPort.h
+ * IoPort.h
  *
  *  Created on: 30 Sep 2017
  *      Author: David
diff --git a/src/Libraries/General/IP4String.cpp b/src/Libraries/General/IP4String.cpp
index 5b4091be..7f03e836 100644
--- a/src/Libraries/General/IP4String.cpp
+++ b/src/Libraries/General/IP4String.cpp
@@ -1,5 +1,5 @@
 /*
- * IPString.cpp
+ * IP4String.cpp
  *
  *  Created on: 19 Sep 2017
  *      Author: David
diff --git a/src/Libraries/General/IP4String.h b/src/Libraries/General/IP4String.h
index 3fa84d9a..371401b1 100644
--- a/src/Libraries/General/IP4String.h
+++ b/src/Libraries/General/IP4String.h
@@ -1,5 +1,5 @@
 /*
- * IPString.h
+ * IP4String.h
  *
  *  Created on: 19 Sep 2017
  *      Author: David
diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp
index 896e588c..40b648b7 100644
--- a/src/Movement/DDA.cpp
+++ b/src/Movement/DDA.cpp
@@ -1262,7 +1262,6 @@ void DDA::CheckEndstops(Platform& platform)
 				if ((endStopsToCheck & UseSpecialEndstop) != 0)		// use only one (probably non-default) endstop while probing a tool offset
 				{
 					MoveAborted();
-					return;
 				}
 				else
 				{
@@ -1271,7 +1270,6 @@ void DDA::CheckEndstops(Platform& platform)
 					if (endStopsToCheck == 0 || kin.QueryTerminateHomingMove(drive))
 					{
 						MoveAborted();									// no more endstops to check, or this axis uses shared motors, so stop the entire move
-						return;
 					}
 					else
 					{
diff --git a/src/Movement/Kinematics/ScaraKinematics.cpp b/src/Movement/Kinematics/ScaraKinematics.cpp
index 9a5580b0..2bfbc5b3 100644
--- a/src/Movement/Kinematics/ScaraKinematics.cpp
+++ b/src/Movement/Kinematics/ScaraKinematics.cpp
@@ -254,7 +254,7 @@ bool ScaraKinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesB
 	}
 
 	// The requested position was not reachable
-	if (isnan(theta))
+	if (std::isnan(theta))
 	{
 		// We are radius-limited
 		float x = coords[X_AXIS] + xOffset;
@@ -286,7 +286,7 @@ bool ScaraKinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesB
 	}
 
 	// Recalculate theta and psi, but don't allow arm mode changes this time
-	if (!CalculateThetaAndPsi(coords, true, theta, psi, armMode) && !isnan(theta))
+	if (!CalculateThetaAndPsi(coords, true, theta, psi, armMode) && !std::isnan(theta))
 	{
 		// Radius is in range but at least one arm angle isn't
 		cachedTheta = theta = constrain<float>(theta, thetaLimits[0], thetaLimits[1]);
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp
index 4304db5d..6fa2ebdc 100644
--- a/src/Movement/Move.cpp
+++ b/src/Movement/Move.cpp
@@ -271,7 +271,7 @@ void Move::Spin()
 				}
 				moveState = MoveState::executing;
 			}
-			else if (simulationMode != 0)
+			else if (simulationMode == 0)
 			{
 				if (moveState == MoveState::executing && !reprap.GetGCodes().IsPaused())
 				{
diff --git a/src/Platform.cpp b/src/Platform.cpp
index b9a79ad4..57307c0a 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -2296,10 +2296,22 @@ EndStopHit Platform::GetZProbeResult() const
 // Write the platform parameters to file
 bool Platform::WritePlatformParameters(FileStore *f) const
 {
-	bool ok = WriteAxisLimits(f, axisMinimaProbed, axisMinima, 1);
-	if (ok)
+	bool ok;
+	if (axisMinimaProbed != 0 || axisMaximaProbed != 0)
+	{
+		ok = f->Write("; Probed axis limits\n");
+		if (ok)
+		{
+			ok = WriteAxisLimits(f, axisMinimaProbed, axisMinima, 1);
+		}
+		if (ok)
+		{
+			ok = WriteAxisLimits(f, axisMaximaProbed, axisMaxima, 0);
+		}
+	}
+	else
 	{
-		ok = WriteAxisLimits(f, axisMaximaProbed, axisMaxima, 0);
+		ok = true;
 	}
 
 #if 0	// From version 1.20 we no longer write the Z probe parameters, but keep the code for now in case too many users complain
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index 2618d31a..9ae86b5f 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -1755,13 +1755,22 @@ bool RepRap::WriteToolSettings(FileStore *f) const
 // Save some information in config-override.g
 bool RepRap::WriteToolParameters(FileStore *f) const
 {
-	bool ok = true;
+	bool ok = true, written = false;
 	for (const Tool *t = toolList; ok && t != nullptr; t = t->Next())
 	{
 		const AxesBitmap axesProbed = t->GetAxisOffsetsProbed();
 		if (axesProbed != 0)
 		{
-			scratchString.printf("G10 P%d", t->Number());
+			if (written)
+			{
+				scratchString.Clear();
+			}
+			else
+			{
+				scratchString.copy("; Probed tool offsets\n");
+				written = true;
+			}
+			scratchString.catf("G10 P%d", t->Number());
 			for (size_t axis = 0; axis < MaxAxes; ++axis)
 			{
 				if (IsBitSet(axesProbed, axis))
@@ -1769,9 +1778,9 @@ bool RepRap::WriteToolParameters(FileStore *f) const
 					scratchString.catf(" %c%.2f", GCodes::axisLetters[axis], (double)(t->GetOffset(axis)));
 				}
 			}
+			scratchString.cat('\n');
+			ok = f->Write(scratchString.Pointer());
 		}
-		scratchString.cat('\n');
-		ok = f->Write(scratchString.Pointer());
 	}
 	return ok;
 }
diff --git a/src/Version.h b/src/Version.h
index 999670c4..41e3a9dc 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -9,11 +9,11 @@
 #define SRC_VERSION_H_
 
 #ifndef VERSION
-# define VERSION "1.20beta2+1"
+# define VERSION "1.20beta3"
 #endif
 
 #ifndef DATE
-# define DATE "2017-10-26"
+# define DATE "2017-10-28"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman"