Still 3.01-RC3 provisional

Got remote BLTouch working
Bug fix: when endstops were already triggered, homing moved could hang
Bug fix: external SD card didn't work on Duet Maestro

21 files changed, 212 insertions, 175 deletions

diff --git a/.cproject b/.cproject
index 63fbd901..400ba717 100644
--- a/.cproject
+++ b/.cproject
@@ -876,7 +876,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/preprocessor}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/thirdparty/CMSIS/Include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/variants/same70}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet/Lwip}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet/Lwip/src/include}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.c.compiler.option.preprocessor.def.symbols.1444560974" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" useByScannerDiscovery="false" valueType="definedSymbols">
@@ -895,7 +895,7 @@
 								<option id="gnu.cpp.link.option.nostdlibs.1223355552" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.1386648874" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RRFLibraries/SAME70_RTOS_Debug}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreNG/SAME70_RTOS_Debug}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreNG/SAME70}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/FreeRTOS/SAME70_Debug}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CANlib/SAME70_RTOS_Debug}&quot;"/>
 								</option>
@@ -939,7 +939,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/variants/same70}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet/Lwip}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet/Lwip/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/DuetWiFiSocketServer/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/FreeRTOS/src/include}&quot;"/>
@@ -961,7 +961,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="src/Duet3_V05|src/Duet3_V03|src/Networking/ESP8266WiFi|src/SAME70xpld|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Duet|src/Networking/LwipEthernet/Lwip/src/apps/httpd|/src/Networking/LwipEthernet/Lwip/test|src/DuetNG|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/W5500Ethernet|src/Alligator|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Display|src/Pccb|/src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/DuetM|src/RADDS|src/Networking/LwipEthernet/Lwip/doc" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="src/Networking/LwipEthernet/Lwip/src/apps/altcp_tls|src/Networking/LwipEthernet/Lwip/src/apps/http|src/Networking/LwipEthernet/Lwip/src/apps/smtp|src/Duet3_V05|src/Duet3_V03|src/Networking/ESP8266WiFi|src/SAME70xpld|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Duet|src/Networking/LwipEthernet/Lwip/src/apps/httpd|/src/Networking/LwipEthernet/Lwip/test|src/DuetNG|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/W5500Ethernet|src/Alligator|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Display|src/Pccb|/src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/DuetM|src/RADDS|src/Networking/LwipEthernet/Lwip/doc" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1057,7 +1057,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/preprocessor}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/thirdparty/CMSIS/Include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/variants/same70}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet/Lwip}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet/Lwip/src/include}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.c.compiler.option.preprocessor.def.symbols.1332495733" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" useByScannerDiscovery="false" valueType="definedSymbols">
@@ -1124,7 +1124,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/variants/same70}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet/Lwip}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet/Lwip/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/DuetWiFiSocketServer/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/FreeRTOS/src/include}&quot;"/>
@@ -1146,7 +1146,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="src/Duet3_V05|src/Duet3_V03|src/Networking/ESP8266WiFi|src/SAME70xpld|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Duet|src/Networking/LwipEthernet/Lwip/src/apps/httpd|/src/Networking/LwipEthernet/Lwip/test|src/DuetNG|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/W5500Ethernet|src/Alligator|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Display|src/Pccb|/src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/DuetM|src/RADDS|src/Networking/LwipEthernet/Lwip/doc" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="src/Networking/LwipEthernet/Lwip/src/apps/smtp|src/Networking/LwipEthernet/Lwip/src/apps/http|src/Networking/LwipEthernet/Lwip/src/apps/altcp_tls|src/Duet3_V05|src/Duet3_V03|src/Networking/ESP8266WiFi|src/SAME70xpld|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Duet|src/Networking/LwipEthernet/Lwip/src/apps/httpd|/src/Networking/LwipEthernet/Lwip/test|src/DuetNG|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/W5500Ethernet|src/Alligator|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Display|src/Pccb|/src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/DuetM|src/RADDS|src/Networking/LwipEthernet/Lwip/doc" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp
index 5a0a1e7b..4a600b13 100644
--- a/src/CAN/CanInterface.cpp
+++ b/src/CAN/CanInterface.cpp
@@ -983,6 +983,12 @@ GCodeResult CanInterface::CreateHandle(CanAddress boardAddress, RemoteInputHandl
 
 static GCodeResult ChangeInputMonitor(CanAddress boardAddress, RemoteInputHandle h, uint8_t action, bool* currentState, const StringRef &reply) noexcept
 {
+	if (!h.IsValid())
+	{
+		reply.copy("Invalid remote handle");
+		return GCodeResult::error;
+	}
+
 	CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
 	if (buf == nullptr)
 	{
@@ -1013,9 +1019,9 @@ GCodeResult CanInterface::GetHandlePinName(CanAddress boardAddress, RemoteInputH
 	return ChangeInputMonitor(boardAddress, h, CanMessageChangeInputMonitor::actionReturnPinName, &currentState, reply);
 }
 
-GCodeResult CanInterface::EnableHandle(CanAddress boardAddress, RemoteInputHandle h, bool &currentState, const StringRef &reply) noexcept
+GCodeResult CanInterface::EnableHandle(CanAddress boardAddress, RemoteInputHandle h, bool enable, bool &currentState, const StringRef &reply) noexcept
 {
-	return ChangeInputMonitor(boardAddress, h, CanMessageChangeInputMonitor::actionDoMonitor, &currentState, reply);
+	return ChangeInputMonitor(boardAddress, h, (enable) ? CanMessageChangeInputMonitor::actionDoMonitor : CanMessageChangeInputMonitor::actionDontMonitor, &currentState, reply);
 }
 
 void CanInterface::Diagnostics(MessageType mtype) noexcept
diff --git a/src/CAN/CanInterface.h b/src/CAN/CanInterface.h
index 7780b8b2..d26af255 100644
--- a/src/CAN/CanInterface.h
+++ b/src/CAN/CanInterface.h
@@ -97,7 +97,7 @@ namespace CanInterface
 	GCodeResult CreateHandle(CanAddress boardAddress, RemoteInputHandle h, const char *pinName, uint16_t threshold, uint16_t minInterval, bool& currentState, const StringRef& reply) noexcept;
 	GCodeResult DeleteHandle(CanAddress boardAddress, RemoteInputHandle h, const StringRef& reply) noexcept;
 	GCodeResult GetHandlePinName(CanAddress boardAddress, RemoteInputHandle h, bool& currentState, const StringRef& reply) noexcept;
-	GCodeResult EnableHandle(CanAddress boardAddress, RemoteInputHandle h, bool& currentState, const StringRef& reply) noexcept;
+	GCodeResult EnableHandle(CanAddress boardAddress, RemoteInputHandle h, bool enable, bool& currentState, const StringRef& reply) noexcept;
 
 	// Misc functions
 	GCodeResult WriteGpio(CanAddress boardAddress, uint8_t portNumber, float pwm, bool isServo, const GCodeBuffer& gb, const StringRef& reply) THROWS_GCODE_EXCEPTION;
diff --git a/src/CAN/CommandProcessor.cpp b/src/CAN/CommandProcessor.cpp
index c3e37f99..93bd9221 100644
--- a/src/CAN/CommandProcessor.cpp
+++ b/src/CAN/CommandProcessor.cpp
@@ -248,7 +248,12 @@ static void HandleInputStateChanged(const CanMessageInputChanged& msg, CanAddres
 		switch (handle.u.parts.type)
 		{
 		case RemoteInputHandle::typeEndstop:
-			reprap.GetPlatform().GetEndstops().HandleRemoteInputChange(src, handle.u.parts.major, handle.u.parts.minor, state);
+			reprap.GetPlatform().GetEndstops().HandleRemoteEndstopChange(src, handle.u.parts.major, handle.u.parts.minor, state);
+			endstopStatesChanged = true;
+			break;
+
+		case RemoteInputHandle::typeZprobe:
+			reprap.GetPlatform().GetEndstops().HandleRemoteZProbeChange(src, handle.u.parts.major, handle.u.parts.minor, state);
 			endstopStatesChanged = true;
 			break;
 
@@ -263,7 +268,7 @@ static void HandleInputStateChanged(const CanMessageInputChanged& msg, CanAddres
 
 	if (endstopStatesChanged)
 	{
-		reprap.GetPlatform().GetEndstops().OnEndstopStatesChanged();
+		reprap.GetPlatform().GetEndstops().OnEndstopOrZProbeStatesChanged();
 	}
 }
 
diff --git a/src/DuetM/Pins_DuetM.h b/src/DuetM/Pins_DuetM.h
index 9ce4f5d1..60c1d58a 100644
--- a/src/DuetM/Pins_DuetM.h
+++ b/src/DuetM/Pins_DuetM.h
@@ -157,7 +157,7 @@ constexpr Pin DiagPin = Z_PROBE_MOD_PIN;
 constexpr size_t NumSdCards = 2;
 constexpr Pin SdCardDetectPins[NumSdCards] = { PortCPin(8), NoPin };
 constexpr Pin SdWriteProtectPins[NumSdCards] = { NoPin, NoPin };
-constexpr Pin SdSpiCSPins[1] = { PortCPin(2) };
+constexpr Pin SdSpiCSPins[1] = { PortBPin(13) };
 constexpr uint32_t ExpectedSdCardSpeed = 15000000;
 
 // 12864 LCD
diff --git a/src/Endstops/EndstopsManager.cpp b/src/Endstops/EndstopsManager.cpp
index 9953da8b..d23fa5b3 100644
--- a/src/Endstops/EndstopsManager.cpp
+++ b/src/Endstops/EndstopsManager.cpp
@@ -728,8 +728,7 @@ size_t EndstopsManager::GetNumProbesToReport() const noexcept
 #if SUPPORT_CAN_EXPANSION
 
 // Handle signalling of a remote switch change, when the handle indicates that it is being used as an endstop.
-// We must re-use or free the buffer.
-void EndstopsManager::HandleRemoteInputChange(CanAddress src, uint8_t handleMajor, uint8_t handleMinor, bool state) noexcept
+void EndstopsManager::HandleRemoteEndstopChange(CanAddress src, uint8_t handleMajor, uint8_t handleMinor, bool state) noexcept
 {
 	if (handleMajor < ARRAY_SIZE(axisEndstops))
 	{
@@ -741,9 +740,22 @@ void EndstopsManager::HandleRemoteInputChange(CanAddress src, uint8_t handleMajo
 	}
 }
 
+// Handle signalling of a remote switch change, when the handle indicates that it is being used as a Z probe.
+void EndstopsManager::HandleRemoteZProbeChange(CanAddress src, uint8_t handleMajor, uint8_t handleMinor, bool state) noexcept
+{
+	if (handleMajor < ARRAY_SIZE(zProbes))
+	{
+		ZProbe * const zp = zProbes[handleMajor];
+		if (zp != nullptr)
+		{
+			zp->HandleRemoteInputChange(src, handleMinor, state);
+		}
+	}
+}
+
 // This is called when we update endstop states because of a message from a remote board.
 // In time we may use it to help implement interrupt-driven local endstops too, but for now those are checked in the step ISR by a direct call to DDA::CheckEndstops().
-void EndstopsManager::OnEndstopStatesChanged() noexcept
+void EndstopsManager::OnEndstopOrZProbeStatesChanged() noexcept
 {
 	const uint32_t oldPrio = ChangeBasePriority(NvicPriorityStep);		// shut out the step interrupt
 
@@ -758,7 +770,7 @@ void EndstopsManager::OnEndstopStatesChanged() noexcept
 		}
 	}
 
-	RestoreBasePriority(oldPrio);								// allow step interrupts again
+	RestoreBasePriority(oldPrio);										// allow step interrupts again
 }
 
 #endif
diff --git a/src/Endstops/EndstopsManager.h b/src/Endstops/EndstopsManager.h
index bbd453bc..b85a3042 100644
--- a/src/Endstops/EndstopsManager.h
+++ b/src/Endstops/EndstopsManager.h
@@ -68,9 +68,9 @@ public:
 	GCodeResult ProgramZProbe(GCodeBuffer& gb, const StringRef& reply) THROWS_GCODE_EXCEPTION;
 
 #if SUPPORT_CAN_EXPANSION
-	void HandleRemoteInputChange(CanAddress src, uint8_t handleMajor, uint8_t handleMinor, bool state) noexcept;
-
-	void OnEndstopStatesChanged() noexcept;
+	void HandleRemoteEndstopChange(CanAddress src, uint8_t handleMajor, uint8_t handleMinor, bool state) noexcept;
+	void HandleRemoteZProbeChange(CanAddress src, uint8_t handleMajor, uint8_t handleMinor, bool state) noexcept;
+	void OnEndstopOrZProbeStatesChanged() noexcept;
 #endif
 
 #if HAS_MASS_STORAGE
diff --git a/src/Endstops/LocalZProbe.cpp b/src/Endstops/LocalZProbe.cpp
index d4239d5b..7f027000 100644
--- a/src/Endstops/LocalZProbe.cpp
+++ b/src/Endstops/LocalZProbe.cpp
@@ -104,7 +104,7 @@ uint16_t LocalZProbe::GetRawReading() const noexcept
 	}
 }
 
-void LocalZProbe::SetProbing(bool isProbing) const noexcept
+void LocalZProbe::SetProbing(bool isProbing) noexcept
 {
 	// For Z probe types other than 1/2/3 and bltouch we set the modulation pin high at the start of a probing move and low at the end
 	// Don't do this for bltouch because on the Maestro, the MOD pin is normally used as the servo control output
@@ -114,7 +114,7 @@ void LocalZProbe::SetProbing(bool isProbing) const noexcept
 	}
 }
 
-GCodeResult LocalZProbe::AppendPinNames(const StringRef& str) const noexcept
+GCodeResult LocalZProbe::AppendPinNames(const StringRef& str) noexcept
 {
 	if (type != ZProbeType::zMotorStall && type != ZProbeType::none)
 	{
diff --git a/src/Endstops/LocalZProbe.h b/src/Endstops/LocalZProbe.h
index 89a5bb85..190bea1a 100644
--- a/src/Endstops/LocalZProbe.h
+++ b/src/Endstops/LocalZProbe.h
@@ -21,8 +21,8 @@ public:
 	~LocalZProbe() noexcept override;
 	void SetIREmitter(bool on) const noexcept override;
 	uint16_t GetRawReading() const noexcept override;
-	void SetProbing(bool isProbing) const noexcept override;
-	GCodeResult AppendPinNames(const StringRef& str) const noexcept override;
+	void SetProbing(bool isProbing) noexcept override;
+	GCodeResult AppendPinNames(const StringRef& str) noexcept override;
 	GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) THROWS_GCODE_EXCEPTION override;
 	GCodeResult SendProgram(const uint32_t zProbeProgram[], size_t len, const StringRef& reply) noexcept override;
 
diff --git a/src/Endstops/RemoteZProbe.cpp b/src/Endstops/RemoteZProbe.cpp
index 864347d5..541e1464 100644
--- a/src/Endstops/RemoteZProbe.cpp
+++ b/src/Endstops/RemoteZProbe.cpp
@@ -14,127 +14,105 @@
 #include <CAN/CanMessageGenericConstructor.h>
 #include <RepRap.h>
 #include <Platform.h>
+#include <GCodes/GCodeBuffer/GCodeBuffer.h>
 
 // Members of class RemoteZProbe
 RemoteZProbe::~RemoteZProbe()
 {
-	CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
-	if (buf != nullptr)
+	String<StringLength100> reply;
+	const GCodeResult rslt = CanInterface::DeleteHandle(boardAddress, handle, reply.GetRef());
+	if (rslt != GCodeResult::ok)
 	{
-		const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
-		auto msg = buf->SetupRequestMessage<CanMessageDestroyZProbe>(rid, CanId::MasterAddress, boardAddress);
-		msg->number = number;
-		String<StringLength100> reply;
-		if (CanInterface::SendRequestAndGetStandardReply(buf, rid, reply.GetRef()) != GCodeResult::ok)
-		{
-			reply.cat('\n');
-			reprap.GetPlatform().Message(ErrorMessage, reply.c_str());
-		}
+		reply.cat('\n');
+		reprap.GetPlatform().Message(GetGenericMessageType(rslt), reply.c_str());
 	}
 }
 
-GCodeResult RemoteZProbe::AppendPinNames(const StringRef& str) const noexcept
+GCodeResult RemoteZProbe::AppendPinNames(const StringRef& str) noexcept
 {
-	CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
-	if (buf == nullptr)
-	{
-		str.cat("[not available: no CAN buffer]");
-		return GCodeResult::warning;
-	}
-
-	const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
-	auto msg = buf->SetupRequestMessage<CanMessageGetZProbePinNames>(rid, CanId::MasterAddress, boardAddress);
-	msg->number = number;
-	String<StringLength20> pinNames;
-	const GCodeResult rslt = CanInterface::SendRequestAndGetStandardReply(buf, rid, pinNames.GetRef());
+	String<StringLength100> reply;
+	const GCodeResult rslt = CanInterface::GetHandlePinName(boardAddress, handle, state, reply.GetRef());
 	if (rslt == GCodeResult::ok)
 	{
-		str.cat(pinNames.c_str());
+		str.cat(", input pin ");
+		str.cat(reply.c_str());
 	}
 	else
 	{
-		str.catf("[not available: %s]", pinNames.c_str());
+		str.copy(reply.c_str());
 	}
 	return rslt;
 }
 
-void RemoteZProbe::SetProbing(bool isProbing) const noexcept
+uint16_t RemoteZProbe::GetRawReading() const noexcept
 {
-	CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
-	if (buf == nullptr)
-	{
-		reprap.GetPlatform().Message(ErrorMessage, "No CAN buffer\n");
-	}
-	else
+	return (state) ? 1000 : 0;
+}
+
+void RemoteZProbe::SetProbing(bool isProbing) noexcept
+{
+	String<StringLength100> reply;
+	const GCodeResult rslt = CanInterface::EnableHandle(boardAddress, handle, isProbing, state, reply.GetRef());
+	if (rslt != GCodeResult::ok)
 	{
-		const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
-		auto msg = buf->SetupRequestMessage<CanMessageSetProbing>(rid, CanId::MasterAddress, boardAddress);
-		msg->number = number;
-		msg->isProbing = (isProbing) ? 1 : 0;
-		String<StringLength100> reply;
-		if (CanInterface::SendRequestAndGetStandardReply(buf, rid, reply.GetRef()) != GCodeResult::ok)
-		{
-			reply.cat('\n');
-			reprap.GetPlatform().Message(ErrorMessage, reply.c_str());
-		}
+		reply.cat('\n');
+		reprap.GetPlatform().Message(GetGenericMessageType(rslt), reply.c_str());
 	}
 }
 
 // Create a remote Z probe
 GCodeResult RemoteZProbe::Create(const StringRef& pinNames, const StringRef& reply) noexcept
 {
-	CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
-	if (buf == nullptr)
+	if (type != ZProbeType::unfilteredDigital && type != ZProbeType::blTouch)
 	{
-		reply.copy("No CAN buffer");
+		reply.copy("M558: only Z probe types 8 and 9 are supported on expansion boards");
 		return GCodeResult::error;
 	}
 
-	const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
-	auto msg = buf->SetupRequestMessage<CanMessageCreateZProbe>(rid, CanId::MasterAddress, boardAddress);
-	msg->probeNumber = number;
-	msg->probeType = (uint8_t)type;
-	SafeStrncpy(msg->pinNames, pinNames.c_str(), ARRAY_SIZE(msg->pinNames));
-	buf->dataLength = msg->GetActualDataLength();
+	if (strchr(pinNames.c_str(), '+') != nullptr)
+	{
+		reply.copy("M558: output port not supported on expansion boards");
+		return GCodeResult::error;
+	}
 
-	return CanInterface::SendRequestAndGetStandardReply(buf, rid, reply);
+	handle.Set(RemoteInputHandle::typeZprobe, number, 0);
+	return CanInterface::CreateHandle(boardAddress, handle, pinNames.c_str(), 0, MinimumProbeReportInterval, state, reply);
 }
 
 // Configure an existing remote Z probe
 GCodeResult RemoteZProbe::Configure(GCodeBuffer& gb, const StringRef &reply, bool& seen)
 {
-	GCodeResult rslt = ZProbe::Configure(gb, reply, seen);
-	if (seen && rslt == GCodeResult::ok)
+	if (gb.Seen('P'))
 	{
-		CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
-		if (buf == nullptr)
+		seen = true;
+		const uint32_t newType = gb.GetUIValue();
+		if (newType != (uint32_t)ZProbeType::unfilteredDigital && newType != (uint32_t)ZProbeType::blTouch)
 		{
-			reply.copy("No CAN buffer");
-			rslt = GCodeResult::error;
-		}
-		else
-		{
-			const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
-			auto msg = buf->SetupRequestMessage<CanMessageConfigureZProbe>(rid, CanId::MasterAddress, boardAddress);
-
-			msg->number = number;
-			msg->type = (uint8_t)type;
-			msg->adcValue = adcValue;
-			msg->invertReading_obsolete = false;
-
-			rslt = CanInterface::SendRequestAndGetStandardReply(buf, rid, reply);
+			reply.copy("M558: only Z probe types 8 and 9 are supported on expansion boards");
+			return GCodeResult::error;
 		}
+		type = (ZProbeType)newType;
 	}
-	return rslt;
+
+	// No other configuration items affect remote probes differently from others, so just call the base class function
+	return ZProbe::Configure(gb, reply, seen);
 }
 
 GCodeResult RemoteZProbe::SendProgram(const uint32_t zProbeProgram[], size_t len, const StringRef& reply) noexcept
 {
 	//TODO
-	reply.copy("Programming remote Z probes not yet supported");
+	reply.copy("Programming remote Z probes not supported");
 	return GCodeResult::error;
 }
 
+void RemoteZProbe::HandleRemoteInputChange(CanAddress src, uint8_t handleMinor, bool newState) noexcept
+{
+	if (src == boardAddress)
+	{
+		state = newState;
+	}
+}
+
 #endif
 
 // End
diff --git a/src/Endstops/RemoteZProbe.h b/src/Endstops/RemoteZProbe.h
index d35c68cd..2bb4bb36 100644
--- a/src/Endstops/RemoteZProbe.h
+++ b/src/Endstops/RemoteZProbe.h
@@ -12,25 +12,32 @@
 
 #if SUPPORT_CAN_EXPANSION
 
+#include <RemoteInputHandle.h>
+
 class RemoteZProbe final : public ZProbe
 {
 public:
 	void* operator new(size_t sz) noexcept { return FreelistManager::Allocate<RemoteZProbe>(); }
 	void operator delete(void* p) noexcept { FreelistManager::Release<RemoteZProbe>(p); }
 
-	RemoteZProbe(unsigned int num, CanAddress bn, ZProbeType p_type) noexcept : ZProbe(num, p_type), boardAddress(bn) { }
+	RemoteZProbe(unsigned int num, CanAddress bn, ZProbeType p_type) noexcept : ZProbe(num, p_type), boardAddress(bn), state(false) { }
 	~RemoteZProbe() noexcept override;
 	void SetIREmitter(bool on) const noexcept override { }
-	uint16_t GetRawReading() const noexcept override { return 0; }
-	void SetProbing(bool isProbing) const noexcept override;
-	GCodeResult AppendPinNames(const StringRef& str) const noexcept override;
+	uint16_t GetRawReading() const noexcept override;
+	void SetProbing(bool isProbing) noexcept override;
+	GCodeResult AppendPinNames(const StringRef& str) noexcept override;
 	GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) THROWS_GCODE_EXCEPTION override;
 	GCodeResult SendProgram(const uint32_t zProbeProgram[], size_t len, const StringRef& reply) noexcept override;
+	void HandleRemoteInputChange(CanAddress src, uint8_t handleMinor, bool newState) noexcept override;
 
 	GCodeResult Create(const StringRef& pinNames, const StringRef& reply) noexcept;
 
 private:
 	CanAddress boardAddress;
+	RemoteInputHandle handle;
+	bool state;
+
+	static constexpr uint16_t MinimumProbeReportInterval = 5;
 };
 
 #endif
diff --git a/src/Endstops/SwitchEndstop.cpp b/src/Endstops/SwitchEndstop.cpp
index fa4a903a..43f58b6d 100644
--- a/src/Endstops/SwitchEndstop.cpp
+++ b/src/Endstops/SwitchEndstop.cpp
@@ -145,7 +145,7 @@ bool SwitchEndstop::Prime(const Kinematics& kin, const AxisDriversConfig& axisDr
 		{
 			RemoteInputHandle h(RemoteInputHandle::typeEndstop, GetAxis(), i);
 			String<StringLength100> reply;
-			if (CanInterface::EnableHandle(boardNumbers[i], h, states[i], reply.GetRef()) != GCodeResult::ok)
+			if (CanInterface::EnableHandle(boardNumbers[i], h, true, states[i], reply.GetRef()) != GCodeResult::ok)
 			{
 				reply.cat('\n');
 				reprap.GetPlatform().Message(ErrorMessage, reply.c_str());
diff --git a/src/Endstops/ZProbe.h b/src/Endstops/ZProbe.h
index bbc129bc..9d43476e 100644
--- a/src/Endstops/ZProbe.h
+++ b/src/Endstops/ZProbe.h
@@ -18,11 +18,16 @@ public:
 
 	virtual void SetIREmitter(bool on) const noexcept = 0;			// Caution, this is called from within the tick ISR
 	virtual uint16_t GetRawReading() const noexcept = 0;
-	virtual void SetProbing(bool isProbing) const noexcept = 0;
-	virtual GCodeResult AppendPinNames(const StringRef& str) const noexcept = 0;
+	virtual void SetProbing(bool isProbing) noexcept = 0;
+	virtual GCodeResult AppendPinNames(const StringRef& str) noexcept = 0;		// not const because it may update the state too
 	virtual GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply, bool& seen) THROWS_GCODE_EXCEPTION;		// 'seen' is an in-out parameter
 	virtual GCodeResult SendProgram(const uint32_t zProbeProgram[], size_t len, const StringRef& reply) noexcept;
 
+#if SUPPORT_CAN_EXPANSION
+	// Process a remote input change that relates to this Z probe
+	virtual void HandleRemoteInputChange(CanAddress src, uint8_t handleMinor, bool newState) noexcept { }
+#endif
+
 	EndStopHit Stopped() const noexcept override;
 	EndstopHitDetails CheckTriggered(bool goingSlow) noexcept override;
 	bool Acknowledge(EndstopHitDetails what) noexcept override;
@@ -101,8 +106,8 @@ public:
 	~MotorStallZProbe() noexcept override { }
 	void SetIREmitter(bool on) const noexcept override { }
 	uint16_t GetRawReading() const noexcept override { return 4000; }
-	void SetProbing(bool isProbing) const noexcept override { }
-	GCodeResult AppendPinNames(const StringRef& str) const noexcept override { return GCodeResult::ok; }
+	void SetProbing(bool isProbing) noexcept override { }
+	GCodeResult AppendPinNames(const StringRef& str) noexcept override { return GCodeResult::ok; }
 
 private:
 };
@@ -118,8 +123,8 @@ public:
 	~DummyZProbe() noexcept override { }
 	void SetIREmitter(bool on) const noexcept override { }
 	uint16_t GetRawReading() const noexcept override { return 4000; }
-	void SetProbing(bool isProbing) const noexcept override { }
-	GCodeResult AppendPinNames(const StringRef& str) const noexcept override { return GCodeResult::ok; }
+	void SetProbing(bool isProbing) noexcept override { }
+	GCodeResult AppendPinNames(const StringRef& str) noexcept override { return GCodeResult::ok; }
 
 private:
 };
diff --git a/src/GCodes/GCodeResult.h b/src/GCodes/GCodeResult.h
index f67b9dea..b0b3afd5 100644
--- a/src/GCodes/GCodeResult.h
+++ b/src/GCodes/GCodeResult.h
@@ -9,6 +9,7 @@
 #define SRC_GCODES_GCODERESULT_H_
 
 #include <cctype>
+#include <MessageType.h>
 
 // Enumeration to specify the result of attempting to process a GCode command
 enum class GCodeResult : uint8_t
@@ -36,4 +37,10 @@ inline GCodeResult GetGCodeResultFromFinished(bool finished) noexcept
 	return (finished) ? GCodeResult::ok : GCodeResult::notFinished;
 }
 
+// Convert an error or warning result into a suitable generic message type. Should only be called with GCodeResult::warning or GCodeResult::error.
+inline MessageType GetGenericMessageType(GCodeResult rslt)
+{
+	return (rslt == GCodeResult::warning) ? WarningMessage : ErrorMessage;
+}
+
 #endif /* SRC_GCODES_GCODERESULT_H_ */
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 5b723d75..cce22ee9 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -490,7 +490,12 @@ void GCodes::StartNextGCode(GCodeBuffer& gb, const StringRef& reply) noexcept
 	else if (&gb == daemonGCode)
 	{
 		// Delay 1 second, then try to open and run daemon.g. No error if it is not found.
-		if (!reprap.IsProcessingConfig() && gb.DoDwellTime(1000))
+		if (   !reprap.IsProcessingConfig()
+#if HAS_LINUX_INTERFACE
+			&& !reprap.UsingLinuxInterface()		// DSF gets confused by the daemon, so disable it for now
+#endif
+			&& gb.DoDwellTime(1000)
+		   )
 		{
 			DoFileMacro(gb, DAEMON_G, false, -1);
 		}
@@ -1670,9 +1675,12 @@ bool GCodes::CheckEnoughAxesHomed(AxesBitmap axesMoved) noexcept
 	return (reprap.GetMove().GetKinematics().MustBeHomedAxes(axesMoved, noMovesBeforeHoming) & ~axesHomed).IsNonEmpty();
 }
 
-// Execute a straight move returning an error message if the command was rejected, else nullptr
+// Execute a straight move
+// If not ready, return false
+// If we can't execute the move, return true with 'err' set to the error message
+// Else return true with 'err' left alone (it is set to nullptr on entry)
 // We have already acquired the movement lock and waited for the previous move to be taken.
-const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
+bool GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated, const char *& err)
 {
 	if (moveFractionToSkip > 0.0)
 	{
@@ -1701,6 +1709,10 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 		const int ival = gb.GetIValue();
 		if (ival >= 1 && ival <= 3)
 		{
+			if (!LockMovementAndWaitForStandstill(gb))
+			{
+				return false;
+			}
 			moveBuffer.moveType = ival;
 			moveBuffer.tool = nullptr;
 		}
@@ -1721,7 +1733,8 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 		}
 		else
 		{
-			return "G0/G1: bad restore point number";
+			err = "G0/G1: bad restore point number";
+			return true;
 		}
 	}
 
@@ -1791,7 +1804,8 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 			// If it is a special move on a delta, movement must be relative.
 			if (moveBuffer.moveType != 0 && !gb.MachineState().axesRelative && reprap.GetMove().GetKinematics().GetKinematicsType() == KinematicsType::linearDelta)
 			{
-				return "G0/G1: attempt to move individual motors of a delta machine to absolute positions";
+				err = "G0/G1: attempt to move individual motors of a delta machine to absolute positions";
+				return true;
 			}
 
 			axesMentioned.SetBit(axis);
@@ -1840,23 +1854,19 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 	case 0:
 		if (!doingManualBedProbe && CheckEnoughAxesHomed(axesMentioned))
 		{
-			return "G0/G1: insufficient axes homed";
-		}
-		break;
-
-	case 1:
-		if (!platform.GetEndstops().EnableAxisEndstops(axesMentioned & AxesBitmap::MakeLowestNBits(numTotalAxes), true))
-		{
-			return "Failed to enable endstops";
+			err = "G0/G1: insufficient axes homed";
+			return true;
 		}
-		moveBuffer.checkEndstops = true;
 		break;
 
 	case 3:
 		axesToSenseLength = axesMentioned & AxesBitmap::MakeLowestNBits(numTotalAxes);
-		if (!platform.GetEndstops().EnableAxisEndstops(axesMentioned & AxesBitmap::MakeLowestNBits(numTotalAxes), false))
+		// no break
+	case 1:
+		if (!platform.GetEndstops().EnableAxisEndstops(axesMentioned & AxesBitmap::MakeLowestNBits(numTotalAxes), moveBuffer.moveType == 1))
 		{
-			return "Failed to enable endstops";
+			err = "Failed to enable endstops";
+			return true;
 		}
 		moveBuffer.checkEndstops = true;
 		break;
@@ -1895,47 +1905,46 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 			effectiveAxesHomed.ClearBit(Z_AXIS);								// if doing a manual Z probe, don't limit the Z movement
 		}
 
-		if (moveBuffer.moveType == 0)
+		const LimitPositionResult lp = reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, moveBuffer.initialCoords, numVisibleAxes, effectiveAxesHomed, moveBuffer.isCoordinated, limitAxes);
+		switch (lp)
 		{
-			const LimitPositionResult lp = reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, moveBuffer.initialCoords, numVisibleAxes, effectiveAxesHomed, moveBuffer.isCoordinated, limitAxes);
-			switch (lp)
+		case LimitPositionResult::adjusted:
+		case LimitPositionResult::adjustedAndIntermediateUnreachable:
+			if (machineType != MachineType::fff)
 			{
-			case LimitPositionResult::adjusted:
-			case LimitPositionResult::adjustedAndIntermediateUnreachable:
-				if (machineType != MachineType::fff)
-				{
-					return "G0/G1: target position outside machine limits";		// it's a laser or CNC so this is a definite error
-				}
-				ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);	// make sure the limits are reflected in the user position
-				if (lp == LimitPositionResult::adjusted)
-				{
-					break;														// we can reach the intermediate positions, so nothing more to do
-				}
-				// no break
+				err = "G0/G1: target position outside machine limits";		// it's a laser or CNC so this is a definite error
+				return true;
+			}
+			ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);	// make sure the limits are reflected in the user position
+			if (lp == LimitPositionResult::adjusted)
+			{
+				break;														// we can reach the intermediate positions, so nothing more to do
+			}
+			// no break
 
-			case LimitPositionResult::intermediateUnreachable:
-				if (   moveBuffer.isCoordinated
-					&& (   (machineType == MachineType::fff && !moveBuffer.hasExtrusion)
+		case LimitPositionResult::intermediateUnreachable:
+			if (   moveBuffer.isCoordinated
+				&& (   (machineType == MachineType::fff && !moveBuffer.hasExtrusion)
 #if SUPPORT_LASER || SUPPORT_IOBITS
-						|| (machineType == MachineType::laser && moveBuffer.laserPwmOrIoBits.laserPwm == 0)
+					|| (machineType == MachineType::laser && moveBuffer.laserPwmOrIoBits.laserPwm == 0)
 #endif
-					   )
 				   )
+			   )
+			{
+				// It's a coordinated travel move on a 3D printer or laser cutter, so see whether an uncoordinated move will work
+				const LimitPositionResult lp2 = reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, moveBuffer.initialCoords, numVisibleAxes, effectiveAxesHomed, false, limitAxes);
+				if (lp2 == LimitPositionResult::ok)
 				{
-					// It's a coordinated travel move on a 3D printer or laser cutter, so see whether an uncoordinated move will work
-					const LimitPositionResult lp2 = reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, moveBuffer.initialCoords, numVisibleAxes, effectiveAxesHomed, false, limitAxes);
-					if (lp2 == LimitPositionResult::ok)
-					{
-						moveBuffer.isCoordinated = false;						// change it to an uncoordinated move
-						break;
-					}
+					moveBuffer.isCoordinated = false;						// change it to an uncoordinated move
+					break;
 				}
-				return "G0/G1: target position not reachable from current position";		// we can't bring the move within limits, so this is a definite error
-
-			case LimitPositionResult::ok:
-			default:
-				break;
 			}
+			err = "G0/G1: target position not reachable from current position";		// we can't bring the move within limits, so this is a definite error
+			return true;
+
+		case LimitPositionResult::ok:
+		default:
+			break;
 		}
 
 		// If we are emulating Marlin for nanoDLP then we need to set a special end state
@@ -1978,7 +1987,8 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 	doingArcMove = false;
 	FinaliseMove(gb);
 	UnlockAll(gb);			// allow pause
-	return nullptr;
+	err = nullptr;
+	return true;
 }
 
 // Execute an arc move, returning true if it was badly-formed
diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h
index 71016e80..b4d25824 100644
--- a/src/GCodes/GCodes.h
+++ b/src/GCodes/GCodes.h
@@ -307,7 +307,7 @@ private:
 
 	void HandleReply(GCodeBuffer& gb, OutputBuffer *reply) noexcept;
 
-	const char* DoStraightMove(GCodeBuffer& gb, bool isCoordinated) __attribute__((hot));	// Execute a straight move returning any error message
+	bool DoStraightMove(GCodeBuffer& gb, bool isCoordinated, const char *& err) __attribute__((hot));	// Execute a straight move
 	const char* DoArcMove(GCodeBuffer& gb, bool clockwise)							// Execute an arc move returning any error message
 		pre(segmentsLeft == 0; resourceOwners[MoveResource] == &gb);
 	void FinaliseMove(GCodeBuffer& gb) noexcept;									// Adjust the move parameters to account for segmentation and/or part of the move having been done already
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index cb79b9be..3c67ac06 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -133,7 +133,11 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeEx
 			return false;
 		}
 		{
-			const char* err = DoStraightMove(gb, code == 1);
+			const char* err = nullptr;
+			if (!DoStraightMove(gb, code == 1, err))
+			{
+				return false;
+			}
 			if (err != nullptr)
 			{
 				AbortPrint(gb);
diff --git a/src/Movement/DDARing.cpp b/src/Movement/DDARing.cpp
index 292a4526..425c2c74 100644
--- a/src/Movement/DDARing.cpp
+++ b/src/Movement/DDARing.cpp
@@ -208,15 +208,15 @@ void DDARing::Spin(uint8_t simulationMode, bool shouldStartMove) noexcept
 			if (dda->GetState() == DDA::provisional)
 			{
 				PrepareMoves(dda, 0, 0, simulationMode);
-				while (dda->GetState() == DDA::completed)
-				{
-					// We prepared the move but found there was nothing to do because endstops are already triggered
-					getPointer = dda = dda->GetNext();
-					completedMoves++;
-				}
 			}
 
-			if (dda->GetState() == DDA::frozen)
+			if (dda->GetState() == DDA::completed)
+			{
+				// We prepared the move but found there was nothing to do because endstops are already triggered
+				getPointer = dda = dda->GetNext();
+				completedMoves++;
+			}
+			else if (dda->GetState() == DDA::frozen)
 			{
 				if (simulationMode != 0)
 				{
@@ -764,8 +764,11 @@ bool DDARing::LowPowerOrStallPause(RestorePoint& rp) noexcept
 
 void DDARing::Diagnostics(MessageType mtype, const char *prefix) noexcept
 {
-	reprap.GetPlatform().MessageF(mtype, "=== %sDDARing ===\nScheduled moves: %" PRIu32 ", completed moves: %" PRIu32 ", StepErrors: %u, LaErrors: %u, Underruns: %u, %u\n",
-		prefix, scheduledMoves, completedMoves, stepErrors, numLookaheadErrors, numLookaheadUnderruns, numPrepareUnderruns);
+	const DDA * const cdda = currentDda;
+	reprap.GetPlatform().MessageF(mtype,
+									"=== %sDDARing ===\nScheduled moves: %" PRIu32 ", completed moves: %" PRIu32 ", StepErrors: %u, LaErrors: %u, Underruns: %u, %u  CDDA state: %d\n",
+									prefix, scheduledMoves, completedMoves, stepErrors, numLookaheadErrors, numLookaheadUnderruns, numPrepareUnderruns,
+									(cdda == nullptr) ? -1 : (int)cdda->GetState());
 	stepErrors = numLookaheadUnderruns = numPrepareUnderruns = numLookaheadErrors = 0;
 }
 
diff --git a/src/Networking/LwipEthernet/LwipEthernetInterface.cpp b/src/Networking/LwipEthernet/LwipEthernetInterface.cpp
index 819560ca..662d46a7 100644
--- a/src/Networking/LwipEthernet/LwipEthernetInterface.cpp
+++ b/src/Networking/LwipEthernet/LwipEthernetInterface.cpp
@@ -390,7 +390,7 @@ void LwipEthernetInterface::Spin() noexcept
 			{
 				// IP address is all zeros, so use DHCP
 				state = NetworkState::obtainingIP;
-//					debugPrintf("Link established, getting IP address\n");
+//				debugPrintf("Link established, getting IP address\n");
 				IPAddress nullAddress;
 				ethernet_set_configuration(nullAddress, nullAddress, nullAddress);
 				dhcp_start(&gs_net_if);
@@ -399,7 +399,7 @@ void LwipEthernetInterface::Spin() noexcept
 			{
 				// Using static IP address
 				state = NetworkState::connected;
-//					debugPrintf("Link established, network running\n");
+//				debugPrintf("Link established, network running\n");
 				ethernet_set_configuration(platform.GetIPAddress(), platform.NetMask(), platform.GateWay());
 			}
 		}
@@ -417,12 +417,12 @@ void LwipEthernetInterface::Spin() noexcept
 			{
 				// Notify the mDNS responder about this
 				state = NetworkState::connected;
-//						debugPrintf("IP address obtained, network running\n");
+//				debugPrintf("IP address obtained, network running\n");
 			}
 		}
 		else
 		{
-//					debugPrintf("Lost phy link\n");
+//			debugPrintf("Lost phy link\n");
 			TerminateSockets();
 			state = NetworkState::establishingLink;
 		}
@@ -461,7 +461,7 @@ void LwipEthernetInterface::Spin() noexcept
 		}
 		else
 		{
-//				debugPrintf("Lost phy link\n");
+//			debugPrintf("Lost phy link\n");
 			TerminateSockets();
 			state = NetworkState::establishingLink;
 		}
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index 95df79e4..55b685ae 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -914,7 +914,7 @@ ReadLockedPointer<Tool> RepRap::GetTool(int toolNumber) const noexcept
 {
 	ReadLocker lock(toolListLock);
 	Tool* tool = toolList;
-	while(tool != nullptr)
+	while (tool != nullptr)
 	{
 		if (tool->Number() == toolNumber)
 		{
diff --git a/src/Version.h b/src/Version.h
index 6a4d88d6..c92fec4c 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -19,7 +19,7 @@
 #endif
 
 #ifndef DATE
-# define DATE "2020-02-27b1"
+# define DATE "2020-02-29b3"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"