Partially implemented M954

19 files changed, 179 insertions, 101 deletions

diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp
index 08bb748e..6fda53b9 100644
--- a/src/CAN/CanInterface.cpp
+++ b/src/CAN/CanInterface.cpp
@@ -61,7 +61,16 @@ static uint32_t lastTimeSent = 0;
 static uint32_t longestWaitTime = 0;
 static uint16_t longestWaitMessageType = 0;
 
-static bool inEutMode = false;
+static CanAddress myAddress =
+#ifdef DUET3ATE
+						CanId::ATEMasterAddress;
+#else
+						CanId::MasterAddress;
+#endif
+
+#if SUPPORT_REMOTE_COMMANDS
+static bool inExpansionMode = false;
+#endif
 
 //#define CAN_DEBUG
 
@@ -194,7 +203,7 @@ static void configure_mcan() noexcept
 
 	// Set up a filter to receive all request messages addressed to us in FIFO 0
 	mcan_get_extended_message_filter_element_default(&et_filter);
-	et_filter.F0.bit.EFID1 = (CanId::MasterAddress << CanId::DstAddressShift);
+	et_filter.F0.bit.EFID1 = (CanInterface::GetCanAddress() << CanId::DstAddressShift);
 	et_filter.F0.bit.EFEC = MCAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F0_EFEC_STF0M_Val;		// RxFifoIndexRequest
 	et_filter.F1.bit.EFID2 = (CanId::BoardAddressMask << CanId::DstAddressShift) | CanId::ResponseBit;
 	et_filter.F1.bit.EFT = 2;
@@ -210,12 +219,22 @@ static void configure_mcan() noexcept
 
 	// Set up a filter to receive response messages in FIFO 1
 	mcan_get_extended_message_filter_element_default(&et_filter);
-	et_filter.F0.bit.EFID1 = (CanId::MasterAddress << CanId::DstAddressShift) | CanId::ResponseBit;
+	et_filter.F0.bit.EFID1 = (CanInterface::GetCanAddress() << CanId::DstAddressShift) | CanId::ResponseBit;
 	et_filter.F0.bit.EFEC = MCAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F0_EFEC_STF1M_Val;		// RxFifoIndexResponse
 	et_filter.F1.bit.EFID2 = (CanId::BoardAddressMask << CanId::DstAddressShift) | CanId::ResponseBit;
 	et_filter.F1.bit.EFT = 2;
 	mcan_set_rx_extended_filter(&mcan_instance, &et_filter, 2);
 
+# ifdef DUET3_ATE
+	// Also respond to requests addressed to board 0 so we can update firmware on ATE boards
+	mcan_get_extended_message_filter_element_default(&et_filter);
+	et_filter.F0.bit.EFID1 = (CanId::MasterAddress << CanId::DstAddressShift);
+	et_filter.F0.bit.EFEC = MCAN_EXTENDED_MESSAGE_FILTER_ELEMENT_F0_EFEC_STF0M_Val;		// RxFifoIndexRequest
+	et_filter.F1.bit.EFID2 = (CanId::BoardAddressMask << CanId::DstAddressShift) | CanId::ResponseBit;
+	et_filter.F1.bit.EFT = 2;
+	mcan_set_rx_extended_filter(&mcan_instance, &et_filter, 3);
+# endif
+
 	mcan_enable_interrupt(&mcan_instance, (mcan_interrupt_source)(MCAN_FORMAT_ERROR | MCAN_ACKNOWLEDGE_ERROR | MCAN_BUS_OFF
 																		| MCAN_RX_FIFO_0_NEW_MESSAGE | MCAN_RX_FIFO_1_NEW_MESSAGE
 																		| MCAN_RX_FIFO_0_LOST_MESSAGE | MCAN_RX_FIFO_1_MESSAGE_LOST));
@@ -314,6 +333,50 @@ extern "C" [[noreturn]] void CanSenderLoop(void *) noexcept;
 extern "C" [[noreturn]] void CanClockLoop(void *) noexcept;
 extern "C" [[noreturn]] void CanReceiverLoop(void *) noexcept;
 
+#if SAME5x
+
+static void InitReceiveFilters() noexcept
+{
+	// Set up a filter to receive all request messages addressed to us in FIFO 0
+	can0dev->SetExtendedFilterElement(0, CanDevice::RxBufferNumber::fifo0,
+										CanInterface::GetCanAddress() << CanId::DstAddressShift,
+										(CanId::BoardAddressMask << CanId::DstAddressShift) | CanId::ResponseBit);
+
+	// Set up a filter to receive all broadcast messages also in FIFO 0
+	can0dev->SetExtendedFilterElement(1, CanDevice::RxBufferNumber::fifo0,
+										CanId::BroadcastAddress << CanId::DstAddressShift,
+										CanId::BoardAddressMask << CanId::DstAddressShift);
+
+	// Set up a filter to receive response messages in FIFO 1
+	can0dev->SetExtendedFilterElement(2, RxBufferIndexResponse,
+										(CanInterface::GetCanAddress() << CanId::DstAddressShift) | CanId::ResponseBit,
+										(CanId::BoardAddressMask << CanId::DstAddressShift) | CanId::ResponseBit);
+# ifdef DUET3_ATE
+	// Also respond to requests addressed to board 0 so we can update firmware on ATE boards
+	can0dev->SetExtendedFilterElement(3, CanDevice::RxBufferNumber::fifo0,
+										CanId::MasterAddress << CanId::DstAddressShift,
+										(CanId::BoardAddressMask << CanId::DstAddressShift) | CanId::ResponseBit);
+# endif
+}
+
+#endif
+
+#if SUPPORT_REMOTE_COMMANDS
+
+static void ReInit() noexcept
+{
+#if SAME70
+	mcan_stop(&mcan_instance);
+	configure_mcan();					// this includes initialising the receive filters
+#else
+	can0dev->Disable();
+	InitReceiveFilters();
+	can0dev->Enable();
+#endif
+}
+
+#endif
+
 void CanInterface::Init() noexcept
 {
 	CanMessageBuffer::Init(NumCanBuffers);
@@ -340,27 +403,7 @@ void CanInterface::Init() noexcept
 	CanTiming timing;
 	timing.SetDefaults();
 	can0dev = CanDevice::Init(0, CanDeviceNumber, Can0Config, can0Memory, timing);
-
-	// Set up a filter to receive all request messages addressed to us in FIFO 0
-	can0dev->SetExtendedFilterElement(0, CanDevice::RxBufferNumber::fifo0,
-										MyAddress << CanId::DstAddressShift,
-										(CanId::BoardAddressMask << CanId::DstAddressShift) | CanId::ResponseBit);
-
-	// Set up a filter to receive all broadcast messages also in FIFO 0
-	can0dev->SetExtendedFilterElement(1, CanDevice::RxBufferNumber::fifo0,
-										CanId::BroadcastAddress << CanId::DstAddressShift,
-										CanId::BoardAddressMask << CanId::DstAddressShift);
-
-	// Set up a filter to receive response messages in FIFO 1
-	can0dev->SetExtendedFilterElement(2, RxBufferIndexResponse,
-										(MyAddress << CanId::DstAddressShift) | CanId::ResponseBit,
-										(CanId::BoardAddressMask << CanId::DstAddressShift) | CanId::ResponseBit);
-# ifdef DUET3_ATE
-	// Also respond to requests addressed to board 0 so we can update firmware on ATE boards
-	can0dev->SetExtendedFilterElement(3, CanDevice::RxBufferNumber::fifo0,
-										CanId::MasterAddress << CanId::DstAddressShift,
-										(CanId::BoardAddressMask << CanId::DstAddressShift) | CanId::ResponseBit);
-# endif
+	InitReceiveFilters();
 	can0dev->Enable();
 #else
 	mcan_init_once(&mcan_instance, MCAN_MODULE);
@@ -396,11 +439,30 @@ void CanInterface::Shutdown() noexcept
 #endif
 }
 
-bool CanInterface::InEutMode() noexcept
+CanAddress CanInterface::GetCanAddress() noexcept
+{
+	return myAddress;
+}
+
+#if SUPPORT_REMOTE_COMMANDS
+
+bool CanInterface::InExpansionMode() noexcept
+{
+	return inExpansionMode;
+}
+
+void CanInterface::SwitchToExpansionMode(CanAddress addr) noexcept
 {
-	return inEutMode;
+	TaskCriticalSectionLocker lock;
+
+	myAddress = addr;
+	inExpansionMode = true;
+	reprap.GetGCodes().SwitchToExpansionMode();
+	ReInit();										// reset the CAN filters to account for our new CAN address
 }
 
+#endif
+
 // Allocate a CAN request ID
 CanRequestId CanInterface::AllocateRequestId(CanAddress destination) noexcept
 {
@@ -497,7 +559,9 @@ extern "C" [[noreturn]] void CanClockLoop(void *) noexcept
 
 	for (;;)
 	{
-		if (!inEutMode)
+#if SUPPORT_REMOTE_COMMANDS
+		if (!inExpansionMode)
+#endif
 		{
 			CanMessageTimeSync * const msg = buf.SetupBroadcastMessage<CanMessageTimeSync>(CanInterface::GetCanAddress());
 #if USE_NEW_CAN_DRIVER
@@ -991,7 +1055,7 @@ GCodeResult CanInterface::RemoteDiagnostics(MessageType mt, uint32_t boardAddres
 	// It's a diagnostic test
 	CanMessageBuffer * const buf = AllocateBuffer(&gb);
 	const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
-	auto const msg = buf->SetupRequestMessage<CanMessageDiagnosticTest>(rid, MyAddress, (CanAddress)boardAddress);
+	auto const msg = buf->SetupRequestMessage<CanMessageDiagnosticTest>(rid, GetCanAddress(), (CanAddress)boardAddress);
 	msg->testType = type;
 	msg->invertedTestType = ~type;
 	if (type == (uint16_t)DiagnosticTestType::AccessMemory)
@@ -1038,7 +1102,7 @@ GCodeResult CanInterface::CreateHandle(CanAddress boardAddress, RemoteInputHandl
 	}
 
 	const CanRequestId rid = AllocateRequestId(boardAddress);
-	auto msg = buf->SetupRequestMessage<CanMessageCreateInputMonitor>(rid, MyAddress, boardAddress);
+	auto msg = buf->SetupRequestMessage<CanMessageCreateInputMonitor>(rid, GetCanAddress(), boardAddress);
 	msg->handle = h;
 	msg->threshold = threshold;
 	msg->minInterval = minInterval;
@@ -1113,7 +1177,7 @@ GCodeResult CanInterface::ReadRemoteHandles(CanAddress boardAddress, RemoteInput
 	}
 
 	const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
-	auto msg = buf->SetupRequestMessage<CanMessageReadInputsRequest>(rid, MyAddress, boardAddress);
+	auto msg = buf->SetupRequestMessage<CanMessageReadInputsRequest>(rid, GetCanAddress(), boardAddress);
 	msg->mask = mask;
 	msg->pattern = pattern;
 	const GCodeResult rslt = SendRequestAndGetCustomReply(buf, rid, reply, nullptr, CanMessageType::readInputsReply,
@@ -1150,7 +1214,7 @@ GCodeResult CanInterface::WriteGpio(CanAddress boardAddress, uint8_t portNumber,
 {
 	CanMessageBuffer * const buf = AllocateBuffer(&gb);
 	const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
-	auto msg = buf->SetupRequestMessage<CanMessageWriteGpio>(rid, MyAddress, boardAddress);
+	auto msg = buf->SetupRequestMessage<CanMessageWriteGpio>(rid, GetCanAddress(), boardAddress);
 	msg->portNumber = portNumber;
 	msg->pwm = pwm;
 	msg->isServo = isServo;
@@ -1222,7 +1286,7 @@ GCodeResult CanInterface::ChangeAddressAndNormalTiming(GCodeBuffer& gb, const St
 
 	CanMessageBufferHandle buf(AllocateBuffer(&gb));
 	const CanRequestId rid = CanInterface::AllocateRequestId((uint8_t)oldAddress);
-	auto msg = buf.Access()->SetupRequestMessage<CanMessageSetAddressAndNormalTiming>(rid, MyAddress, (uint8_t)oldAddress);
+	auto msg = buf.Access()->SetupRequestMessage<CanMessageSetAddressAndNormalTiming>(rid, GetCanAddress(), (uint8_t)oldAddress);
 	msg->oldAddress = (uint8_t)oldAddress;
 
 	if (gb.Seen('A'))
@@ -1255,7 +1319,7 @@ GCodeResult CanInterface::CreateFilamentMonitor(DriverId driver, uint8_t type, c
 	{
 		CanMessageBuffer* const buf = AllocateBuffer(&gb);
 		const CanRequestId rid = CanInterface::AllocateRequestId(driver.boardAddress);
-		auto msg = buf->SetupRequestMessage<CanMessageCreateFilamentMonitor>(rid, MyAddress, driver.boardAddress);
+		auto msg = buf->SetupRequestMessage<CanMessageCreateFilamentMonitor>(rid, GetCanAddress(), driver.boardAddress);
 		msg->driver = driver.localDriver;
 		msg->type = type;
 		return SendRequestAndGetStandardReply(buf, rid, reply);
@@ -1283,7 +1347,7 @@ GCodeResult CanInterface::DeleteFilamentMonitor(DriverId driver, GCodeBuffer* gb
 	{
 		CanMessageBuffer* const buf = AllocateBuffer(gb);
 		const CanRequestId rid = CanInterface::AllocateRequestId(driver.boardAddress);
-		auto msg = buf->SetupRequestMessage<CanMessageDeleteFilamentMonitor>(rid, MyAddress, driver.boardAddress);
+		auto msg = buf->SetupRequestMessage<CanMessageDeleteFilamentMonitor>(rid, GetCanAddress(), driver.boardAddress);
 		msg->driver = driver.localDriver;
 		return SendRequestAndGetStandardReply(buf, rid, reply);
 	}
@@ -1294,14 +1358,6 @@ GCodeResult CanInterface::DeleteFilamentMonitor(DriverId driver, GCodeBuffer* gb
 	}
 }
 
-// Enter test mode, called in response to a command from the ATE
-void CanInterface::EnterTestMode(uint32_t param) noexcept
-{
-#ifndef DUET3_ATE
-	inEutMode = true;
-#endif
-}
-
 #endif
 
 // End
diff --git a/src/CAN/CanInterface.h b/src/CAN/CanInterface.h
index 7a0c7ca9..a9148275 100644
--- a/src/CAN/CanInterface.h
+++ b/src/CAN/CanInterface.h
@@ -62,14 +62,18 @@ private:
 
 namespace CanInterface
 {
+	// Note: GetCanAddress() in this namespace is now declared in RepRapFirmware.h to overcome ordering issues
 	constexpr uint32_t CanResponseTimeout = 1000;
 
 	// Low level functions
 	void Init() noexcept;
 	void Shutdown() noexcept;
 
-	inline CanAddress GetCanAddress() noexcept { return MyAddress; }
-	bool InEutMode() noexcept;
+#if SUPPORT_REMOTE_COMMANDS
+	bool InExpansionMode() noexcept;
+	void SwitchToExpansionMode(CanAddress addr) noexcept;
+#endif
+
 	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, std::function<void(const CanMessageBuffer*) /*noexcept*/> callback) noexcept;
@@ -118,8 +122,6 @@ namespace CanInterface
 	GCodeResult WriteGpio(CanAddress boardAddress, uint8_t portNumber, float pwm, bool isServo, const GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
 	GCodeResult ChangeAddressAndNormalTiming(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
 	GCodeResult ChangeFastTiming(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
-
-	void EnterTestMode(uint32_t param) noexcept;
 }
 
 // Members of template class CanDriversData
diff --git a/src/CAN/CommandProcessor.cpp b/src/CAN/CommandProcessor.cpp
index 304beb57..c7d78700 100644
--- a/src/CAN/CommandProcessor.cpp
+++ b/src/CAN/CommandProcessor.cpp
@@ -39,15 +39,6 @@ constexpr size_t MaxFileChunkSize = 448;	// Maximum size of file chunks for read
 char sbcFirmwareChunk[MaxFileChunkSize];
 #endif
 
-// Enter test mode
-static void EnterTestMode(const CanMessageEnterTestMode& msg) noexcept
-{
-	if (msg.passwd == CanMessageEnterTestMode::Passwd)
-	{
-		CanInterface::EnterTestMode(msg.parameter);
-	}
-}
-
 // Handle a firmware update request
 static void HandleFirmwareBlockRequest(CanMessageBuffer *buf) noexcept
 pre(buf->id.MsgType() == CanMessageType::firmwareBlockRequest)
@@ -379,7 +370,7 @@ void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
 	{
 		const CanMessageType id = buf->id.MsgType();
 #if SUPPORT_REMOTE_COMMANDS
-		if (CanInterface::InEutMode())
+		if (CanInterface::InExpansionMode())
 		{
 			String<StringLength500> reply;
 			const StringRef& replyRef = reply.GetRef();
@@ -524,10 +515,14 @@ void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
 				FilamentMonitor::UpdateRemoteFilamentStatus(buf->id.Src(), buf->msg.filamentMonitorsStatus);
 				break;
 
+#if SUPPORT_REMOTE_COMMANDS
 			case CanMessageType::enterTestMode:
-				EnterTestMode(buf->msg.enterTestMode);
+				if (buf->msg.enterTestMode.passwd == CanMessageEnterTestMode::Passwd)
+				{
+					CanInterface::SwitchToExpansionMode(buf->msg.enterTestMode.address);
+				}
 				break;
-
+#endif
 			case CanMessageType::driversStatusReport:	// not handled yet
 			default:
 				if (reprap.Debug(moduleCan))
diff --git a/src/Endstops/EndstopsManager.cpp b/src/Endstops/EndstopsManager.cpp
index 4639f681..e8104eef 100644
--- a/src/Endstops/EndstopsManager.cpp
+++ b/src/Endstops/EndstopsManager.cpp
@@ -25,7 +25,7 @@
 #include <Heating/Sensors/TemperatureSensor.h>
 
 #if SUPPORT_CAN_EXPANSION
-# include "CanMessageBuffer.h"
+# include <CanMessageBuffer.h>
 #endif
 
 ReadWriteLock EndstopsManager::endstopsLock;
@@ -680,7 +680,7 @@ GCodeResult EndstopsManager::HandleM558(GCodeBuffer& gb, const StringRef &reply)
 				gb.Seen('C');
 				gb.GetReducedString(pinNames.GetRef());
 				const CanAddress boardAddress = IoPort::RemoveBoardAddress(pinNames.GetRef());
-				if (boardAddress != CanId::MasterAddress)
+				if (boardAddress != CanInterface::GetCanAddress())
 				{
 					RemoteZProbe *newRemoteProbe = new RemoteZProbe(probeNumber, boardAddress, (ZProbeType)probeType);
 					const GCodeResult rslt = newRemoteProbe->Create(pinNames.GetRef(), reply);
diff --git a/src/Endstops/SwitchEndstop.cpp b/src/Endstops/SwitchEndstop.cpp
index b3464d74..d1615a9a 100644
--- a/src/Endstops/SwitchEndstop.cpp
+++ b/src/Endstops/SwitchEndstop.cpp
@@ -38,7 +38,7 @@ void SwitchEndstop::ReleasePorts() noexcept
 		--numPortsUsed;
 #if SUPPORT_CAN_EXPANSION
 		const CanAddress bn = boardNumbers[numPortsUsed];
-		if (bn != CanId::MasterAddress)
+		if (bn != CanInterface::GetCanAddress())
 		{
 			RemoteInputHandle h(RemoteInputHandle::typeEndstop, GetAxis(), numPortsUsed);
 			String<StringLength100> reply;
@@ -81,7 +81,7 @@ GCodeResult SwitchEndstop::Configure(const char *pinNames, const StringRef& repl
 #if SUPPORT_CAN_EXPANSION
 		const CanAddress boardAddress = IoPort::RemoveBoardAddress(pn.GetRef());
 		boardNumbers[numPortsUsed] = boardAddress;
-		if (boardAddress != CanId::MasterAddress)
+		if (boardAddress != CanInterface::GetCanAddress())
 		{
 			RemoteInputHandle h(RemoteInputHandle::typeEndstop, GetAxis(), numPortsUsed);
 			const GCodeResult rslt = CanInterface::CreateHandle(boardAddress, h, pn.c_str(), 0, MinimumSwitchReportInterval, states[numPortsUsed], reply);
@@ -237,7 +237,7 @@ void SwitchEndstop::AppendDetails(const StringRef& str) noexcept
 	{
 		str.cat(' ');
 #if SUPPORT_CAN_EXPANSION
-		if (boardNumbers[i] != CanId::MasterAddress)
+		if (boardNumbers[i] != CanInterface::GetCanAddress())
 		{
 			RemoteInputHandle h(RemoteInputHandle::typeEndstop, GetAxis(), i);
 			String<StringLength100> reply;
diff --git a/src/Endstops/SwitchEndstop.h b/src/Endstops/SwitchEndstop.h
index a4f33da6..75117daf 100644
--- a/src/Endstops/SwitchEndstop.h
+++ b/src/Endstops/SwitchEndstop.h
@@ -9,7 +9,6 @@
 #define SRC_ENDSTOPS_SWITCHENDSTOP_H_
 
 #include "Endstop.h"
-
 #include "GCodes/GCodeResult.h"
 
 // Switch-type endstop, either on the main board or on a CAN-connected board
@@ -45,7 +44,7 @@ private:
 	inline bool IsTriggered(size_t index) const noexcept
 	{
 #if SUPPORT_CAN_EXPANSION
-		return (boardNumbers[index] == CanId::MasterAddress) ? ports[index].ReadDigital() : states[index];
+		return (boardNumbers[index] == CanInterface::GetCanAddress()) ? ports[index].ReadDigital() : states[index];
 #else
 		return ports[index].ReadDigital();
 #endif
diff --git a/src/Fans/FansManager.cpp b/src/Fans/FansManager.cpp
index cbadd375..dea10be7 100644
--- a/src/Fans/FansManager.cpp
+++ b/src/Fans/FansManager.cpp
@@ -110,7 +110,7 @@ GCodeResult FansManager::ConfigureFanPort(GCodeBuffer& gb, const StringRef& repl
 
 #if SUPPORT_CAN_EXPANSION
 		const CanAddress board = IoPort::RemoveBoardAddress(pinName.GetRef());
-		if (board != CanId::MasterAddress)
+		if (board != CanInterface::GetCanAddress())
 		{
 			auto *newFan = new RemoteFan(fanNum, board);
 			const GCodeResult rslt = newFan->ConfigurePort(pinName.c_str(), freq, reply);
diff --git a/src/Fans/RemoteFan.cpp b/src/Fans/RemoteFan.cpp
index c2d860cc..957cf649 100644
--- a/src/Fans/RemoteFan.cpp
+++ b/src/Fans/RemoteFan.cpp
@@ -85,7 +85,7 @@ bool RemoteFan::UpdateFanConfiguration(const StringRef& reply) noexcept
 	}
 
 	const CanRequestId rid = CanInterface::AllocateRequestId(boardNumber);
-	auto msg = buf->SetupRequestMessage<CanMessageFanParameters>(rid, CanId::MasterAddress, boardNumber);
+	auto msg = buf->SetupRequestMessage<CanMessageFanParameters>(rid, CanInterface::GetCanAddress(), boardNumber);
 	msg->fanNumber = fanNumber;
 	msg->blipTime = blipTime;
 	msg->val = val;
@@ -109,7 +109,7 @@ GCodeResult RemoteFan::Refresh(const StringRef& reply) noexcept
 	}
 
 	const CanRequestId rid = CanInterface::AllocateRequestId(boardNumber);
-	auto msg = buf->SetupRequestMessage<CanMessageSetFanSpeed>(rid, CanId::MasterAddress, boardNumber);
+	auto msg = buf->SetupRequestMessage<CanMessageSetFanSpeed>(rid, CanInterface::GetCanAddress(), boardNumber);
 	msg->fanNumber = fanNumber;
 	msg->pwm = val;
 	return CanInterface::SendRequestAndGetStandardReply(buf, rid, reply);
diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h
index 421de8a0..180c06a7 100644
--- a/src/GCodes/GCodes.h
+++ b/src/GCodes/GCodes.h
@@ -253,6 +253,10 @@ public:
 # endif
 #endif
 
+#if SUPPORT_REMOTE_COMMANDS
+	void SwitchToExpansionMode() noexcept;
+#endif
+
 	static constexpr const char *AllowedAxisLetters = "XYZUVWABCD";
 
 	// Standard macro filenames
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index 38f1be29..74686748 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -1544,7 +1544,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeEx
 				if (gb.Seen('B'))
 				{
 					const uint32_t board = gb.GetUIValue();
-					if (board != CanId::MasterAddress)
+					if (board != CanInterface::GetCanAddress())
 					{
 						result = CanInterface::GetRemoteFirmwareDetails(board, gb, reply);
 						break;
@@ -1767,8 +1767,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeEx
 				const unsigned int type = (gb.Seen('P')) ? gb.GetIValue() : 0;
 				const MessageType mt = (MessageType)(gb.GetResponseMessageType() | PushFlag);	// set the Push flag to combine multiple messages into a single OutputBuffer chain
 #if SUPPORT_CAN_EXPANSION
-				const uint32_t board = (gb.Seen('B')) ? gb.GetUIValue() : 0;
-				if (board != CanId::MasterAddress)
+				const uint32_t board = (gb.Seen('B')) ? gb.GetUIValue() : CanInterface::GetCanAddress();
+				if (board != CanInterface::GetCanAddress())
 				{
 					result = CanInterface::RemoteDiagnostics(mt, board, type, gb, reply);
 					break;
@@ -4392,6 +4392,15 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeEx
 			break;
 #endif
 
+#if SUPPORT_REMOTE_COMMANDS
+		case 954:	// configure as expansion board
+			{
+				CanAddress addr = gb.GetLimitedUIValue('A', 1, CanId::MaxCanAddress + 1);
+				CanInterface::SwitchToExpansionMode(addr);
+			}
+			break;
+#endif
+
 		case 997:	// Perform firmware update
 			result = UpdateFirmware(gb, reply);
 			break;
@@ -4414,7 +4423,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeEx
 			if (gb.Seen('B'))
 			{
 				const uint32_t address = gb.GetUIValue();
-				if (address != CanId::MasterAddress)
+				if (address != CanInterface::GetCanAddress())
 				{
 					result = reprap.GetExpansion().ResetRemote(address, gb, reply);
 					break;
diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp
index c5ae6fa3..34e8c758 100644
--- a/src/GCodes/GCodes3.cpp
+++ b/src/GCodes/GCodes3.cpp
@@ -740,6 +740,24 @@ GCodeResult GCodes::DoDriveMapping(GCodeBuffer& gb, const StringRef& reply) THRO
 	return GCodeResult::ok;
 }
 
+#if SUPPORT_REMOTE_COMMANDS
+
+// Switch the board into expansion mode. We map all drivers to individual axes.
+void GCodes::SwitchToExpansionMode() noexcept
+{
+	numExtruders = 0;
+	numVisibleAxes = numTotalAxes = NumDirectDrivers;
+	memcpy(axisLetters, AllowedAxisLetters, sizeof(axisLetters));
+	for (size_t axis = 0; axis < NumDirectDrivers; ++axis)
+	{
+		DriverId driver;
+		driver.SetLocal(axis);
+		platform.SetAxisDriversConfig(axis, 1, &driver);
+	}
+}
+
+#endif
+
 // Handle G38.[2-5]
 GCodeResult GCodes::StraightProbe(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
 {
@@ -1067,7 +1085,7 @@ GCodeResult GCodes::UpdateFirmware(GCodeBuffer& gb, const StringRef &reply)
 	if (gb.Seen('B'))
 	{
 		const uint32_t boardNumber = gb.GetUIValue();
-		if (boardNumber != CanId::MasterAddress)
+		if (boardNumber != CanInterface::GetCanAddress())
 		{
 			return reprap.GetExpansion().UpdateRemoteFirmware(boardNumber, gb, reply);
 		}
@@ -1264,7 +1282,7 @@ GCodeResult GCodes::ConfigureDriver(GCodeBuffer& gb, const StringRef& reply) THR
 	gb.MustSee('P');
 	const DriverId id = gb.GetDriverId();
 #if SUPPORT_CAN_EXPANSION
-	if (id.boardAddress != CanId::MasterAddress)
+	if (id.boardAddress != CanInterface::GetCanAddress())
 	{
 		return CanInterface::ConfigureRemoteDriver(id, gb, reply);
 	}
diff --git a/src/GPIO/GpInPort.cpp b/src/GPIO/GpInPort.cpp
index cd2b28b7..e71c1d82 100644
--- a/src/GPIO/GpInPort.cpp
+++ b/src/GPIO/GpInPort.cpp
@@ -42,7 +42,7 @@ bool GpInputPort::GetState() const noexcept
 {
 	// Temporary implementation until we use interrupts to track input pin state changes
 #if SUPPORT_CAN_EXPANSION
-	if (boardAddress != CanId::MasterAddress)
+	if (boardAddress != CanInterface::GetCanAddress())
 	{
 		return currentState;
 	}
@@ -55,7 +55,7 @@ bool GpInputPort::IsUnused() const noexcept
 {
 	return
 #if SUPPORT_CAN_EXPANSION
-		boardAddress == CanId::MasterAddress &&
+		boardAddress == CanInterface::GetCanAddress() &&
 #endif
 		!port.IsValid();
 }
@@ -69,7 +69,7 @@ GCodeResult GpInputPort::Configure(uint32_t gpinNumber, GCodeBuffer &gb, const S
 
 		// Remove any existing assignment
 #if SUPPORT_CAN_EXPANSION
-		if (boardAddress != CanId::MasterAddress)
+		if (boardAddress != CanInterface::GetCanAddress())
 		{
 			const GCodeResult rslt = CanInterface::DeleteHandle(boardAddress, handle, reply);
 			if (rslt != GCodeResult::ok)
@@ -79,7 +79,7 @@ GCodeResult GpInputPort::Configure(uint32_t gpinNumber, GCodeBuffer &gb, const S
 				reprap.GetPlatform().Message(mtype, reply.c_str());
 				reply.Clear();
 			}
-			boardAddress = CanId::MasterAddress;
+			boardAddress = CanInterface::GetCanAddress();
 		}
 #endif
 		port.Release();
@@ -89,7 +89,7 @@ GCodeResult GpInputPort::Configure(uint32_t gpinNumber, GCodeBuffer &gb, const S
 
 #if SUPPORT_CAN_EXPANSION
 		const CanAddress newBoard = IoPort::RemoveBoardAddress(pinName.GetRef());
-		if (newBoard != CanId::MasterAddress)
+		if (newBoard != CanInterface::GetCanAddress())
 		{
 			handle.Set(RemoteInputHandle::typeGpIn, gpinNumber, 0);
 			rslt = CanInterface::CreateHandle(newBoard, handle, pinName.c_str(), 0, MinimumGpinReportInterval, currentState, reply);
@@ -123,7 +123,7 @@ GCodeResult GpInputPort::Configure(uint32_t gpinNumber, GCodeBuffer &gb, const S
 	{
 		// Report the pin details
 #if SUPPORT_CAN_EXPANSION
-		if (boardAddress != CanId::MasterAddress)
+		if (boardAddress != CanInterface::GetCanAddress())
 		{
 			const GCodeResult rslt = CanInterface::GetHandlePinName(boardAddress, handle, currentState, reply);
 			if (rslt != GCodeResult::ok)
diff --git a/src/GPIO/GpInPort.h b/src/GPIO/GpInPort.h
index 7159ff36..f1e04b65 100644
--- a/src/GPIO/GpInPort.h
+++ b/src/GPIO/GpInPort.h
@@ -22,7 +22,7 @@ class GpInputPort INHERIT_OBJECT_MODEL
 public:
 	GpInputPort() noexcept :
 #if SUPPORT_CAN_EXPANSION
-		boardAddress (CanId::MasterAddress),
+		boardAddress(CanInterface::GetCanAddress()),
 #endif
 		currentState(false) { }
 	GpInputPort(const GpInputPort&) = delete;
diff --git a/src/GPIO/GpOutPort.h b/src/GPIO/GpOutPort.h
index 83d844e5..b1b19145 100644
--- a/src/GPIO/GpOutPort.h
+++ b/src/GPIO/GpOutPort.h
@@ -21,7 +21,7 @@ public:
 	GpOutputPort() noexcept
 		: lastPwm(0.0)
 #if SUPPORT_CAN_EXPANSION
-		, boardAddress(CanId::MasterAddress)
+		, boardAddress(CanInterface::GetCanAddress())
 #endif
 	{ }
 
diff --git a/src/Hardware/IoPorts.cpp b/src/Hardware/IoPorts.cpp
index 4453ab6e..56546258 100644
--- a/src/Hardware/IoPorts.cpp
+++ b/src/Hardware/IoPorts.cpp
@@ -546,7 +546,7 @@ uint16_t IoPort::ReadAnalog() const noexcept
 		portName.Erase(prefix, numToSkip - prefix + 1);			// remove the board address prefix
 		return (CanAddress)boardAddress;
 	}
-	return CanInterface::MyAddress;
+	return CanInterface::GetCanAddress();
 #else
 	if (numToSkip != prefix && portName[numToSkip] == '.')
 	{
diff --git a/src/Heating/Heat.cpp b/src/Heating/Heat.cpp
index 9723a5af..6e1ac761 100644
--- a/src/Heating/Heat.cpp
+++ b/src/Heating/Heat.cpp
@@ -499,7 +499,7 @@ GCodeResult Heat::ConfigureHeater(GCodeBuffer& gb, const StringRef& reply)
 		const PwmFrequency freq = (gb.Seen('Q')) ? min<PwmFrequency>(gb.GetPwmFrequency(), MaxHeaterPwmFrequency) : DefaultHeaterPwmFreq;
 
 #if SUPPORT_CAN_EXPANSION
-		Heater * const newHeater = (board != CanId::MasterAddress) ? (Heater *)new RemoteHeater(heater, board) : new LocalHeater(heater);
+		Heater * const newHeater = (board != CanInterface::GetCanAddress()) ? (Heater *)new RemoteHeater(heater, board) : new LocalHeater(heater);
 #else
 		Heater * const newHeater = new LocalHeater(heater);
 #endif
@@ -960,7 +960,7 @@ GCodeResult Heat::ConfigureSensor(GCodeBuffer& gb, const StringRef& reply) THROW
 #if SUPPORT_CAN_EXPANSION
 		if (boardAddress == CanId::NoAddress)
 		{
-			boardAddress = CanId::MasterAddress;		// no port name was given, so default to master
+			boardAddress = CanInterface::GetCanAddress();		// no port name was given, so default to local
 		}
 		TemperatureSensor * const newSensor = TemperatureSensor::Create(sensorNum, boardAddress, typeName.c_str(), reply);
 #else
diff --git a/src/Heating/RemoteHeater.cpp b/src/Heating/RemoteHeater.cpp
index 317d7b7a..4012e387 100644
--- a/src/Heating/RemoteHeater.cpp
+++ b/src/Heating/RemoteHeater.cpp
@@ -77,7 +77,7 @@ void RemoteHeater::SwitchOff() noexcept
 	else
 	{
 		const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
-		auto msg = buf->SetupRequestMessage<CanMessageSetHeaterTemperature>(rid, CanId::MasterAddress, boardAddress);
+		auto msg = buf->SetupRequestMessage<CanMessageSetHeaterTemperature>(rid, CanInterface::GetCanAddress(), boardAddress);
 		msg->heaterNumber = GetHeaterNumber();
 		msg->setPoint = GetTargetTemperature();
 		msg->command = CanMessageSetHeaterTemperature::commandOff;
@@ -99,7 +99,7 @@ GCodeResult RemoteHeater::ResetFault(const StringRef& reply) noexcept
 	}
 
 	const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
-	auto msg = buf->SetupRequestMessage<CanMessageSetHeaterTemperature>(rid, CanId::MasterAddress, boardAddress);
+	auto msg = buf->SetupRequestMessage<CanMessageSetHeaterTemperature>(rid, CanInterface::GetCanAddress(), boardAddress);
 	msg->heaterNumber = GetHeaterNumber();
 	msg->setPoint = GetTargetTemperature();
 	msg->command = CanMessageSetHeaterTemperature::commandResetFault;
@@ -150,7 +150,7 @@ void RemoteHeater::Suspend(bool sus) noexcept
 	if (buf != nullptr)
 	{
 		const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
-		auto msg = buf->SetupRequestMessage<CanMessageSetHeaterTemperature>(rid, CanId::MasterAddress, boardAddress);
+		auto msg = buf->SetupRequestMessage<CanMessageSetHeaterTemperature>(rid, CanInterface::GetCanAddress(), boardAddress);
 		msg->heaterNumber = GetHeaterNumber();
 		msg->setPoint = GetTargetTemperature();
 		msg->command = (sus) ? CanMessageSetHeaterTemperature::commandSuspend : CanMessageSetHeaterTemperature::commandUnsuspend;
@@ -175,7 +175,7 @@ GCodeResult RemoteHeater::SwitchOn(const StringRef& reply) noexcept
 	}
 
 	const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
-	auto msg = buf->SetupRequestMessage<CanMessageSetHeaterTemperature>(rid, CanId::MasterAddress, boardAddress);
+	auto msg = buf->SetupRequestMessage<CanMessageSetHeaterTemperature>(rid, CanInterface::GetCanAddress(), boardAddress);
 	msg->heaterNumber = GetHeaterNumber();
 	msg->setPoint = GetTargetTemperature();
 	msg->command = CanMessageSetHeaterTemperature::commandOn;
diff --git a/src/Platform.cpp b/src/Platform.cpp
index e3b80cc2..e4fe9d09 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************************************
 
- RepRapFirmware - Platform: RepRapPro Ormerod with Duet controller
+ RepRapFirmware
 
  Platform contains all the code and definitions to deal with machine-dependent things such as control
  pins, bed area, number of extruders, tolerable accelerations and speeds and so on.
diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h
index d1236f78..a6f12699 100644
--- a/src/RepRapFirmware.h
+++ b/src/RepRapFirmware.h
@@ -124,15 +124,10 @@ static_assert(NumNamedPins <= 255 || sizeof(LogicalPin) > 1, "Need 16-bit logica
 #if SUPPORT_CAN_EXPANSION
 # include <CanId.h>
 
-// We have to declare CanInterface::MyAddress here because CanInterface.h needs to include this file for the declaration of DriverId
+// We have to declare CanInterface::GetCanAddress here because CanInterface.h needs to include this file for the declaration of DriverId
 namespace CanInterface
 {
-constexpr CanAddress MyAddress =
-# ifdef DUET3ATE
-							CanId::ATEMasterAddress;
- #else
-							CanId::MasterAddress;
-# endif
+	CanAddress GetCanAddress() noexcept;
 }
 
 #endif
@@ -167,7 +162,7 @@ struct DriverId
 
 	CanAddress boardAddress;
 
-	DriverId() noexcept : localDriver(0), boardAddress(CanInterface::MyAddress)  { }
+	DriverId() noexcept : localDriver(0), boardAddress(CanInterface::GetCanAddress())  { }
 
 	// Constructor used by ATE configurations
 	DriverId(CanAddress addr, uint8_t drv) noexcept : localDriver(drv), boardAddress(addr) { }
@@ -182,11 +177,11 @@ struct DriverId
 	void SetLocal(unsigned int driver) noexcept
 	{
 		localDriver = (uint8_t)driver;
-		boardAddress = CanId::MasterAddress;
+		boardAddress = CanInterface::GetCanAddress();
 	}
 
-	bool IsLocal() const noexcept { return boardAddress == CanInterface::MyAddress; }
-	bool IsRemote() const noexcept { return boardAddress != CanInterface::MyAddress; }
+	bool IsLocal() const noexcept { return boardAddress == CanInterface::GetCanAddress(); }
+	bool IsRemote() const noexcept { return boardAddress != CanInterface::GetCanAddress(); }
 
 	bool operator<(const DriverId other) const noexcept
 	{