Merge remote-tracking branch 'origin/3.3-dev' into v3-chrishamm

21 files changed, 113 insertions, 217 deletions

diff --git a/.cproject b/.cproject
index 6a4feef1..72cd1216 100644
--- a/.cproject
+++ b/.cproject
@@ -948,7 +948,7 @@
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-						<entry excluding="src/Hardware/SAM4E|src/Duet3Mini|/src/Networking/LwipEthernet/Lwip/test|src/DuetNG|src/Networking/W5500Ethernet|src/Display|src/Pccb|/src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/Networking/LwipEthernet/Lwip/doc|src/Networking/LwipEthernet/Lwip/src/apps/smtp|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Networking/LwipEthernet/Lwip/src/apps/httpd|src/Hardware/SAME5x|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/altcp_tls|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Networking/LwipEthernet/Lwip/src/apps/http|src/Networking/ESP8266WiFi|src/DuetM|src/Hardware/SAM4S" flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name=""/>
-					</sourceEntries>
-				</configuration>
-			</storageModule>
-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings">
-				<externalSettings containerId="CANlib;cdt.managedbuild.config.gnu.cross.lib.release.1485070058" factoryId="org.eclipse.cdt.core.cfg.export.settings.sipplier">
-					<externalSetting>
-						<entry flags="VALUE_WORKSPACE_PATH" kind="libraryPath" name="/CANlib/SAME70_RTOS"/>
-						<entry flags="RESOLVED" kind="libraryFile" name="CANlib" srcPrefixMapping="" srcRootPath=""/>
-					</externalSetting>
-				</externalSettings>
-				<externalSettings containerId="CoreNG;cdt.managedbuild.config.gnu.cross.lib.release.897729483.161018050.906601308" factoryId="org.eclipse.cdt.core.cfg.export.settings.sipplier">
-					<externalSetting>
-						<entry flags="VALUE_WORKSPACE_PATH" kind="libraryPath" name="/CoreNG/SAME70"/>
-						<entry flags="RESOLVED" kind="libraryFile" name="CoreNG" srcPrefixMapping="" srcRootPath=""/>
-					</externalSetting>
-				</externalSettings>
-				<externalSettings containerId="FreeRTOS;cdt.managedbuild.config.gnu.cross.exe.release.487753828.694459458" factoryId="org.eclipse.cdt.core.cfg.export.settings.sipplier">
-					<externalSetting>
-						<entry flags="VALUE_WORKSPACE_PATH" kind="libraryPath" name="/FreeRTOS/SAME70"/>
-						<entry flags="RESOLVED" kind="libraryFile" name="FreeRTOS" srcPrefixMapping="" srcRootPath=""/>
-					</externalSetting>
-				</externalSettings>
-				<externalSettings containerId="RRFLibraries;cdt.managedbuild.config.gnu.cross.lib.release.1693990866.1913177425" factoryId="org.eclipse.cdt.core.cfg.export.settings.sipplier">
-					<externalSetting>
-						<entry flags="VALUE_WORKSPACE_PATH" kind="libraryPath" name="/RRFLibraries/SAME70_RTOS"/>
-						<entry flags="RESOLVED" kind="libraryFile" name="RRFLibraries" srcPrefixMapping="" srcRootPath=""/>
-					</externalSetting>
-				</externalSettings>
-				<externalSettings containerId="Duet3ATE;cdt.managedbuild.config.gnu.cross.lib.debug.299393999.1140290778" factoryId="org.eclipse.cdt.core.cfg.export.settings.sipplier">
-					<externalSetting>
-						<entry flags="VALUE_WORKSPACE_PATH" kind="libraryPath" name="/Duet3ATE/MB6HC"/>
-						<entry flags="RESOLVED" kind="libraryFile" name="Duet3ATE" srcPrefixMapping="" srcRootPath=""/>
-					</externalSetting>
-				</externalSettings>
-			</storageModule>
-		</cconfiguration>
 		<cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.957471317.1222249630.1359583846.373184287">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.957471317.1222249630.1359583846.373184287" moduleId="org.eclipse.cdt.core.settings" name="Duet3MiniATE">
 				<macros>
diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp
index 33056ede..5c0a4a96 100644
--- a/src/CAN/CanInterface.cpp
+++ b/src/CAN/CanInterface.cpp
@@ -16,6 +16,7 @@
 #include <Movement/DDA.h>
 #include <Movement/DriveMovement.h>
 #include <Movement/StepTimer.h>
+#include <Movement/Move.h>
 #include <RTOSIface/RTOSIface.h>
 #include <Platform/TaskPriorities.h>
 #include <GCodes/GCodeException.h>
@@ -159,7 +160,7 @@ static Task<CanSenderTaskStackWords> canSenderTask;
 constexpr size_t CanReceiverTaskStackWords = 1000;
 static Task<CanReceiverTaskStackWords> canReceiverTask;
 
-constexpr size_t CanClockTaskStackWords = 300;
+constexpr size_t CanClockTaskStackWords = 400;			// used to be 300 but RD had a stack overflow
 static Task<CanSenderTaskStackWords> canClockTask;
 
 static CanMessageBuffer * volatile pendingBuffers;
@@ -293,7 +294,7 @@ CanRequestId CanInterface::AllocateRequestId(CanAddress destination) noexcept
 {
 	static uint16_t rid = 0;
 
-	CanRequestId rslt = rid & 0x07FF;
+	CanRequestId rslt = rid & CanRequestIdMask;
 	++rid;
 	return rslt;
 }
@@ -525,9 +526,14 @@ template<class T> static GCodeResult SetRemoteDriverValues(const CanDriversData<
 	return rslt;
 }
 
+// Set remote drivers to enabled, disabled, or idle
+// This function is called by both the main task and the Move task.
+// As there is no mutual exclusion on putting messages in buffers or receiving replies, when this is called by the Move task
+// we send the commands through the FIFO and we use a special RequestId to say that we do not expect a response
 static GCodeResult SetRemoteDriverStates(const CanDriversList& drivers, const StringRef& reply, DriverStateControl state) noexcept
 {
 	GCodeResult rslt = GCodeResult::ok;
+	const bool fromMoveTask = TaskBase::GetCallerTaskHandle() == Move::GetMoveTaskHandle();
 	size_t start = 0;
 	for (;;)
 	{
@@ -543,7 +549,7 @@ static GCodeResult SetRemoteDriverStates(const CanDriversList& drivers, const St
 			reply.lcat(NoCanBufferMessage);
 			return GCodeResult::error;
 		}
-		const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
+		const CanRequestId rid = (fromMoveTask) ? CanRequestIdNoReplyNeeded : CanInterface::AllocateRequestId(boardAddress);
 		const auto msg = buf->SetupRequestMessage<CanMessageMultipleDrivesRequest<DriverStateControl>>(rid, CanInterface::GetCanAddress(), boardAddress, CanMessageType::setDriverStates);
 		msg->driversToUpdate = driverBits.GetRaw();
 		const size_t numDrivers = driverBits.CountSetBits();
@@ -552,7 +558,14 @@ static GCodeResult SetRemoteDriverStates(const CanDriversList& drivers, const St
 			msg->values[i] = state;
 		}
 		buf->dataLength = msg->GetActualDataLength(numDrivers);
-		rslt = max(rslt, CanInterface::SendRequestAndGetStandardReply(buf, rid, reply));
+		if (fromMoveTask)
+		{
+			CanInterface::SendMotion(buf);														// if it's coming from the Move task then we must send the command via the fifo
+		}
+		else
+		{
+			rslt = max(rslt, CanInterface::SendRequestAndGetStandardReply(buf, rid, reply));	// send the command via the usual mechanism
+		}
 	}
 	return rslt;
 }
@@ -585,18 +598,30 @@ 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, stdext::inplace_function<void(const CanMessageBuffer*) /*noexcept*/> callback) noexcept
+GCodeResult CanInterface::SendRequestAndGetCustomReply(CanMessageBuffer *buf, CanRequestId rid, const StringRef& reply, uint8_t *extra, CanMessageType replyType, function_ref<void(const CanMessageBuffer*) /*noexcept*/> callback) noexcept
 {
 	if (can0dev == nullptr)
 	{
 		// Transactions sometimes get requested after we have shut down CAN, e.g. when we destroy filament monitors
+		CanMessageBuffer::Free(buf);
 		return GCodeResult::error;
 	}
+
 	const CanAddress dest = buf->id.Dst();
+	const CanMessageType msgType = buf->id.MsgType();								// save for possible error message
+
+	// This code isn't re-entrant, so check that we are the main task
+	if (TaskBase::GetCallerTaskHandle() != Tasks::GetMainTask())
+	{
+		reply.printf("SendReq call from wrong task type=%u dst=%u",(unsigned int)msgType, (unsigned int)dest);
+		reprap.GetPlatform().MessageF(ErrorMessage, "%s\n", reply.c_str());			// send it directly in case the caller discards the reply
+		CanMessageBuffer::Free(buf);
+		return GCodeResult::error;
+	}
+
 	can0dev->SendMessage(TxBufferIndexRequest, MaxRequestSendWait, buf);
 	const uint32_t whenStartedWaiting = millis();
 	unsigned int fragmentsReceived = 0;
-	const CanMessageType msgType = buf->id.MsgType();								// save for possible error message
 	for (;;)
 	{
 		const uint32_t timeWaiting = millis() - whenStartedWaiting;
@@ -643,7 +668,7 @@ GCodeResult CanInterface::SendRequestAndGetCustomReply(CanMessageBuffer *buf, Ca
 			}
 			++fragmentsReceived;
 		}
-		else if (matchesRequest &&buf->id.MsgType() == replyType && fragmentsReceived == 0)
+		else if (matchesRequest && buf->id.MsgType() == replyType && fragmentsReceived == 0)
 		{
 			callback(buf);
 			CanMessageBuffer::Free(buf);
@@ -718,7 +743,7 @@ GCodeResult CanInterface::EnableRemoteDrivers(const CanDriversList& drivers, con
 	return SetRemoteDriverStates(drivers, reply, DriverStateControl(DriverStateControl::driverActive));
 }
 
-// This one is used by Prepare
+// This one is used by Prepare and by M17
 void CanInterface::EnableRemoteDrivers(const CanDriversList& drivers) noexcept
 {
 	String<1> dummy;
diff --git a/src/CAN/CanInterface.h b/src/CAN/CanInterface.h
index d19feef4..50aecfd7 100644
--- a/src/CAN/CanInterface.h
+++ b/src/CAN/CanInterface.h
@@ -74,7 +74,7 @@ namespace CanInterface
 
 	CanRequestId AllocateRequestId(CanAddress destination) 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, stdext::inplace_function<void(const CanMessageBuffer*) /*noexcept*/> callback) noexcept;
+	GCodeResult SendRequestAndGetCustomReply(CanMessageBuffer *buf, CanRequestId rid, const StringRef& reply, uint8_t *extra, CanMessageType replyType, function_ref<void(const CanMessageBuffer*) /*noexcept*/> callback) noexcept;
 	void SendResponseNoFree(CanMessageBuffer *buf) noexcept;
 	void SendBroadcastNoFree(CanMessageBuffer *buf) noexcept;
 	void SendMessageNoReplyNoFree(CanMessageBuffer *buf) noexcept;
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 805aa675..8887534c 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -557,7 +557,15 @@ bool GCodes::SpinGCodeBuffer(GCodeBuffer& gb) noexcept
 // Start a new gcode, or continue to execute one that has already been started. Return true if we found something significant to do.
 bool GCodes::StartNextGCode(GCodeBuffer& gb, const StringRef& reply) noexcept
 {
-	if (&gb == fileGCode && ((pauseState != PauseState::notPaused && pauseState != PauseState::pausing) || (deferredPauseCommandPending != nullptr && !gb.IsDoingFileMacro())))
+	// There are special rules for fileGCode because it needs to suspend when paused:
+	// - if the pause state is paused or resuming, don't execute
+	// - if the state is pausing then don't execute, unless we are executing a macro (because it could be the pause macro or filament change macro)
+	// - if there is a deferred pause pending, don't execute once we have finished the current macro
+	if (&gb == fileGCode
+		&& (   pauseState > PauseState::pausing				// paused or resuming
+			|| (!gb.IsDoingFileMacro() && (deferredPauseCommandPending != nullptr || pauseState == PauseState::pausing))
+		   )
+	   )
 	{
 		// We are paused or pausing, so don't process any more gcodes from the file being printed.
 		// There is a potential issue here if fileGCode holds any locks, so unlock everything.
diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h
index 933aa4b7..5ef2bfa7 100644
--- a/src/GCodes/GCodes.h
+++ b/src/GCodes/GCodes.h
@@ -77,6 +77,7 @@ enum class StopPrintReason
 
 enum class PauseState : uint8_t
 {
+	// Do not change the order of these! We rely on notPaused < pausing < { paused, resuming}
 	notPaused = 0,
 	pausing,
 	paused,
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index ec036535..9f50364f 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -2524,10 +2524,10 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeEx
 						gb.SetState(GCodeState::waitingForAcknowledgement);
 					}
 #endif
-					if (Push(gb, true))					// stack the machine state including the file position
+					if (Push(gb, true))												// stack the machine state including the file position
 					{
-						UnlockMovement(gb);												// allow movement so that e.g. an SD card print can call M291 and then DWC or PanelDue can be used to jog axes
-						gb.WaitForAcknowledgement();						// flag that we are waiting for acknowledgement
+						UnlockMovement(gb);											// allow movement so that e.g. an SD card print can call M291 and then DWC or PanelDue can be used to jog axes
+						gb.WaitForAcknowledgement();								// flag that we are waiting for acknowledgement
 					}
 				}
 
diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp
index 3ff14db0..ed140fb7 100644
--- a/src/GCodes/GCodes3.cpp
+++ b/src/GCodes/GCodes3.cpp
@@ -865,7 +865,7 @@ GCodeResult GCodes::StraightProbe(GCodeBuffer& gb, const StringRef& reply) THROW
 	ToolOffsetTransform(userPositionTarget, straightProbeSettings.GetTarget());
 
 	// See whether we are using a user-defined Z probe or just current one
-	const size_t probeToUse = gb.Seen('P') ? gb.GetUIValue() : 0;
+	const size_t probeToUse = (gb.Seen('K') || gb.Seen('P')) ? gb.GetUIValue() : 0;
 
 	// Check if this probe exists to not run into a nullptr dereference later
 	if (platform.GetEndstops().GetZProbe(probeToUse).IsNull())
diff --git a/src/Hardware/ExceptionHandlers.cpp b/src/Hardware/ExceptionHandlers.cpp
index 7253f5cf..640c0a41 100644
--- a/src/Hardware/ExceptionHandlers.cpp
+++ b/src/Hardware/ExceptionHandlers.cpp
@@ -8,6 +8,7 @@
 #include "ExceptionHandlers.h"
 #include <Platform/RepRap.h>
 #include <Platform/Platform.h>
+#include <Platform/Tasks.h>
 #include <Hardware/NonVolatileMemory.h>
 #include <Cache.h>
 #if SAME70 || SAM4S || SAM4E
@@ -62,10 +63,10 @@
 		}
 
 		// Record the reason for the software reset
-		NonVolatileMemory mem;
-		SoftwareResetData * const srd = mem.AllocateResetDataSlot();
+		NonVolatileMemory * const mem = new(Tasks::GetNVMBuffer(stk)) NonVolatileMemory;
+		SoftwareResetData * const srd = mem->AllocateResetDataSlot();
         srd->Populate(fullReason, stk);
-        mem.EnsureWritten();
+        mem->EnsureWritten();
 	}
 
 #if defined(__LPC17xx__)
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp
index 2feadeb5..e3f073f9 100644
--- a/src/Movement/Move.cpp
+++ b/src/Movement/Move.cpp
@@ -49,11 +49,7 @@
 # include <CAN/CanMotion.h>
 #endif
 
-// Move task stack size
-// 250 is not enough when Move and DDA debug are enabled
-// deckingman's system (MB6HC with CAN expansion) needs at least 365 in 3.3beta3
-constexpr unsigned int MoveTaskStackWords = 450;
-static Task<MoveTaskStackWords> moveTask;
+Task<Move::MoveTaskStackWords> Move::moveTask;
 
 constexpr uint32_t MoveTimeout = 20;					// normal timeout when the Move process is waiting for a new move
 
diff --git a/src/Movement/Move.h b/src/Movement/Move.h
index 5cfcf29e..940cfe8b 100644
--- a/src/Movement/Move.h
+++ b/src/Movement/Move.h
@@ -194,6 +194,8 @@ public:
 
 	static void WakeMoveTaskFromISR() noexcept;
 
+	static const TaskBase *GetMoveTaskHandle() noexcept { return &moveTask; }
+
 #if SUPPORT_REMOTE_COMMANDS
 	void AddMoveFromRemote(const CanMessageMovementLinear& msg) noexcept					// add a move from the ATE to the movement queue
 	{
@@ -222,6 +224,12 @@ private:
 
 	const char *GetCompensationTypeString() const noexcept;
 
+	// Move task stack size
+	// 250 is not enough when Move and DDA debug are enabled
+	// deckingman's system (MB6HC with CAN expansion) needs at least 365 in 3.3beta3
+	static constexpr unsigned int MoveTaskStackWords = 450;
+	static Task<MoveTaskStackWords> moveTask;
+
 #if SUPPORT_ASYNC_MOVES
 	DDARing rings[2];
 	DDARing& auxDDARing = rings[1];						// the DDA ring used for live babystepping, height following and other asynchronous moves
diff --git a/src/ObjectModel/Variable.cpp b/src/ObjectModel/Variable.cpp
index 65e6b55f..fd07fee4 100644
--- a/src/ObjectModel/Variable.cpp
+++ b/src/ObjectModel/Variable.cpp
@@ -126,7 +126,7 @@ void VariableSet::AssignFrom(VariableSet& other) noexcept
 	other.root = nullptr;
 }
 
-void VariableSet::IterateWhile(stdext::inplace_function<bool(unsigned int, const Variable&) /*noexcept*/ > func) const noexcept
+void VariableSet::IterateWhile(function_ref<bool(unsigned int, const Variable&) /*noexcept*/ > func) const noexcept
 {
 	unsigned int num = 0;
 	for (const Variable *v = root; v != nullptr; v = v->GetNext())
diff --git a/src/ObjectModel/Variable.h b/src/ObjectModel/Variable.h
index 28717688..164fb2c1 100644
--- a/src/ObjectModel/Variable.h
+++ b/src/ObjectModel/Variable.h
@@ -57,7 +57,7 @@ public:
 	void Delete(const char *str) noexcept;
 	void Clear() noexcept;
 
-	void IterateWhile(stdext::inplace_function<bool(unsigned int index, const Variable& v) /*noexcept*/ > func) const noexcept;
+	void IterateWhile(function_ref<bool(unsigned int index, const Variable& v) /*noexcept*/ > func) const noexcept;
 
 private:
 	Variable *root;
diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp
index 7122f7a8..3c1c8946 100644
--- a/src/Platform/Platform.cpp
+++ b/src/Platform/Platform.cpp
@@ -2572,7 +2572,7 @@ bool Platform::WriteAxisLimits(FileStore *f, AxesBitmap axesProbed, const float
 #if SUPPORT_CAN_EXPANSION
 
 // Function to identify and iterate through all drivers attached to an axis or extruder
-void Platform::IterateDrivers(size_t axisOrExtruder, stdext::inplace_function<void(uint8_t)> localFunc, stdext::inplace_function<void(DriverId)> remoteFunc) noexcept
+void Platform::IterateDrivers(size_t axisOrExtruder, function_ref<void(uint8_t)> localFunc, function_ref<void(DriverId)> remoteFunc) noexcept
 {
 	if (axisOrExtruder < reprap.GetGCodes().GetTotalAxes())
 	{
@@ -2606,7 +2606,7 @@ void Platform::IterateDrivers(size_t axisOrExtruder, stdext::inplace_function<vo
 #else
 
 // Function to identify and iterate through all drivers attached to an axis or extruder
-void Platform::IterateDrivers(size_t axisOrExtruder, stdext::inplace_function<void(uint8_t)> localFunc) noexcept
+void Platform::IterateDrivers(size_t axisOrExtruder, function_ref<void(uint8_t)> localFunc) noexcept
 {
 	if (axisOrExtruder < reprap.GetGCodes().GetTotalAxes())
 	{
diff --git a/src/Platform/Platform.h b/src/Platform/Platform.h
index dbf122c9..ac73580e 100644
--- a/src/Platform/Platform.h
+++ b/src/Platform/Platform.h
@@ -40,7 +40,7 @@ Licence: GPL
 #include <Comms/AuxDevice.h>
 #include <Comms/PanelDueUpdater.h>
 #include <General/IPAddress.h>
-#include <General/inplace_function.h>
+#include <General/function_ref.h>
 
 #if defined(DUET_NG)
 # include "DueXn.h"
@@ -655,12 +655,12 @@ private:
 	float GetCpuTemperature() const noexcept;
 
 #if SUPPORT_CAN_EXPANSION
-	void IterateDrivers(size_t axisOrExtruder, stdext::inplace_function<void(uint8_t) /*noexcept*/ > localFunc, stdext::inplace_function<void(DriverId) /*noexcept*/ > remoteFunc) noexcept;
-	void IterateLocalDrivers(size_t axisOrExtruder, stdext::inplace_function<void(uint8_t) /*noexcept*/ > func) noexcept { IterateDrivers(axisOrExtruder, func, [](DriverId) noexcept {}); }
-	void IterateRemoteDrivers(size_t axisOrExtruder, stdext::inplace_function<void(DriverId) /*noexcept*/ > func) noexcept { IterateDrivers(axisOrExtruder, [](uint8_t) noexcept {}, func); }
+	void IterateDrivers(size_t axisOrExtruder, function_ref<void(uint8_t) /*noexcept*/ > localFunc, function_ref<void(DriverId) /*noexcept*/ > remoteFunc) noexcept;
+	void IterateLocalDrivers(size_t axisOrExtruder, function_ref<void(uint8_t) /*noexcept*/ > func) noexcept { IterateDrivers(axisOrExtruder, func, [](DriverId) noexcept {}); }
+	void IterateRemoteDrivers(size_t axisOrExtruder, function_ref<void(DriverId) /*noexcept*/ > func) noexcept { IterateDrivers(axisOrExtruder, [](uint8_t) noexcept {}, func); }
 #else
-	void IterateDrivers(size_t axisOrExtruder, stdext::inplace_function<void(uint8_t) /*noexcept*/ > localFunc) noexcept;
-	void IterateLocalDrivers(size_t axisOrExtruder, stdext::inplace_function<void(uint8_t) /*noexcept*/ > func) noexcept { IterateDrivers(axisOrExtruder, func); }
+	void IterateDrivers(size_t axisOrExtruder, function_ref<void(uint8_t) /*noexcept*/ > localFunc) noexcept;
+	void IterateLocalDrivers(size_t axisOrExtruder, function_ref<void(uint8_t) /*noexcept*/ > func) noexcept { IterateDrivers(axisOrExtruder, func); }
 #endif
 
 #if SUPPORT_REMOTE_COMMANDS
diff --git a/src/Platform/RepRap.cpp b/src/Platform/RepRap.cpp
index 79d11b55..48ee430a 100644
--- a/src/Platform/RepRap.cpp
+++ b/src/Platform/RepRap.cpp
@@ -2315,7 +2315,7 @@ GCodeResult RepRap::GetFileInfoResponse(const char *filename, OutputBuffer *&res
 
 // Helper functions to write JSON arrays
 // Append float array using 1 decimal place
-void RepRap::AppendFloatArray(OutputBuffer *buf, const char *name, size_t numValues, stdext::inplace_function<float(size_t)> func, unsigned int numDecimalDigits) noexcept
+void RepRap::AppendFloatArray(OutputBuffer *buf, const char *name, size_t numValues, function_ref<float(size_t)> func, unsigned int numDecimalDigits) noexcept
 {
 	if (name != nullptr)
 	{
@@ -2333,7 +2333,7 @@ void RepRap::AppendFloatArray(OutputBuffer *buf, const char *name, size_t numVal
 	buf->cat(']');
 }
 
-void RepRap::AppendIntArray(OutputBuffer *buf, const char *name, size_t numValues, stdext::inplace_function<int(size_t)> func) noexcept
+void RepRap::AppendIntArray(OutputBuffer *buf, const char *name, size_t numValues, function_ref<int(size_t)> func) noexcept
 {
 	if (name != nullptr)
 	{
@@ -2351,7 +2351,7 @@ void RepRap::AppendIntArray(OutputBuffer *buf, const char *name, size_t numValue
 	buf->cat(']');
 }
 
-void RepRap::AppendStringArray(OutputBuffer *buf, const char *name, size_t numValues, stdext::inplace_function<const char *(size_t)> func) noexcept
+void RepRap::AppendStringArray(OutputBuffer *buf, const char *name, size_t numValues, function_ref<const char *(size_t)> func) noexcept
 {
 	if (name != nullptr)
 	{
diff --git a/src/Platform/RepRap.h b/src/Platform/RepRap.h
index 4f7195f5..80cac81b 100644
--- a/src/Platform/RepRap.h
+++ b/src/Platform/RepRap.h
@@ -24,7 +24,7 @@ Licence: GPL
 #include <RepRapFirmware.h>
 #include <ObjectModel/ObjectModel.h>
 #include <RTOSIface/RTOSIface.h>
-#include <General/inplace_function.h>
+#include <General/function_ref.h>
 #include <ObjectModel/GlobalVariables.h>
 
 #if SUPPORT_CAN_EXPANSION
@@ -216,9 +216,9 @@ protected:
 
 private:
 	static void EncodeString(StringRef& response, const char* src, size_t spaceToLeave, bool allowControlChars = false, char prefix = 0) noexcept;
-	static void AppendFloatArray(OutputBuffer *buf, const char *name, size_t numValues, stdext::inplace_function<float(size_t)> func, unsigned int numDecimalDigits) noexcept;
-	static void AppendIntArray(OutputBuffer *buf, const char *name, size_t numValues, stdext::inplace_function<int(size_t)> func) noexcept;
-	static void AppendStringArray(OutputBuffer *buf, const char *name, size_t numValues, stdext::inplace_function<const char *(size_t)> func) noexcept;
+	static void AppendFloatArray(OutputBuffer *buf, const char *name, size_t numValues, function_ref<float(size_t)> func, unsigned int numDecimalDigits) noexcept;
+	static void AppendIntArray(OutputBuffer *buf, const char *name, size_t numValues, function_ref<int(size_t)> func) noexcept;
+	static void AppendStringArray(OutputBuffer *buf, const char *name, size_t numValues, function_ref<const char *(size_t)> func) noexcept;
 
 	size_t GetStatusIndex() const noexcept;
 	char GetStatusCharacter() const noexcept;
diff --git a/src/Platform/Tasks.cpp b/src/Platform/Tasks.cpp
index e5b1331c..e433b8d8 100644
--- a/src/Platform/Tasks.cpp
+++ b/src/Platform/Tasks.cpp
@@ -11,6 +11,7 @@
 #include <Cache.h>
 #include <Platform/TaskPriorities.h>
 #include <Hardware/SoftwareReset.h>
+#include <Hardware/NonVolatileMemory.h>
 #include <Storage/CRC32.h>
 #include <Movement/StepTimer.h>
 
@@ -102,6 +103,31 @@ extern "C" void ReleaseMallocMutex() noexcept
 	}
 }
 
+// Get a 4-byte aligned NonVolatileMemory buffer suitable for the crash handler to use for reading/writing flash memory.
+// We don't want to use a static buffer because that is wasteful of RAM, given that only the crash handler uses it, we have interrupts disabled while we use it,
+// and we reset immediately afterwards.
+// Instead we use either the bottom or top of the main task stack.
+// Parameter 'stk' is the stack we are interested in, which we must not overwrite. The caller is either using the same stack a little lower, or the exception stack.
+void *Tasks::GetNVMBuffer(const uint32_t *stk) noexcept
+{
+	constexpr size_t stackAllowance = 128;
+	static_assert((sizeof(NonVolatileMemory) & 3) == 0);
+	static_assert(MainTaskStackWords * 4 >= 2 * sizeof(NonVolatileMemory) + stackAllowance + 4);
+	const char * const cStack = reinterpret_cast<const char*>(stk);
+
+	// See if we can use the bottom of the main task stack
+	char *ret = (char *)&mainTask + sizeof(TaskBase);
+	if (cStack > ret + (sizeof(NonVolatileMemory) + stackAllowance + 4))	// allow space for the buffer + 128b in case we are on that stack
+	{
+		ret += 4;															// the +4 is so that we leave the stack marker alone in case the main task raised the exception
+	}
+	else
+	{
+		ret += (MainTaskStackWords * 4) - sizeof(NonVolatileMemory);		// use the top area instead
+	}
+	return ret;
+}
+
 // Application entry point
 [[noreturn]] void AppMain() noexcept
 {
diff --git a/src/Platform/Tasks.h b/src/Platform/Tasks.h
index aff42e38..f3f8b878 100644
--- a/src/Platform/Tasks.h
+++ b/src/Platform/Tasks.h
@@ -21,6 +21,7 @@ namespace Tasks
 	const char* GetHeapTop() noexcept;
 	Mutex *GetI2CMutex() noexcept;
 	Mutex *GetFilamentsMutex() noexcept;
+	void *GetNVMBuffer(const uint32_t *stk) noexcept;
 }
 
 #if SUPPORT_CAN_EXPANSION
diff --git a/src/Tools/Tool.cpp b/src/Tools/Tool.cpp
index 6806207a..8e92c31f 100644
--- a/src/Tools/Tool.cpp
+++ b/src/Tools/Tool.cpp
@@ -718,7 +718,7 @@ void Tool::SetSpindleRpm(uint32_t rpm) THROWS(GCodeException)
 	}
 }
 
-void Tool::IterateExtruders(stdext::inplace_function<void(unsigned int)> f) const noexcept
+void Tool::IterateExtruders(function_ref<void(unsigned int)> f) const noexcept
 {
 	for (size_t i = 0; i < driveCount; ++i)
 	{
@@ -726,7 +726,7 @@ void Tool::IterateExtruders(stdext::inplace_function<void(unsigned int)> f) cons
 	}
 }
 
-void Tool::IterateHeaters(stdext::inplace_function<void(int)> f) const noexcept
+void Tool::IterateHeaters(function_ref<void(int)> f) const noexcept
 {
 	for (size_t i = 0; i < heaterCount; ++i)
 	{
diff --git a/src/Tools/Tool.h b/src/Tools/Tool.h
index 6c8f01a0..a12356ef 100644
--- a/src/Tools/Tool.h
+++ b/src/Tools/Tool.h
@@ -31,7 +31,7 @@ Licence: GPL
 #include <ObjectModel/ObjectModel.h>
 #include <General/FreelistManager.h>
 #include <General/NamedEnum.h>
-#include <General/inplace_function.h>
+#include <General/function_ref.h>
 
 constexpr size_t ToolNameLength = 32;						// maximum allowed length for tool names
 
@@ -110,8 +110,8 @@ public:
 
 	bool HasTemperatureFault() const noexcept { return heaterFault; }
 
-	void IterateExtruders(stdext::inplace_function<void(unsigned int)> f) const noexcept;
-	void IterateHeaters(stdext::inplace_function<void(int)> f) const noexcept;
+	void IterateExtruders(function_ref<void(unsigned int)> f) const noexcept;
+	void IterateHeaters(function_ref<void(int)> f) const noexcept;
 	bool UsesHeater(int8_t heater) const noexcept;
 
 	void SetFansPwm(float f) const noexcept;
diff --git a/src/Version.h b/src/Version.h
index 0cd87871..bf4d0eee 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -9,7 +9,7 @@
 #define SRC_VERSION_H_
 
 #ifndef VERSION
-# define MAIN_VERSION	"3.3RC2+1"
+# define MAIN_VERSION	"3.3RC3"
 # ifdef USE_CAN0
 #  define VERSION_SUFFIX	" (CAN0)"
 # else