Version 2.0 provisional

New features/changed behaviour:
- if config.g is not found then config.g.bak is run instead of default.g
- added error codes to SD card access error reports
- rr_files, rr_filelist, M20 S2 and M20 S3 now provide for retrieving the list if files in chunks, using a "first" parameter in rr_files/rr_filelist or "R" parameter in M20 S2/S2, and a "next" field in the response
Bug fixes:
- In absolute extrusion mode, the first move when resuming after a pause didn't extrude
- DWC didn't give the option to load a filament when no filament was loaded

Author: dc42

src/BugList.txt

@@ -162,7 +162,7 @@ Fixes in RC5:
 - [done] Extra axes were ignored in G2/G3 moves
 - [done] DWC and the Duet could deadlock if the Duet ran out of output buffers
 
-Fixes post RC5:
+Fixes in RC6:
 - [done] M569 report includes chopper configuration register for smart drivers
 - [done] If getting file info timed out it didn't close the file
 - [done] DHT sensor task was running out of stack space
@@ -171,50 +171,69 @@ Fixes post RC5:
 - [done] Multiple DHT sensor support
 - [done] Support DHT sensor on Duet Maestro
 - [done] Pausing between the segments of a segmented move didn't happen even if the jerk settings were high enough
-- [done - need to test filament monitors!!!] If filament monitors were deleted or the type changed, this could result in an exception
-- [seems ok] Test Upload & print function, see https://forum.duet3d.com/topic/5394/new-firmware-2-0rc5-available/52
+- [done, ok] If filament monitors were deleted or the type changed, this could result in an exception
+- [done] Support S0/S1 for simple filament monitors
 - [done, test] When step rate limiting happens, various problems, see https://forum.duet3d.com/topic/5445/unable-to-run-128-or-256-microstepping (adjust move start time)
-- [can't reproduce] Kulitorum report that first move after a pause doesn't extrude, https://forum.duet3d.com/topic/5408/does-not-extrude-first-g1-after-a-pause/7
 - [done, test] when the SD card is removed it says 1 file was invalidated even if it was more
 - [done, ok] When SD card is removed during a print we get lots of internal error messages, and no "print abandoned" or similar message, also the heaters stay on
 - [done] Emergency stop should turn off all spindles
-- [looks like was caused by using M502] Report that filaments no longer work 
 
+- [seems ok] Test Upload & print function, see https://forum.duet3d.com/topic/5394/new-firmware-2-0rc5-available/52
+
+Fixes in release 2.0:
+- [done, test] Kulitorum report that first move after a pause doesn't extrude, https://forum.duet3d.com/topic/5408/does-not-extrude-first-g1-after-a-pause/7
+- [done] Add error codes to SD card error messages
+- [tested, documentation error] chrishamm says DHT sensors on CS pins 1-4 don't work
+- [done] add facility to return rr_filelist in chunks?
+- [done] load config.g.bak if config.g not present, not default.g
+- [done] can't load filaments because DWC doesn't give the option unless a filament is already loaded
+- look at wifi disconnect issue, https://forum.duet3d.com/topic/4341/wifi-module-keeps-disconnecting/64
+
+Planned for 2.01:
+- Bezier speed curves or other S-curve acceleration, e.g. look at https://github.com/MarlinFirmware/Marlin/pull/10373/files
+- Option to send M280 servo commands just a few times instead of continuously, for E3D and BLTouch
+- Recovery from SD card errors during a print (Dan)
+- Danny's modified SCARA kinematics (workpiece is on a plate, extruder is fixed)
+- Laser support via G1 S parameter, see https://forum.duet3d.com/topic/4702/laser-cnc-support-in-rrf-gcode-semantics/4
+- Look at pushover notification support, https://forum.duet3d.com/topic/169/notification-via-pushover-or-other-service/45
 - M3 R parameter so it can restore the spinder/laser after a pause (https://forum.duet3d.com/topic/5418/cnc-laser-m3-unpause-r-parameter)
+- M81: don't give low voltage warnings when main power has just been turned off
+- Does bltouch need a default recovery time?
+- Should bltouch use digital probe mode? Some users having problems with P25 in G31 command.
+- M584 when assigning a drive, unmap any existing assignment. Also allow an axis to be mapped to driver -1.
+- Add S4 option to G1 command, like S1 but no endstop checks (needed for CoreXY, CoreXZ)
 - CNC: look at G17/18/19, see https://forum.duet3d.com/topic/4669/ooznest-workbee-screw-driven
-- PanelDue won't connect if VIN velow minimum for stepper motors [PanelDue firmware needs to recognise status 'O']
+- M569 command to allow selection of smart/dumb driver, also allow all 12 drivers to be smart
+- M569 TOFF parameter, https://forum.duet3d.com/topic/5392/does-m906-set-rms-or-peak-current/28
+- Apostrophe in quoted filename: can we make apostrophe special in SSIDs/passwords but not filenames?
+- If wifi module gets stuck in starting or changing mode state, reset it again
+- If wifi disconnects when in client mode, keep retrying the connection
+
+Other (some of these may be in 2.01):
+- Update PanelDue firmware via Duet
+- Use Heat task to read DHT sensors?
+- Add option R4 to M915 command, to do an emergency stop (useful for Z motor)
+- GCodes corresponding to rr_move and rr_mkdir, https://forum.duet3d.com/topic/5470/firmware-2-0rc6-and-1-21-1rc6-released/13
 - Add parameter to M116 to specify acceptable temperature difference
-- Laser support, see https://forum.duet3d.com/topic/4702/laser-cnc-support-in-rrf-gcode-semantics/4
-- Pushover notification support, https://forum.duet3d.com/topic/169/notification-via-pushover-or-other-service/45
 - support M205 for setting jerk
 - support G12 clean tool?
 - Add fan PWM limit, https://forum.duet3d.com/topic/5370/m106-feature-request-limit-max-pwm-parameter/4
 - M116 extra "close enough" parameter
-- Danny's modified SCARA kinematics (workpiece is on a plate, extruder is fixed)
-- Look at Bezier speed curves or other S-curve acceleration, https://github.com/MarlinFirmware/Marlin/pull/10373/files
 - after homing, warn if outside M208 movement limits on SCARA, polar etc.
 - Unexpected heaters off/tool selection behaviour, https://www.duet3d.com/forum/thread.php?pid=43059#p43059
 - warn when using : where ; was probably meant
 - Error message if you attempt movement with VIN < minimum
 - min/max RSSI display?
-- save theta, phi in move and then in DDA?
 - report RSSI in M552?
 - When VIN power too low and stepper drivers turned off, flag axes as not homed?
-- M81: don't give low voltage warnings when main power has just been turned off
-- Return "Powered down" status when VIN power has never been seen or has gone down after sending M81
 - Auto mount main SD card when inserted
 - Workplace offsets are supposed to be persistant (check NIST), https://www.duet3d.com/forum/thread.php?pid=43755#p43755
 - At the end of a simulation, restore the original workplace coordinate selection
-- apostrophe in quoted filename
 - looks like we get a Pop underflow message when you send DWC jog commands and axes are not homed
 - Add warning message when print exceeds bounds
-- Does bltouch need a default recovery time?
-- Should bltouch use digital probe mode? Some users having problems with P25 in G31 command.
-- M584 when assigning a drive, unmap any existing assignment. Also allow an axis to be mapped to driver -1.
-- Add S4 option to G1 command, like S1 but no endstop checks (needed for CoreXY, CoreXZ)
 - When uploading while a file is being printed, don't allow the currently-printing file to be replaced
 
-- if a homing command in an SD print file is aborted due to e.g. G1 Z5 in the homing file, error message should be written to both DWC and PanelDue
+- [check] if a homing command in an SD print file is aborted due to e.g. G1 Z5 in the homing file, error message should be written to both DWC and PanelDue
 - [no fault] stall detect on Z axis
 - Files generated by Cura doesn't detect layer changes, see https://www.duet3d.com/forum/thread.php?pid=40865#p40865
 - [re-test using new DuetWiFiServer] "Failed to change mode" messages after M552 S2/S0/S1 cycle
@@ -231,7 +250,6 @@ Fixes post RC5:
 - check that we never enable the drivers before we set vsense
 
 - [don't do] Don't report the motor current for a non-existent extruder
-- SD card read error handling?
 - dual extrusion layer counting, see https://www.duet3d.com/forum/thread.php?pid=34816#p34816
 - M140/M190 with no P parameter sets all bed heater temperatures (same for M141/M191)
 - M291 to lock movement and wait for it to finish?
@@ -245,9 +263,6 @@ Fixes post RC5:
 - Send reduce power command to PanelDue when main power turned off?
 - Document multiple bed and chamber heaters
 - [mostly done] Check all classes for correct initialisation
-- sd_mmc_spi doesn't acquire/release the SPI bus. Need to change this for RTOS.
-- If wifi module gets stuck in starting state, reset it again
-- If wifi disconnects when in client mode, keep retrying the connection
 
 Bug investigations:
 - [done] step errors, https://www.duet3d.com/forum/thread.php?pid=33741#p33741

src/Configuration.h

@@ -259,7 +259,7 @@ constexpr size_t FILE_BUFFER_SIZE = 128;
 #define MENU_DIR "0:/menu/"							// Directory for menu files
 
 #define CONFIG_FILE "config.g"
-#define DEFAULT_FILE "default.g"
+#define CONFIG_BACKUP_FILE "config.g.bak"
 #define DEFAULT_LOG_FILE "eventlog.txt"
 
 #define EOF_STRING "<!-- **EoF** -->"

src/Duet/Webserver.cpp

@@ -951,19 +951,23 @@ void Webserver::HttpInterpreter::GetJsonResponse(const char* request, OutputBuff
 	else if (StringEquals(request, "filelist") && GetKeyValue("dir") != nullptr)
 	{
 		OutputBuffer::Release(response);
-		response = reprap.GetFilelistResponse(GetKeyValue("dir"));
+		const char* const firstVal = GetKeyValue("first");
+		const unsigned int startAt = (firstVal == nullptr) ? 0 : (unsigned int)SafeStrtol(firstVal);
+		response = reprap.GetFilelistResponse(GetKeyValue("dir"), startAt);		// this may return nullptr
 	}
 	else if (StringEquals(request, "files"))
 	{
+		OutputBuffer::Release(response);
 		const char* dir = GetKeyValue("dir");
 		if (dir == nullptr)
 		{
 			dir = platform->GetGCodeDir();
 		}
+		const char* const firstVal = GetKeyValue("first");
+		const unsigned int startAt = (firstVal == nullptr) ? 0 : SafeStrtol(firstVal);
 		const char* const flagDirsVal = GetKeyValue("flagDirs");
 		const bool flagDirs = flagDirsVal != nullptr && atoi(flagDirsVal) == 1;
-		OutputBuffer::Release(response);
-		response = reprap.GetFilesResponse(dir, flagDirs);
+		response = reprap.GetFilesResponse(dir, startAt, flagDirs);				// this may return nullptr
 	}
 	else if (StringEquals(request, "fileinfo"))
 	{

src/GCodes/GCodes.cpp

@@ -2115,11 +2115,11 @@ bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb)
 		moveBuffer.coords[drive] = 0.0;
 	}
 	moveBuffer.hasExtrusion = false;
+	moveBuffer.virtualExtruderPosition = virtualExtruderPosition;	// save this before we update it
 
 	// Check if we are extruding
 	if (moveBuffer.isCoordinated && gb.Seen(extrudeLetter))
 	{
-
 		// Check that we have a tool to extrude with
 		Tool* const tool = reprap.GetCurrentTool();
 		if (tool == nullptr)
@@ -2610,7 +2610,6 @@ void GCodes::FinaliseMove(GCodeBuffer& gb)
 {
 	moveBuffer.canPauseAfter = (moveBuffer.endStopsToCheck == 0);
 	moveBuffer.filePos = (&gb == fileGCode) ? gb.GetFilePosition(fileInput->BytesCached()) : noFilePosition;
-	moveBuffer.virtualExtruderPosition = virtualExtruderPosition;
 
 	if (totalSegments > 1)
 	{

src/GCodes/GCodes2.cpp

@@ -564,6 +564,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 		}
 		{
 			const int sparam = (gb.Seen('S')) ? gb.GetIValue() : 0;
+			const unsigned int rparam = (gb.Seen('R')) ? gb.GetUIValue() : 0;
 			String<MaxFilenameLength> dir;
 			if (gb.Seen('P'))
 			{
@@ -577,7 +578,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 			OutputBuffer *fileResponse;
 			if (sparam == 2)
 			{
-				fileResponse = reprap.GetFilesResponse(dir.c_str(), true);		// Send the file list in JSON format
+				fileResponse = reprap.GetFilesResponse(dir.c_str(), rparam, true);	// send the file list in JSON format
 				if (fileResponse == nullptr)
 				{
 					return false;
@@ -586,7 +587,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 			}
 			else if (sparam == 3)
 			{
-				fileResponse = reprap.GetFilelistResponse(dir.c_str());
+				fileResponse = reprap.GetFilelistResponse(dir.c_str(), rparam);
 				if (fileResponse == nullptr)
 				{
 					return false;
@@ -597,7 +598,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 			{
 				if (!OutputBuffer::Allocate(fileResponse))
 				{
-					return false;												// Cannot allocate an output buffer, try again later
+					return false;													// cannot allocate an output buffer, try again later
 				}
 
 				// To mimic the behaviour of the official RepRapPro firmware:

src/Heating/Sensors/DhtSensor.cpp

@@ -39,6 +39,7 @@ DhtSensorHardwareInterface::DhtSensorHardwareInterface(Pin p_pin)
 	: sensorPin(p_pin), type(DhtSensorType::none), lastResult(TemperatureError::notInitialised),
 	  lastTemperature(BAD_ERROR_TEMPERATURE), lastHumidity(BAD_ERROR_TEMPERATURE), badTemperatureCount(0)
 {
+	IoPort::SetPinMode(sensorPin, INPUT_PULLUP);
 }
 
 TemperatureError DhtSensorHardwareInterface::GetTemperatureOrHumidity(float& t, bool wantHumidity) const
@@ -117,7 +118,7 @@ GCodeResult DhtSensorHardwareInterface::Configure(TemperatureSensor *ts, unsigne
 	return rslt;
 }
 
-// Create a hardware interface object re the specified channel if there isn't already
+// Create a hardware interface object for the specified channel if there isn't already
 DhtSensorHardwareInterface *DhtSensorHardwareInterface::Create(unsigned int relativeChannel)
 {
 	if (relativeChannel >= MaxSpiTempSensors)
@@ -170,19 +171,13 @@ void DhtSensorHardwareInterface::Interrupt()
 	if (numPulses < ARRAY_SIZE(pulses))
 	{
 		const uint16_t now = Platform::GetInterruptClocks16();
-		if (digitalRead(sensorPin))
+		if (IoPort::ReadPin(sensorPin))
 		{
 			lastPulseTime = now;
 		}
 		else if (lastPulseTime != 0)
 		{
 			pulses[numPulses++] = now - lastPulseTime;
-#if 0
-			if (numPulses == ARRAY_SIZE(pulses))
-			{
-				vTaskNotifyGiveFromISR(dhtTask->GetHandle(), nullptr);	// wake up the task
-			}
-#endif
 		}
 	}
 }
@@ -191,24 +186,20 @@ void DhtSensorHardwareInterface::TakeReading()
 {
 	if (type != DhtSensorType::none)			// if sensor has been configured
 	{
-		// Send start signal. See DHT datasheet for full signal diagram:
-		// http://www.adafruit.com/datasheets/Digital%20humidity%20and%20temperature%20sensor%20AM2302.pdf
-		pinMode(sensorPin, OUTPUT_HIGH);
-		delay(250);
-
-		digitalWrite(sensorPin, LOW);
+		// Send the start bit. This must be at least 18ms for the DHT11, 0.8ms for the DHT21, and 1ms long for the DHT22.
+		IoPort::SetPinMode(sensorPin, OUTPUT_LOW);
 		delay(20);
 
 		{
 			TaskCriticalSectionLocker lock;		// make sure the Heat task doesn't interrupt the sequence
 
 			// End the start signal by setting data line high. the sensor will respond with the start bit in 20 to 40us.
 			// We need only force the data line high long enough to charge the line capacitance, after that the pullup resistor keeps it high.
-			digitalWrite(sensorPin, HIGH);		// this will generate an interrupt, but we will ignore it
+			IoPort::WriteDigital(sensorPin, HIGH);		// this will generate an interrupt, but we will ignore it
 			delayMicroseconds(3);
 
 			// Now start reading the data line to get the value from the DHT sensor
-			pinMode(sensorPin, INPUT_PULLUP);
+			IoPort::SetPinMode(sensorPin, INPUT_PULLUP);
 
 			// It appears that switching the pin to an output disables the interrupt, so we need to call attachInterrupt here
 			// We are likely to get an immediate interrupt at this point corresponding to the low-to-high transition. We must ignore this.

src/Libraries/Fatfs/ff.h

@@ -178,14 +178,14 @@ typedef struct {
 
 typedef enum {
 	FR_OK = 0,				/* (0) Succeeded */
-	FR_DISK_ERR,			/* (1) A hard error occured in the low level disk I/O layer */
+	FR_DISK_ERR,			/* (1) A hard error occurred in the low level disk I/O layer */
 	FR_INT_ERR,				/* (2) Assertion failed */
 	FR_NOT_READY,			/* (3) The physical drive cannot work */
 	FR_NO_FILE,				/* (4) Could not find the file */
 	FR_NO_PATH,				/* (5) Could not find the path */
 	FR_INVALID_NAME,		/* (6) The path name format is invalid */
-	FR_DENIED,				/* (7) Acces denied due to prohibited access or directory full */
-	FR_EXIST,				/* (8) Acces denied due to prohibited access */
+	FR_DENIED,				/* (7) Access denied due to prohibited access or directory full */
+	FR_EXIST,				/* (8) Access denied due to prohibited access */
 	FR_INVALID_OBJECT,		/* (9) The file/directory object is invalid */
 	FR_WRITE_PROTECTED,		/* (10) The physical drive is write protected */
 	FR_INVALID_DRIVE,		/* (11) The logical drive number is invalid */

src/Networking/HttpResponder.cpp

@@ -533,19 +533,23 @@ bool HttpResponder::GetJsonResponse(const char* request, OutputBuffer *&response
 	else if (StringEquals(request, "filelist") && GetKeyValue("dir") != nullptr)
 	{
 		OutputBuffer::Release(response);
-		response = reprap.GetFilelistResponse(GetKeyValue("dir"));		// this may return nullptr
+		const char* const firstVal = GetKeyValue("first");
+		const unsigned int startAt = (firstVal == nullptr) ? 0 : (unsigned int)SafeStrtol(firstVal);
+		response = reprap.GetFilelistResponse(GetKeyValue("dir"), startAt);		// this may return nullptr
 	}
 	else if (StringEquals(request, "files"))
 	{
+		OutputBuffer::Release(response);
 		const char* dir = GetKeyValue("dir");
 		if (dir == nullptr)
 		{
 			dir = GetPlatform().GetGCodeDir();
 		}
+		const char* const firstVal = GetKeyValue("first");
+		const unsigned int startAt = (firstVal == nullptr) ? 0 : SafeStrtol(firstVal);
 		const char* const flagDirsVal = GetKeyValue("flagDirs");
 		const bool flagDirs = flagDirsVal != nullptr && SafeStrtol(flagDirsVal) == 1;
-		OutputBuffer::Release(response);
-		response = reprap.GetFilesResponse(dir, flagDirs);				// this may return nullptr
+		response = reprap.GetFilesResponse(dir, startAt, flagDirs);				// this may return nullptr
 	}
 	else if (StringEquals(request, "fileinfo"))
 	{

src/OutputMemory.cpp

@@ -231,13 +231,17 @@ size_t OutputBuffer::cat(StringRef &str)
 }
 
 // Encode a string in JSON format and append it to a string buffer and return the number of bytes written
-size_t OutputBuffer::EncodeString(const char *src, size_t srcLength, bool allowControlChars, bool encapsulateString)
+size_t OutputBuffer::EncodeString(const char *src, size_t srcLength, bool allowControlChars, bool encapsulateString, bool prependAsterisk)
 {
 	size_t bytesWritten = 0;
 	if (encapsulateString)
 	{
 		bytesWritten += cat('"');
 	}
+	if (prependAsterisk)
+	{
+		bytesWritten += cat('*');
+	}
 
 	if (srcLength != 0)
 	{

src/OutputMemory.h

@@ -54,7 +54,7 @@ class OutputBuffer
 		size_t cat(const char *src, size_t len);
 		size_t cat(StringRef &str);
 
-		size_t EncodeString(const char *src, size_t srcLength, bool allowControlChars, bool encapsulateString = true);
+		size_t EncodeString(const char *src, size_t srcLength, bool allowControlChars, bool encapsulateString = true, bool prependAsterisk = false);
 		size_t EncodeString(const StringRef& str, bool allowControlChars, bool encapsulateString = true);
 		size_t EncodeReply(OutputBuffer *src, bool allowControlChars);