Merge branch '3.5-dev' into outgoing_connections

.github/workflows/release.yml

@@ -0,0 +1,49 @@
+name: Upload release assets
+
+on:
+  release:
+    types: [published]
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    steps:
+      # Download release assets
+      - name: Download assets
+        run: |
+          mkdir assets
+          cd assets
+          gh release download -R Duet3D/RepRapFirmware $GITHUB_REF_NAME -p "*.bin" -p "*.uf2"
+        env:
+          GH_TOKEN: ${{ github.token }}
+
+      # Clean up unused files
+      - name: Remove unused files
+        run: |
+          cd assets
+          rm -f Duet2CombinedFirmware.bin DuetMaestroFirmware.bin Duet*_SD*.bin Duet3_CAN*.bin DuetWiFi*.bin
+
+      # Upload assets to dev feed on pkg.duet3d.com
+      - name: Upload files to dev feed
+        uses: Creepios/[email protected]
+        with:
+          host: pkg.duet3d.com
+          port: 22
+          username: ${{ secrets.PKG_SSH_USER }}
+          password: ${{ secrets.PKG_SSH_PASS }}
+          privateKey: ${{ secrets.PKG_SSH_KEY }}
+          localPath: ./assets
+          remotePath: /var/rrf-pkg/dev
+
+      # Upload assets to (un)stable feed on pkg.duet3d.com
+      - name: Upload files to primary feed
+        uses: Creepios/[email protected]
+        with:
+          host: pkg.duet3d.com
+          port: 22
+          username: ${{ secrets.PKG_SSH_USER }}
+          password: ${{ secrets.PKG_SSH_PASS }}
+          privateKey: ${{ secrets.PKG_SSH_KEY }}
+          localPath: ./assets
+          remotePath: /var/rrf-pkg/${{ (github.event.release.prerelease && 'unstable') || 'stable' }}
+

.gitignore

@@ -5,6 +5,10 @@
 # Misc
 /.settings/language.settings.xml
 
+# Emacs backup and auto-save files
+*~
+\#*\#
+
 # Output folders
 /Duet2/
 /Duet2_SBC/

.settings/org.eclipse.core.resources.prefs

@@ -2,3 +2,4 @@ eclipse.preferences.version=1
 encoding//src/Display/Lcd/Fonts/glcd11x14.cpp=UTF-8
 encoding//src/Display/Lcd/Fonts/glcd7x11.cpp=UTF-8
 encoding//src/Movement/StepperDrivers/TMC51xx.cpp=UTF-8
+encoding/<project>=UTF-8

.settings/org.eclipse.core.runtime.prefs

@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+line.separator=\n

src/CAN/CanInterface.cpp

@@ -765,7 +765,7 @@ GCodeResult CanInterface::SendRequestAndGetStandardReply(CanMessageBuffer *buf,
 }
 
 // Send a request to an expansion board and append the response to 'reply'. The response may either be a standard reply or 'replyType'.
-GCodeResult CanInterface::SendRequestAndGetCustomReply(CanMessageBuffer *buf, CanRequestId rid, const StringRef& reply, uint8_t *extra, CanMessageType replyType, function_ref<void(const CanMessageBuffer*) /*noexcept*/> callback) noexcept
+GCodeResult CanInterface::SendRequestAndGetCustomReply(CanMessageBuffer *buf, CanRequestId rid, const StringRef& reply, uint8_t *extra, CanMessageType replyType, function_ref_noexcept<void(const CanMessageBuffer*) noexcept> callback) noexcept
 {
 	if (can0dev == nullptr)
 	{
@@ -794,7 +794,7 @@ GCodeResult CanInterface::SendRequestAndGetCustomReply(CanMessageBuffer *buf, Ca
 				break;
 			}
 
-			if (reprap.Debug(moduleCan))
+			if (reprap.Debug(Module::Can))
 			{
 				buf->DebugPrint("Rx1:");
 			}
@@ -906,7 +906,7 @@ extern "C" [[noreturn]] void CanReceiverLoop(void *) noexcept
 	{
 		if (can0dev->ReceiveMessage(RxBufferIndexRequest, TaskBase::TimeoutUnlimited, &buf))
 		{
-			if (reprap.Debug(moduleCan))
+			if (reprap.Debug(Module::Can))
 			{
 				buf.DebugPrint("Rx0:");
 			}
@@ -919,7 +919,7 @@ extern "C" [[noreturn]] void CanReceiverLoop(void *) noexcept
 // This one is used by ATE
 GCodeResult CanInterface::EnableRemoteDrivers(const CanDriversList& drivers, const StringRef& reply) noexcept
 {
-	return SetRemoteDriverStates(drivers, reply, DriverStateControl(DriverStateControl::driverActive));
+	return SetRemoteDriverStates(drivers, reply, DriverStateControl(DriverStateControl::driverActive, reprap.GetGCodes().GetMotorBrakeOffDelay()));
 }
 
 // This one is used by Prepare and by M17
@@ -932,7 +932,7 @@ void CanInterface::EnableRemoteDrivers(const CanDriversList& drivers) noexcept
 // This one is used by ATE
 GCodeResult CanInterface::DisableRemoteDrivers(const CanDriversList& drivers, const StringRef& reply) noexcept
 {
-	return SetRemoteDriverStates(drivers, reply, DriverStateControl(DriverStateControl::driverDisabled));
+	return SetRemoteDriverStates(drivers, reply, DriverStateControl(DriverStateControl::driverDisabled, reprap.GetGCodes().GetMotorBrakeOnDelay()));
 }
 
 // This one is used by Prepare
@@ -945,7 +945,7 @@ void CanInterface::DisableRemoteDrivers(const CanDriversList& drivers) noexcept
 void CanInterface::SetRemoteDriversIdle(const CanDriversList& drivers, float idleCurrentFactor) noexcept
 {
 	String<1> dummy;
-	(void)SetRemoteDriverStates(drivers, dummy.GetRef(), DriverStateControl(DriverStateControl::driverIdle, lrintf(idleCurrentFactor * 100)));
+	(void)SetRemoteDriverStates(drivers, dummy.GetRef(), DriverStateControl(DriverStateControl::driverIdle, (uint16_t)lrintf(idleCurrentFactor * 100) << 4));
 }
 
 GCodeResult CanInterface::SetRemoteStandstillCurrentPercent(const CanDriversData<float>& data, const StringRef& reply) noexcept
@@ -979,7 +979,7 @@ pre(driver.IsRemote())
 	case 0:
 		if (gb.SeenAny("RS"))
 		{
-			if (!reprap.GetGCodes().LockMovementAndWaitForStandstill(gb))
+			if (!reprap.GetGCodes().LockAllMovementSystemsAndWaitForStandstill(gb))
 			{
 				return GCodeResult::notFinished;
 			}
@@ -993,7 +993,7 @@ pre(driver.IsRemote())
 	case 1:
 		if (gb.SeenAny("STERID"))
 		{
-			if (!reprap.GetGCodes().LockMovementAndWaitForStandstill(gb))
+			if (!reprap.GetGCodes().LockAllMovementSystemsAndWaitForStandstill(gb))
 			{
 				return GCodeResult::notFinished;
 			}

src/CAN/CanInterface.h

@@ -44,7 +44,7 @@ namespace CanInterface
 
 	CanRequestId AllocateRequestId(CanAddress destination, CanMessageBuffer *buf) noexcept;
 	GCodeResult SendRequestAndGetStandardReply(CanMessageBuffer *buf, CanRequestId rid, const StringRef& reply, uint8_t *extra = nullptr) noexcept;
-	GCodeResult SendRequestAndGetCustomReply(CanMessageBuffer *buf, CanRequestId rid, const StringRef& reply, uint8_t *extra, CanMessageType replyType, function_ref<void(const CanMessageBuffer*) /*noexcept*/> callback) noexcept;
+	GCodeResult SendRequestAndGetCustomReply(CanMessageBuffer *buf, CanRequestId rid, const StringRef& reply, uint8_t *extra, CanMessageType replyType, function_ref_noexcept<void(const CanMessageBuffer*) noexcept> callback) noexcept;
 	void SendResponseNoFree(CanMessageBuffer *buf) noexcept;
 	void SendBroadcastNoFree(CanMessageBuffer *buf) noexcept;
 	void SendMessageNoReplyNoFree(CanMessageBuffer *buf) noexcept;

src/CAN/CanMotion.cpp

@@ -117,12 +117,7 @@ CanMessageBuffer *CanMotion::GetBuffer(const PrepParams& params, DriverId canDri
 
 		buf->next = movementBufferList;
 		movementBufferList = buf;
-
-#if USE_REMOTE_INPUT_SHAPING
-		auto move = buf->SetupRequestMessage<CanMessageMovementLinearShaped>(0, CanId::MasterAddress, canDriver.boardAddress);
-#else
 		auto move = buf->SetupRequestMessage<CanMessageMovementLinear>(0, CanInterface::GetCurrentMasterAddress(), canDriver.boardAddress);
-#endif
 
 		// Common parameters
 		if (buf->next == nullptr)
@@ -136,86 +131,47 @@ CanMessageBuffer *CanMotion::GetBuffer(const PrepParams& params, DriverId canDri
 		else
 		{
 			// Save some maths by using the values from the previous buffer
-#if USE_REMOTE_INPUT_SHAPING
-			move->accelerationClocks = buf->next->msg.moveLinearShaped.accelerationClocks;
-			move->steadyClocks = buf->next->msg.moveLinearShaped.steadyClocks;
-			move->decelClocks = buf->next->msg.moveLinearShaped.decelClocks;
-#else
 			move->accelerationClocks = buf->next->msg.moveLinear.accelerationClocks;
 			move->steadyClocks = buf->next->msg.moveLinear.steadyClocks;
 			move->decelClocks = buf->next->msg.moveLinear.decelClocks;
-#endif
 		}
 		move->initialSpeedFraction = params.initialSpeedFraction;
 		move->finalSpeedFraction = params.finalSpeedFraction;
-#if USE_REMOTE_INPUT_SHAPING
-		move->numDriversMinusOne = canDriver.localDriver;
-		move->moveTypes = 0;
-		move->shaperAccelPhasesMinusOne = params.shapingPlan.accelSegments - 1;
-		move->shaperDecelPhasesMinusOne = params.shapingPlan.decelSegments - 1;
-#else
 		move->pressureAdvanceDrives = 0;
 		move->numDrivers = canDriver.localDriver + 1;
 		move->zero = 0;
-#endif
 
 		// Clear out the per-drive fields. Can't use a range-based FOR loop on a packed struct.
 		for (size_t drive = 0; drive < ARRAY_SIZE(move->perDrive); ++drive)
 		{
 			move->perDrive[drive].Init();
 		}
 	}
-#if USE_REMOTE_INPUT_SHAPING
-	else if (canDriver.localDriver > buf->msg.moveLinearShaped.numDriversMinusOne)
-	{
-		buf->msg.moveLinearShaped.numDriversMinusOne = canDriver.localDriver;
-	}
-#else
 	else if (canDriver.localDriver >= buf->msg.moveLinear.numDrivers)
 	{
 		buf->msg.moveLinear.numDrivers = canDriver.localDriver + 1;
 	}
-#endif
 	return buf;
 }
 
 // This is called by DDA::Prepare for each active CAN DM in the move
-#if USE_REMOTE_INPUT_SHAPING
-void CanMotion::AddMovement(const PrepParams& params, DriverId canDriver, int32_t steps) noexcept
-#else
 void CanMotion::AddMovement(const PrepParams& params, DriverId canDriver, int32_t steps, bool usePressureAdvance) noexcept
-#endif
 {
 	CanMessageBuffer * const buf = GetBuffer(params, canDriver);
 	if (buf != nullptr)
 	{
-#if USE_REMOTE_INPUT_SHAPING
-		buf->msg.moveLinearShaped.perDrive[canDriver.localDriver].iSteps = steps;
-#else
 		buf->msg.moveLinear.perDrive[canDriver.localDriver].steps = steps;
 		if (usePressureAdvance)
 		{
 			buf->msg.moveLinear.pressureAdvanceDrives |= 1u << canDriver.localDriver;
 		}
-#endif
-	}
-}
-
-#if USE_REMOTE_INPUT_SHAPING
-
-void CanMotion::AddExtruderMovement(const PrepParams& params, DriverId canDriver, float extrusion, bool usePressureAdvance) noexcept
-{
-	CanMessageBuffer * const buf = GetBuffer(params, canDriver);
-	if (buf != nullptr)
-	{
-		buf->msg.moveLinearShaped.perDrive[canDriver.localDriver].fDist = extrusion;
-		const auto mt = (usePressureAdvance) ? CanMessageMovementLinearShaped::MoveType::extruderWithPa : CanMessageMovementLinearShaped::MoveType::extruderNoPa;
-		buf->msg.moveLinearShaped.ChangeMoveTypeFromDefault(canDriver.localDriver, mt);
+		buf->msg.moveLinear.shapeAccelStart = params.shapingPlan.shapeAccelStart;
+		buf->msg.moveLinear.shapeAccelEnd = params.shapingPlan.shapeAccelEnd;
+		buf->msg.moveLinear.shapeDecelStart = params.shapingPlan.shapeDecelStart;
+		buf->msg.moveLinear.shapeDecelEnd = params.shapingPlan.shapeDecelEnd;
 	}
 }
 
-#endif
-
 // This is called by DDA::Prepare when all DMs for CAN drives have been processed. Return the calculated move time in steps, or 0 if there are no CAN moves
 uint32_t CanMotion::FinishMovement(const DDA& dda, uint32_t moveStartTime, bool simulating) noexcept
 {
@@ -233,11 +189,7 @@ uint32_t CanMotion::FinishMovement(const DDA& dda, uint32_t moveStartTime, bool
 			do
 			{
 				CanMessageBuffer * const nextBuffer = buf->next;		// must get this before sending the buffer, because sending the buffer releases it
-#if USE_REMOTE_INPUT_SHAPING
-				CanMessageMovementLinear& msg = buf->msg.moveLinearShaped;
-#else
 				CanMessageMovementLinear& msg = buf->msg.moveLinear;
-#endif
 				if (msg.HasMotion())
 				{
 					msg.whenToExecute = moveStartTime;
@@ -363,11 +315,7 @@ void CanMotion::InternalStopDriverWhenProvisional(DriverId driver) noexcept
 
 	if (buf != nullptr)
 	{
-#if USE_REMOTE_INPUT_SHAPING
-		buf->msg.moveLinearShaped.perDrive[driver.localDriver].steps = 0;
-#else
 		buf->msg.moveLinear.perDrive[driver.localDriver].steps = 0;
-#endif
 	}
 }
 
@@ -467,19 +415,11 @@ void CanMotion::StopAll(const DDA& dda) noexcept
 		// We still send the messages so that the drives get enabled, but we set the steps to zero
 		for (CanMessageBuffer *buf = movementBufferList; buf != nullptr; buf = buf->next)
 		{
-#if USE_REMOTE_INPUT_SHAPING
-			buf->msg.moveLinearShaped.accelerationClocks = buf->msg.moveLinearShaped.decelClocks = buf->msg.moveLinearShaped.steadyClocks = 0;
-			for (size_t drive = 0; drive < ARRAY_SIZE(buf->msg.moveLinearShaped.perDrive); ++drive)
-			{
-				buf->msg.moveLinearShaped.perDrive[drive].steps = 0;
-			}
-#else
 			buf->msg.moveLinear.accelerationClocks = buf->msg.moveLinear.decelClocks = buf->msg.moveLinear.steadyClocks = 0;
 			for (size_t drive = 0; drive < ARRAY_SIZE(buf->msg.moveLinear.perDrive); ++drive)
 			{
 				buf->msg.moveLinear.perDrive[drive].steps = 0;
 			}
-#endif
 		}
 	}
 	else if (stopList != nullptr)

src/CAN/CanMotion.h

@@ -18,12 +18,7 @@ namespace CanMotion
 {
 	void Init() noexcept;
 	void StartMovement() noexcept;
-#if USE_REMOTE_INPUT_SHAPING
-	void AddMovement(const PrepParams& params, DriverId canDriver, int32_t steps) noexcept;
-	void AddExtruderMovement(const PrepParams& params, DriverId canDriver, float extrusion, bool usePressureAdvance) noexcept;
-#else
 	void AddMovement(const PrepParams& params, DriverId canDriver, int32_t steps, bool usePressureAdvance) noexcept;
-#endif
 	uint32_t FinishMovement(const DDA& dda, uint32_t moveStartTime, bool simulating) noexcept;
 	bool CanPrepareMove() noexcept;
 	CanMessageBuffer *GetUrgentMessage() noexcept;

src/CAN/CommandProcessor.cpp

@@ -353,14 +353,17 @@ static GCodeResult EutGetInfo(const CanMessageReturnInfo& msg, const StringRef&
 		extra = LastDiagnosticsPart;
 		{
 			const size_t driver = msg.type - (CanMessageReturnInfo::typeDiagnosticsPart0 + 1);
-			reply.lcatf("Driver %u: position %" PRIi32 ", %.1f steps/mm"
+			if (driver < NumDirectDrivers)			// we have up to 7 drivers on the Duet 3 Mini but only 6 on the 6HC and 6XD
+			{
+				reply.lcatf("Driver %u: %.1f steps/mm"
 #if HAS_SMART_DRIVERS
-				","
+					","
 #endif
-				, driver, reprap.GetMove().GetEndPoint(driver), (double)reprap.GetPlatform().DriveStepsPerUnit(driver));
+					, driver, (double)reprap.GetPlatform().DriveStepsPerUnit(driver));
 #if HAS_SMART_DRIVERS
-			SmartDrivers::AppendDriverStatus(driver, reply);
+				SmartDrivers::AppendDriverStatus(driver, reply);
 #endif
+			}
 		}
 		break;
 
@@ -458,12 +461,6 @@ void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
 				reprap.GetMove().AddMoveFromRemote(buf->msg.moveLinear);
 				return;							// no reply needed
 
-# if USE_REMOTE_INPUT_SHAPING
-			case CanMessageType::movementLinearShaped:
-				reprap.GetMove().AddShapedMoveFromRemote(buf->msg.moveLinearShaped);
-				return;							// no reply needed
-# endif
-
 			case CanMessageType::stopMovement:
 				reprap.GetMove().StopDrivers(buf->msg.stopMovement.whichDrives);
 				return;							// no reply needed
@@ -765,7 +762,7 @@ void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
 #endif
 
 			default:
-				if (reprap.Debug(moduleCan))
+				if (reprap.Debug(Module::Can))
 				{
 					buf->DebugPrint("Rec: ");
 				}