Towards version 2.02beta1

(note: dynamic acceleration control is probably not working correctly yet)
New features and changed behaviour:
- When switched into Laser mode (M452), the S parameter on G0 and G1 commands sets the laser power
- The primary parameter letter used to control the type of a G0 or G1 move has been changed from S to H. This is because S is the standard parameter to control laser power on a laser cutter or engraver. However, unless you use M452 to put the firmware into Laser mode, you can continue to use S to set the move type.
- If you set the motor idle current percentage to 0 in the M906 command, all drives will now be disabled when all motors have been idle for the idle timeout and all axes will be flagged as not homed.
- The M569 accepts a new F parameter for the off-time. Valid values are 1 to 15.
- Attempts to use M569 to set disallowed combinations of TOFF and TBL in the chopper control register of TMC2660 or TMC22xx drivers are rejected
- The M106 command supports a new A parameter to map the fan to a different fan output or a heater output, or to re-enable a disabled fan
- On Duet Ethernet and Duet Maestro the physical link speed and half/full duplex status is included in the Network section of the M122 report
- The total number of axes is now passed to DWC and PanelDue as well as the number of visible axes
- Added M703 support (thanks chrishamm)
Bug fixes:
- Lock the scheduler during M260 and M261 commabnds
- The E parameter was ignored in G0 commands
- Fixed bad JSON response when the 'first' parameter of a rr_filelist HTML command was non-zero
- M106 Snn commands with no P parameter failed if fan 0 had been disabled but the print cooling fan was mapped to another fan in the current tool definition
- If config.g invoked a macro then final values were copied to GCode sources too early and a subsequent M501 command wasn't acted on (thanks chrishamm)
- If an emergency stop occurred during execution of a macro, an internal seek error message was sometimes generated. Emergency stop now closes any active print files and macro files.

Author: dc42

src/BugList.txt

@@ -25,12 +25,9 @@ constexpr size_t NumFirmwareUpdateModules = 4;		// 3 modules, plus one for manua
 #define SUPPORT_INKJET		0						// set nonzero to support inkjet control
 #define SUPPORT_ROLAND		0						// set nonzero to support Roland mill
 #define SUPPORT_SCANNER		1						// set zero to disable support for FreeLSS scanners
+#define SUPPORT_LASER		1						// support laser cutters and engravers using G1 S parameter
 #define SUPPORT_IOBITS		1						// set to support P parameter in G0/G1 commands
-#ifdef RTOS
-# define SUPPORT_DHT_SENSOR	1						// set nonzero to support DHT temperature/humidity sensors
-#else
-# define SUPPORT_DHT_SENSOR	0						// DHT sensors are only supported in RTOS builds
-#endif
+#define SUPPORT_DHT_SENSOR	1						// set nonzero to support DHT temperature/humidity sensors
 #define SUPPORT_WORKPLACE_COORDINATES	1			// set nonzero to support G10 L2 and G53..59
 
 #define USE_CACHE			0						// set nonzero to enable the cache. Disabled this at 1.21RC1 because of doubts about its safety.

src/DuetNG/Pins_DuetNG.h

@@ -11,7 +11,7 @@
 #include "GCodes/GCodeBuffer.h"
 #include "Heating/Heat.h"
 
-void Fan::Init(Pin p_pin, bool hwInverted, PwmFrequency p_freq)
+void Fan::Init(Pin p_pin, LogicalPin lp, bool hwInverted, PwmFrequency p_freq)
 {
 	isConfigured = false;
 	val = lastVal = 0.0;
@@ -20,6 +20,7 @@ void Fan::Init(Pin p_pin, bool hwInverted, PwmFrequency p_freq)
 	blipTime = 100;				// 100ms fan blip
 	freq = p_freq;
 	pin = p_pin;
+	logicalPin = lp;
 	hardwareInverted = hwInverted;
 	inverted = blipping = false;
 	heatersMonitored = 0;
@@ -38,16 +39,36 @@ void Fan::Init(Pin p_pin, bool hwInverted, PwmFrequency p_freq)
 // 2. Don't process the R parameter, but if it is present don't print the existing configuration.
 bool Fan::Configure(unsigned int mcode, int fanNum, GCodeBuffer& gb, const StringRef& reply, bool& error)
 {
-	if (!IsEnabled())
-	{
-		reply.printf("Fan %d is disabled", fanNum);
-		error = true;
-		return true;											// say we have processed it
-	}
-
 	bool seen = false;
 	if (mcode == 106)
 	{
+		// We allow a disabled fan to be re-enabled using the A parameter to specify the logical pin number
+		if (gb.Seen('A'))
+		{
+			seen = true;
+			const LogicalPin lp = gb.GetUIValue();
+			if (reprap.GetPlatform().TranslateFanPin(lp, pin, hardwareInverted))
+			{
+				logicalPin = lp;
+			}
+			else
+			{
+				reply.copy("Logical pin ");
+				reprap.GetPlatform().AppendPinName(lp, reply);
+				reply.catf(" is not available to use for fan %d", fanNum);
+				error = true;
+				return true;
+			}
+		}
+
+		// The remaining parameters are not available if the fan has been disabled
+		if (!IsEnabled())
+		{
+			reply.printf("Fan %d is disabled", fanNum);
+			error = true;
+			return true;											// say we have processed it
+		}
+
 		if (gb.Seen('I'))		// Invert cooling
 		{
 			seen = true;
@@ -153,15 +174,20 @@ bool Fan::Configure(unsigned int mcode, int fanNum, GCodeBuffer& gb, const Strin
 		else if (!gb.Seen('R') && !gb.Seen('S'))
 		{
 			// Report the configuration of the specified fan
-			reply.printf("Fan%i frequency: %uHz, speed: %d%%, min: %d%%, max: %d%%, blip: %.2f, inverted: %s, name: %s",
-							fanNum,
-							(unsigned int)freq,
-							(int)(val * 100.0),
-							(int)(minVal * 100.0),
-							(int)(maxVal * 100.0),
-							(double)(blipTime * MillisToSeconds),
-							(inverted) ? "yes" : "no",
-							name.c_str());
+			reply.printf("Fan %i", fanNum);
+			if (name.strlen() != 0)
+			{
+				reply.catf(" (%s)", name.c_str());
+			}
+			reply.cat(" pin: ");
+			reprap.GetPlatform().AppendPinName(logicalPin, reply);
+			reply.catf(", frequency: %uHz, speed: %d%%, min: %d%%, max: %d%%, blip: %.2f, inverted: %s",
+						(unsigned int)freq,
+						(int)(val * 100.0),
+						(int)(minVal * 100.0),
+						(int)(maxVal * 100.0),
+						(double)(blipTime * MillisToSeconds),
+						(inverted) ? "yes" : "no");
 			if (heatersMonitored != 0)
 			{
 				reply.catf(", temperature: %.1f:%.1fC, heaters:", (double)triggerTemperatures[0], (double)triggerTemperatures[1]);
@@ -264,10 +290,10 @@ void Fan::Refresh()
 						// We already know that ht < triggerTemperatures[1], therefore unless we have NaNs it is safe to divide by (triggerTemperatures[1] - triggerTemperatures[0])
 						reqVal = max<float>(reqVal, (ht - triggerTemperatures[0])/(triggerTemperatures[1] - triggerTemperatures[0]));
 					}
-					else if (lastVal != 0.0 && ht + ThermostatHysteresis > triggerTemperatures[0])
+					else if (lastVal != 0.0 && ht + ThermostatHysteresis > triggerTemperatures[0])		// if the fan is on, add a hysteresis before turning it off
 					{
-						// If the fan is on, add a hysteresis before turning it off
-						reqVal = min<float>(max<float>(reqVal, (bangBangMode) ? max<float>(0.5, val) : minVal), maxVal);
+						const float minFanSpeed = (bangBangMode) ? max<float>(0.5, val) : minVal;
+						reqVal = constrain<float>(reqVal, minFanSpeed, maxVal);
 					}
 #if HAS_SMART_DRIVERS
 					const unsigned int channel = reprap.GetHeat().GetHeaterChannel(heaterHumber);
@@ -283,16 +309,7 @@ void Fan::Refresh()
 
 	if (reqVal > 0.0)
 	{
-		if (reqVal < minVal)
-		{
-			reqVal = minVal;
-		}
-
-		if (reqVal > maxVal)
-		{
-			reqVal = maxVal;
-		}
-
+		reqVal = constrain<float>(reqVal, minVal, maxVal);
 		if (lastVal == 0.0)
 		{
 			// We are turning this fan on
@@ -345,6 +362,7 @@ void Fan::Disable()
 		SetHardwarePwm(0.0);
 	}
 	pin = NoPin;
+	logicalPin = NoLogicalPin;
 }
 
 // Save the settings of this fan if it isn't thermostatic

src/Fans/Fan.cpp

@@ -28,8 +28,9 @@ class Fan
 
 	bool IsEnabled() const { return pin != NoPin; }
 	float GetConfiguredPwm() const { return val; }			// returns the configured PWM. Actual PWM may be different, e.g. due to blipping or for thermostatic fans.
+	LogicalPin GetLogicalPin() const { return logicalPin; }
 
-	void Init(Pin p_pin, bool hwInverted, PwmFrequency p_freq);
+	void Init(Pin p_pin, LogicalPin lp, bool hwInverted, PwmFrequency p_freq);
 	void SetPwm(float speed);
 	bool HasMonitoredHeaters() const { return heatersMonitored != 0; }
 	void SetHeatersMonitored(HeatersMonitoredBitmap h);
@@ -51,6 +52,7 @@ class Fan
 	uint32_t blipStartTime;
 	HeatersMonitoredBitmap heatersMonitored;
 	PwmFrequency freq;
+	LogicalPin logicalPin;
 	Pin pin;
 	String<MaxFanNameLength> name;
 	bool isConfigured;

src/Fans/Fan.h

@@ -219,8 +219,8 @@ void GCodes::Reset()
 	moveBuffer.yAxes = DefaultYAxisMapping;
 	moveBuffer.virtualExtruderPosition = 0.0;
 
-#if SUPPORT_IOBITS
-	moveBuffer.ioBits = 0;
+#if SUPPORT_LASER || SUPPORT_IOBITS
+	moveBuffer.laserPwmOrIoBits.Clear();
 #endif
 
 	reprap.GetMove().GetKinematics().GetAssumedInitialPosition(numVisibleAxes, moveBuffer.coords);
@@ -1514,7 +1514,7 @@ void GCodes::DoFilePrint(GCodeBuffer& gb, const StringRef& reply)
 			// Finished a macro or finished processing config.g
 			fileInput->Reset(fd);
 			fd.Close();
-			if (runningConfigFile)
+			if (runningConfigFile && gb.MachineState().previous->previous == nullptr)
 			{
 				CopyConfigFinalValues(gb);
 				runningConfigFile = false;
@@ -1678,8 +1678,8 @@ void GCodes::DoPause(GCodeBuffer& gb, PauseReason reason, const char *msg)
 			// TODO: when using RTOS there is a possible race condition in the following,
 			// because we might try to pause when a waiting move has just been added but before the gcode buffer has been re-initialised ready for the next command
 			pauseRestorePoint.filePos = fileGCode->GetFilePosition(fileInput->BytesCached());
-#if SUPPORT_IOBITS
-			pauseRestorePoint.ioBits = moveBuffer.ioBits;
+#if SUPPORT_LASER || SUPPORT_IOBITS
+			pauseRestorePoint.laserPwmOrIoBits = moveBuffer.laserPwmOrIoBits;
 #endif
 		}
 
@@ -1813,8 +1813,8 @@ bool GCodes::DoEmergencyPause()
 		pauseRestorePoint.virtualExtruderPosition = moveBuffer.virtualExtruderPosition;
 		pauseRestorePoint.filePos = moveBuffer.filePos;
 		pauseRestorePoint.proportionDone = (float)(totalSegments - segmentsLeft)/(float)totalSegments;
-#if SUPPORT_IOBITS
-		pauseRestorePoint.ioBits = moveBuffer.ioBits;
+#if SUPPORT_LASER || SUPPORT_IOBITS
+		pauseRestorePoint.laserPwmOrIoBits = moveBuffer.laserPwmOrIoBits;
 #endif
 		ClearMove();
 	}
@@ -1828,8 +1828,8 @@ bool GCodes::DoEmergencyPause()
 		// because we might try to pause when a waiting move has just been added but before the gcode buffer has been re-initialised ready for the next command
 		pauseRestorePoint.filePos = fileGCode->GetFilePosition(fileInput->BytesCached());
 		pauseRestorePoint.proportionDone = 0.0;
-#if SUPPORT_IOBITS
-		pauseRestorePoint.ioBits = moveBuffer.ioBits;
+#if SUPPORT_LASER || SUPPORT_IOBITS
+		pauseRestorePoint.laserPwmOrIoBits = moveBuffer.laserPwmOrIoBits;
 #endif
 	}
 
@@ -2061,8 +2061,19 @@ void GCodes::SaveResumeInfo(bool wasPowerFailure)
 
 				// Set the feed rate
 				buf.catf("G1 F%.1f", (double)(pauseRestorePoint.feedRate * MinutesToSeconds));
+#if SUPPORT_LASER
+				if (machineType == MachineType::laser)
+				{
+					buf.catf(" S%u", (unsigned int)pauseRestorePoint.laserPwmOrIoBits.laserPwm);
+				}
+				else
+				{
+#endif
 #if SUPPORT_IOBITS
-				buf.catf(" P%u", (unsigned int)pauseRestorePoint.ioBits);
+					buf.catf(" P%u", (unsigned int)pauseRestorePoint.laserPwmOrIoBits.ioBits);
+#endif
+#if SUPPORT_LASER
+				}
 #endif
 				buf.cat("\nM24\n");
 				ok = f->Write(buf.c_str());								// restore feed rate and output bits
@@ -2185,7 +2196,7 @@ bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb)
 	moveBuffer.virtualExtruderPosition = virtualExtruderPosition;	// save this before we update it
 
 	// Check if we are extruding
-	if (moveBuffer.isCoordinated && gb.Seen(extrudeLetter))
+	if (gb.Seen(extrudeLetter))							// DC 2018-08-07: at E3D's request, extrusion is now recognised even on uncoordinated moves
 	{
 		// Check that we have a tool to extrude with
 		Tool* const tool = reprap.GetCurrentTool();
@@ -2305,7 +2316,7 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 
 	// Check to see if the move is a 'homing' move that endstops are checked on.
 	// We handle S1 parameters affecting extrusion elsewhere.
-	if (gb.Seen('S'))
+	if (gb.Seen('H') || (machineType != MachineType::laser && gb.Seen('S')))
 	{
 		const int ival = gb.GetIValue();
 		if (ival == 1 || ival == 2 || ival == 3)
@@ -2335,20 +2346,34 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 		}
 	}
 
-#if SUPPORT_IOBITS
-	// Update the iobits parameter
+	// Check for laser power setting or IOBITS
+#if SUPPORT_LASER || SUPPORT_IOBITS
 	if (rp != nullptr)
 	{
-		moveBuffer.ioBits = rp->ioBits;
+		moveBuffer.laserPwmOrIoBits = rp->laserPwmOrIoBits;
 	}
-	else if (gb.Seen('P'))
+#if SUPPORT_LASER
+	else if (machineType == MachineType::laser)
 	{
-		moveBuffer.ioBits = (IoBits_t)gb.GetIValue();
+		moveBuffer.laserPwmOrIoBits.laserPwm = (moveBuffer.moveType == 0 && isCoordinated && gb.Seen('S'))
+												? ConvertLaserPwm(gb.GetFValue())
+												: 0;
 	}
+#endif
+#if SUPPORT_IOBITS
 	else
 	{
-		// Leave moveBuffer.ioBits alone so that we keep the previous value
+		// Update the iobits parameter
+		if (gb.Seen('P'))
+		{
+			moveBuffer.laserPwmOrIoBits.ioBits = (IoBits_t)gb.GetIValue();
+		}
+		else
+		{
+			// Leave moveBuffer.ioBits alone so that we keep the previous value
+		}
 	}
+#endif
 #endif
 
 	if (moveBuffer.moveType != 0)
@@ -2820,6 +2845,18 @@ void GCodes::AbortPrint(GCodeBuffer& gb)
 	}
 }
 
+// Cancel everything
+void GCodes::EmergencyStop()
+{
+	for (GCodeBuffer *gbp : gcodeSources)
+	{
+		if (gbp != nullptr)
+		{
+			AbortPrint(*gbp);
+		}
+	}
+}
+
 // Run a file macro. Prior to calling this, 'state' must be set to the state we want to enter when the macro has been completed.
 // Return true if the file was found or it wasn't and we were asked to report that fact.
 // 'codeRunning' is the M command we are running, as follows;
@@ -4298,8 +4335,8 @@ void GCodes::SavePosition(RestorePoint& rp, const GCodeBuffer& gb) const
 	rp.feedRate = gb.MachineState().feedRate;
 	rp.virtualExtruderPosition = virtualExtruderPosition;
 
-#if SUPPORT_IOBITS
-	rp.ioBits = moveBuffer.ioBits;
+#if SUPPORT_LASER || SUPPORT_IOBITS
+	rp.laserPwmOrIoBits = moveBuffer.laserPwmOrIoBits;
 #endif
 }
 
@@ -4310,13 +4347,14 @@ void GCodes::RestorePosition(const RestorePoint& rp, GCodeBuffer *gb)
 	{
 		currentUserPosition[axis] = rp.moveCoords[axis];
 	}
+
 	if (gb != nullptr)
 	{
 		gb->MachineState().feedRate = rp.feedRate;
 	}
 
-#if SUPPORT_IOBITS
-	moveBuffer.ioBits = rp.ioBits;
+#if SUPPORT_LASER || SUPPORT_IOBITS
+	moveBuffer.laserPwmOrIoBits = rp.laserPwmOrIoBits;
 #endif
 }
 
@@ -4530,11 +4568,6 @@ bool GCodes::AllAxesAreHomed() const
 	return (axesHomed & allAxes) == allAxes;
 }
 
-void GCodes::SetAllAxesNotHomed()
-{
-	axesHomed = 0;
-}
-
 // Write the config-override file returning true if an error occurred
 GCodeResult GCodes::WriteConfigOverrideFile(GCodeBuffer& gb, const StringRef& reply) const
 {
@@ -4935,6 +4968,11 @@ void GCodes::SetExtrusionFactor(size_t extruder, float factor)
 	}
 }
 
+Pwm_t GCodes::ConvertLaserPwm(float reqVal) const
+{
+	return (uint16_t)constrain<long>(lrintf((reqVal * 65535)/laserMaxPower), 0, 65535);
+}
+
 #if SUPPORT_12864_LCD
 
 // Process a GCode command from the 12864 LCD returning true if the command was accepted