Support remote M408 and M122 P1 for ATE

Also fixed typo in M557 error messages, and faster CRC calculation on SAME70

8 files changed, 68 insertions, 70 deletions

diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp
index 16c52035..f3670200 100644
--- a/src/CAN/CanInterface.cpp
+++ b/src/CAN/CanInterface.cpp
@@ -798,7 +798,7 @@ GCodeResult CanInterface::SetRemoteDriverStallParameters(const CanDriversList& d
 	return GCodeResult::ok;
 }
 
-static GCodeResult GetRemoteInfo(uint8_t infoType, uint32_t boardAddress, GCodeBuffer& gb, const StringRef& reply, uint8_t *extra = nullptr)
+static GCodeResult GetRemoteInfo(uint8_t infoType, uint32_t boardAddress, uint8_t param, GCodeBuffer& gb, const StringRef& reply, uint8_t *extra = nullptr)
 {
 	if (boardAddress > CanId::MaxNormalAddress)
 	{
@@ -816,27 +816,26 @@ static GCodeResult GetRemoteInfo(uint8_t infoType, uint32_t boardAddress, GCodeB
 	const CanRequestId rid = CanInterface::AllocateRequestId(boardAddress);
 	auto msg = buf->SetupRequestMessage<CanMessageReturnInfo>(rid, CanId::MasterAddress, (CanAddress)boardAddress);
 	msg->type = infoType;
+	msg->param = param;
 	return CanInterface::SendRequestAndGetStandardReply(buf, rid, reply, extra);
 }
 
 // Get diagnostics from an expansion board
-GCodeResult CanInterface::RemoteDiagnostics(MessageType mt, uint32_t boardAddress, GCodeBuffer& gb, const StringRef& reply)
+GCodeResult CanInterface::RemoteDiagnostics(MessageType mt, uint32_t boardAddress, unsigned int type, GCodeBuffer& gb, const StringRef& reply)
 {
 	Platform& p = reprap.GetPlatform();
 
-	// Older expansion board firmware provides parts 0,1,2
-	// Newer expansion board firmware always provides at least part0, and the 'extra' field says what the last part number is
 	uint8_t currentPart = 0;
 	uint8_t lastPart;
 	GCodeResult res;
 	do
 	{
-		res = GetRemoteInfo(CanMessageReturnInfo::typeDiagnosticsPart0 + currentPart, boardAddress, gb, reply, &lastPart);
+		res = GetRemoteInfo(CanMessageReturnInfo::typeDiagnosticsPart0 + currentPart, boardAddress, type, gb, reply, &lastPart);
 		if (res != GCodeResult::ok)
 		{
 			return res;
 		}
-		if (currentPart == 0)
+		if (type == 0 && currentPart == 0)
 		{
 			p.MessageF(mt, "Diagnostics for board %u:\n", (unsigned int)boardAddress);
 		}
@@ -844,13 +843,18 @@ GCodeResult CanInterface::RemoteDiagnostics(MessageType mt, uint32_t boardAddres
 		p.Message(mt, reply.c_str());
 		reply.Clear();
 		++currentPart;
-	} while (currentPart <= ((lastPart == 0) ? 2 : lastPart));
+	} while (currentPart <= lastPart);
 	return res;
 }
 
+GCodeResult CanInterface::RemoteM408(uint32_t boardAddress, unsigned int form, unsigned int type, GCodeBuffer& gb, const StringRef& reply)
+{
+	return GetRemoteInfo(CanMessageReturnInfo::typeM408, boardAddress, type, gb, reply, nullptr);
+}
+
 GCodeResult CanInterface::GetRemoteFirmwareDetails(uint32_t boardAddress, GCodeBuffer& gb, const StringRef& reply)
 {
-	return GetRemoteInfo(CanMessageReturnInfo::typeFirmwareVersion, boardAddress, gb, reply);
+	return GetRemoteInfo(CanMessageReturnInfo::typeFirmwareVersion, boardAddress, 0, gb, reply);
 }
 
 // Tell an expansion board to update
diff --git a/src/CAN/CanInterface.h b/src/CAN/CanInterface.h
index aaa30191..460843a1 100644
--- a/src/CAN/CanInterface.h
+++ b/src/CAN/CanInterface.h
@@ -69,7 +69,8 @@ namespace CanInterface
 	void SendBroadcast(CanMessageBuffer *buf);
 
 	GCodeResult GetRemoteFirmwareDetails(uint32_t boardAddress, GCodeBuffer& gb, const StringRef& reply);
-	GCodeResult RemoteDiagnostics(MessageType mt, uint32_t boardAddress, GCodeBuffer& gb, const StringRef& reply);
+	GCodeResult RemoteDiagnostics(MessageType mt, uint32_t boardAddress, unsigned int type, GCodeBuffer& gb, const StringRef& reply);
+	GCodeResult RemoteM408(uint32_t boardAddress, unsigned int form, unsigned int type, GCodeBuffer& gb, const StringRef& reply);
 
 	GCodeResult UpdateRemoteFirmware(uint32_t boardAddress, GCodeBuffer& gb, const StringRef& reply);
 	bool IsFlashing();
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index 5880ebd1..06f8882e 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -1706,27 +1706,24 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 
 	case 122:
 		{
-			const int val = (gb.Seen('P')) ? gb.GetIValue() : 0;
-			if (val == 0)
-			{
-				// Set the Push flag to combine multiple messages into a single OutputBuffer chain
-				const MessageType mt = (MessageType)(gb.GetResponseMessageType() | PushFlag);
+			const unsigned int type = (gb.Seen('P')) ? gb.GetIValue() : 0;
+			const MessageType mt = (MessageType)(gb.GetResponseMessageType() | PushFlag);
 #if SUPPORT_CAN_EXPANSION
-				if (gb.Seen('B'))
-				{
-					const uint32_t board = gb.GetUIValue();
-					if (board != CanId::MasterAddress)
-					{
-						result = CanInterface::RemoteDiagnostics(mt, board, gb, reply);
-						break;
-					}
-				}
+			const uint32_t board = (gb.Seen('B')) ? gb.GetUIValue() : 0;
+			if (board != CanId::MasterAddress)
+			{
+				result = CanInterface::RemoteDiagnostics(mt, board, type, gb, reply);
+				break;
+			}
 #endif
+			if (type == 0)
+			{
+				// Set the Push flag to combine multiple messages into a single OutputBuffer chain
 				reprap.Diagnostics(mt);
 			}
 			else
 			{
-				result = platform.DiagnosticTest(gb, reply, val);
+				result = platform.DiagnosticTest(gb, reply, type);
 			}
 		}
 		break;
@@ -2661,12 +2658,20 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 
 	case 408: // Get status in JSON format
 		{
-			const int form = gb.Seen('P') ? gb.GetIValue() : 0;
+			const unsigned int form = (gb.Seen('P')) ? gb.GetUIValue() : 0;
+			const unsigned int type = gb.Seen('S') ? gb.GetUIValue() : 0;
+#if SUPPORT_CAN_EXPANSION
+			const uint32_t board = (gb.Seen('B')) ? gb.GetUIValue() : 0;
+			if (board != 0)
+			{
+				result = CanInterface::RemoteM408(board, form, type, gb, reply);
+				break;
+			}
+#endif
 			switch (form)
 			{
 			case 0:
 				{
-					const int type = gb.Seen('S') ? gb.GetIValue() : 0;
 					const int seq = gb.Seen('R') ? gb.GetIValue() : -1;
 					if (&gb == auxGCode && (type == 0 || type == 2))
 					{
diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp
index a79974d9..1ee06696 100644
--- a/src/GCodes/GCodes3.cpp
+++ b/src/GCodes/GCodes3.cpp
@@ -279,14 +279,14 @@ GCodeResult GCodes::DefineGrid(GCodeBuffer& gb, const StringRef &reply)
 
 	if (seenX != seenY)
 	{
-		reply.copy("specify both or neither of X and Y in M577");
+		reply.copy("specify both or neither of X and Y in M557");
 		return GCodeResult::error;
 	}
 
 	if (!seenX && !seenR)
 	{
 		// Must have given just the S or P parameter
-		reply.copy("specify at least radius or X and Y ranges in M577");
+		reply.copy("specify at least radius or X and Y ranges in M557");
 		return GCodeResult::error;
 	}
 
diff --git a/src/Platform.cpp b/src/Platform.cpp
index 1b66e040..da06f6fc 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -1116,7 +1116,7 @@ void Platform::Spin()
 #endif
 
 	// Diagnostics test
-	if (debugCode == (int)DiagnosticTestType::TestSpinLockup)
+	if (debugCode == (unsigned int)DiagnosticTestType::TestSpinLockup)
 	{
 		for (;;) {}
 	}
@@ -2066,13 +2066,13 @@ void Platform::Diagnostics(MessageType mtype)
 #endif
 }
 
-GCodeResult Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d)
+GCodeResult Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, unsigned int d)
 {
 	static const uint32_t dummy[2] = { 0, 0 };
 
 	switch (d)
 	{
-	case (int)DiagnosticTestType::PrintTestReport:
+	case (unsigned int)DiagnosticTestType::PrintTestReport:
 		{
 			const MessageType mtype = gb.GetResponseMessageType();
 			bool testFailed = false;
@@ -2236,35 +2236,35 @@ GCodeResult Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, in
 		}
 		break;
 
-	case (int)DiagnosticTestType::TestWatchdog:
+	case (unsigned int)DiagnosticTestType::TestWatchdog:
 		deliberateError = true;
-		SysTick->CTRL &= ~(SysTick_CTRL_TICKINT_Msk);	// disable the system tick interrupt so that we get a watchdog timeout reset
+		SysTick->CTRL &= ~(SysTick_CTRL_TICKINT_Msk);			// disable the system tick interrupt so that we get a watchdog timeout reset
 		break;
 
-	case (int)DiagnosticTestType::TestSpinLockup:
+	case (unsigned int)DiagnosticTestType::TestSpinLockup:
 		deliberateError = true;
-		debugCode = d;									// tell the Spin function to loop
+		debugCode = d;											// tell the Spin function to loop
 		break;
 
-	case (int)DiagnosticTestType::TestSerialBlock:		// write an arbitrary message via debugPrintf()
+	case (unsigned int)DiagnosticTestType::TestSerialBlock:		// write an arbitrary message via debugPrintf()
 		deliberateError = true;
 		debugPrintf("Diagnostic Test\n");
 		break;
 
-	case (int)DiagnosticTestType::DivideByZero:			// do an integer divide by zero to test exception handling
+	case (unsigned int)DiagnosticTestType::DivideByZero:		// do an integer divide by zero to test exception handling
 		deliberateError = true;
-		(void)RepRap::DoDivide(1, 0);					// call function in another module so it can't be optimised away
+		(void)RepRap::DoDivide(1, 0);							// call function in another module so it can't be optimised away
 		break;
 
-	case (int)DiagnosticTestType::UnalignedMemoryAccess: // do an unaligned memory access to test exception handling
+	case (unsigned int)DiagnosticTestType::UnalignedMemoryAccess: // do an unaligned memory access to test exception handling
 		deliberateError = true;
-		SCB->CCR |= SCB_CCR_UNALIGN_TRP_Msk;			// by default, unaligned memory accesses are allowed, so change that
-		__DSB();										// make sure that instruction completes
-		__DMB();										// don't allow prefetch
+		SCB->CCR |= SCB_CCR_UNALIGN_TRP_Msk;					// by default, unaligned memory accesses are allowed, so change that
+		__DSB();												// make sure that instruction completes
+		__DMB();												// don't allow prefetch
 		(void)*(reinterpret_cast<const volatile char*>(dummy) + 1);
 		break;
 
-	case (int)DiagnosticTestType::BusFault:
+	case (unsigned int)DiagnosticTestType::BusFault:
 		// Read from the "Undefined (Abort)" area
 #if SAME70
 # if USE_MPU
@@ -2286,11 +2286,11 @@ GCodeResult Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, in
 #endif
 		break;
 
-	case (int)DiagnosticTestType::PrintMoves:
+	case (unsigned int)DiagnosticTestType::PrintMoves:
 		DDA::PrintMoves();
 		break;
 
-	case (int)DiagnosticTestType::TimeSquareRoot:		// Show the square root calculation time. Caution: may disable interrupt for several tens of microseconds.
+	case (unsigned int)DiagnosticTestType::TimeSquareRoot:		// Show the square root calculation time. Caution: may disable interrupt for several tens of microseconds.
 		{
 			bool ok1 = true;
 			uint32_t tim1 = 0;
@@ -2332,7 +2332,7 @@ GCodeResult Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, in
 		}
 		break;
 
-	case (int)DiagnosticTestType::TimeSinCos:		// Show the sin/cosine calculation time. Caution: may disable interrupt for several tens of microseconds.
+	case (unsigned int)DiagnosticTestType::TimeSinCos:			// Show the sin/cosine calculation time. Caution: may disable interrupt for several tens of microseconds.
 		{
 			bool ok = true;
 			uint32_t tim1 = 0;
@@ -2371,7 +2371,7 @@ GCodeResult Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, in
 		}
 		break;
 
-	case (int)DiagnosticTestType::TimeSDWrite:
+	case (unsigned int)DiagnosticTestType::TimeSDWrite:
 #if HAS_MASS_STORAGE
 		return reprap.GetGCodes().StartSDTiming(gb, reply);
 #else
@@ -2379,7 +2379,7 @@ GCodeResult Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, in
 		return GCodeResult::errorNotSupported;
 #endif
 
-	case (int)DiagnosticTestType::PrintObjectSizes:
+	case (unsigned int)DiagnosticTestType::PrintObjectSizes:
 		reply.printf(
 				"DDA %u, DM %u, Tool %u, GCodeBuffer %u, heater %u"
 #if HAS_NETWORKING && !HAS_LEGACY_NETWORKING
@@ -2393,7 +2393,7 @@ GCodeResult Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, in
 		break;
 
 #ifdef DUET_NG
-	case (int)DiagnosticTestType::PrintExpanderStatus:
+	case (unsigned int)DiagnosticTestType::PrintExpanderStatus:
 		reply.printf("Expander status %04X\n", DuetExpansion::DiagnosticRead());
 		break;
 #endif
diff --git a/src/Platform.h b/src/Platform.h
index a18e4193..805bad57 100644
--- a/src/Platform.h
+++ b/src/Platform.h
@@ -135,7 +135,7 @@ enum class BoardType : uint8_t
 /***************************************************************************************************/
 
 // Enumeration to describe various tests we do in response to the M122 command
-enum class DiagnosticTestType : int
+enum class DiagnosticTestType : unsigned int
 {
 	PrintTestReport = 1,			// run some tests and report the processor ID
 
@@ -267,7 +267,7 @@ public:
 	void Exit();									// Shut down tidily. Calling Init after calling this should reset to the beginning
 
 	void Diagnostics(MessageType mtype);
-	GCodeResult DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d);
+	GCodeResult DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, unsigned int d);
 	void LogError(ErrorCode e) { errorCodeBits |= (uint32_t)e; }
 
 	[[noreturn]] void SoftwareReset(uint16_t reason, const uint32_t *stk = nullptr);
diff --git a/src/Storage/CRC32.cpp b/src/Storage/CRC32.cpp
index 297e4c75..ea5762c0 100644
--- a/src/Storage/CRC32.cpp
+++ b/src/Storage/CRC32.cpp
@@ -175,7 +175,7 @@ void CRC32::Update(char c)
 // Original algorithm (1 byte per loop iteration, 1K table): 7 instructions, 11 clocks (11 clocks/byte)
 // Algorithm currently used on non-SAME70 processors (4 bytes per loop iteration, 1K table): 19 instructions, 26 clocks (6.5 clocks/byte)
 // Slicing-by-4 using 1 dword per loop iteration: 15 instructions, 18 clocks (4.5 clocks/byte)
-// Slicing-by-4 using 1 quadword per loop iteration: 28 instructions, 30 clocks (3.75 clocks/byte)
+// Slicing-by-4 using 1 quadword per loop iteration: 28 instructions, 31 clocks (3.875 clocks/byte)
 void CRC32::Update(const char *s, size_t len)
 {
 	// The speed of this function affects the speed of file uploads, so make it as fast as possible. Sadly the SAME70 doesn't do hardware CRC calculation.
@@ -183,13 +183,13 @@ void CRC32::Update(const char *s, size_t len)
 	uint32_t locCrc = crc;
 	const char * const end = s + len;
 
-#if SAME70
-	// Process any bytes at the start until we reach a quadword boundary
-	while ((reinterpret_cast<uint32_t>(s) & 7) != 0 && s != end)
+	// Process any bytes at the start until we reach a dword boundary
+	while ((reinterpret_cast<uint32_t>(s) & 3) != 0 && s != end)
 	{
 		locCrc = (CRC_32_TAB[(locCrc ^ *s++) & 0xFF] ^ (locCrc >> 8));
 	}
 
+#if SAME70
 	const char * const endAligned = s + ((end - s) & ~7);
 	while (s != endAligned)
 	{
@@ -200,19 +200,7 @@ void CRC32::Update(const char *s, size_t len)
 	    locCrc = CRC_32_TAB[(data1 >> 24) & 0xFF] ^ CRC_32_TAB1[(data1 >> 16) & 0xFF] ^ CRC_32_TAB2[(data1 >> 8) & 0xFF] ^ CRC_32_TAB3[data1 & 0xFF];
 		s += 8;
 	}
-
-	// Process up to 7 bytes at the end
-	while (s != end)
-	{
-		locCrc = (CRC_32_TAB[(locCrc ^ *s++) & 0xFF] ^ (locCrc >> 8));
-	}
 #else
-	// Process any bytes at the start until we reach a dword boundary
-	while ((reinterpret_cast<uint32_t>(s) & 3) != 0 && s != end)
-	{
-		locCrc = (CRC_32_TAB[(locCrc ^ *s++) & 0xFF] ^ (locCrc >> 8));
-	}
-
 	const char * const endAligned = s + ((end - s) & ~3);
 	while (s != endAligned)
 	{
@@ -223,13 +211,13 @@ void CRC32::Update(const char *s, size_t len)
 		locCrc = (CRC_32_TAB[(locCrc ^ (data >> 16)) & 0xFF] ^ (locCrc >> 8));
 		locCrc = (CRC_32_TAB[(locCrc ^ (data >> 24)) & 0xFF] ^ (locCrc >> 8));
 	}
+#endif
 
-	// Process up to 3 bytes at the end
+	// Process up to 7 (SAME70) or 3 (others) bytes at the end
 	while (s != end)
 	{
 		locCrc = (CRC_32_TAB[(locCrc ^ *s++) & 0xFF] ^ (locCrc >> 8));
 	}
-#endif
 
 	crc = locCrc;
 }
diff --git a/src/Version.h b/src/Version.h
index 18bcae7d..f479e24f 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -20,7 +20,7 @@
 #endif
 
 #ifndef DATE
-# define DATE "2019-12-02b2"
+# define DATE "2019-12-04b1"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"