Merge branch '3.4-dev' into 3.4-multicast

6 files changed, 64 insertions, 64 deletions

diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp
index b7827e4d..4c3a6739 100644
--- a/src/CAN/CanInterface.cpp
+++ b/src/CAN/CanInterface.cpp
@@ -489,71 +489,76 @@ extern "C" [[noreturn]] void CanClockLoop(void *) noexcept
 
 	for (;;)
 	{
-#if SUPPORT_REMOTE_COMMANDS
-		if (!inExpansionMode)
-#endif
-		{
-			CanMessageTimeSync * const msg = buf.SetupBroadcastMessage<CanMessageTimeSync>(CanInterface::GetCanAddress());
-			msg->lastTimeSent = lastTimeSent;
-			msg->lastTimeAcknowledgeDelay = 0;									// assume we don't have the transmit delay available
+		CanMessageTimeSync * const msg = buf.SetupBroadcastMessage<CanMessageTimeSync>(CanInterface::GetCanAddress());
+		msg->lastTimeSent = lastTimeSent;
+		msg->lastTimeAcknowledgeDelay = 0;									// assume we don't have the transmit delay available
 
-			currentTimeSyncMarker = ((currentTimeSyncMarker + 1) & 0x0F) | 0xA0;
-			buf.marker = currentTimeSyncMarker;
-			buf.reportInFifo = 1;
+		currentTimeSyncMarker = ((currentTimeSyncMarker + 1) & 0x0F) | 0xA0;
+		buf.marker = currentTimeSyncMarker;
+		buf.reportInFifo = 1;
 
-			if (gotTimeSyncTxTimeStamp)
-			{
+		if (gotTimeSyncTxTimeStamp)
+		{
 # if SAME70
-				// On the SAME70 the step clock is also the external time stamp counter
-				const uint32_t timeSyncTxDelay = (timeSyncTxTimeStamp - (uint16_t)lastTimeSent) & 0xFFFF;
+			// On the SAME70 the step clock is also the external time stamp counter
+			const uint32_t timeSyncTxDelay = (timeSyncTxTimeStamp - (uint16_t)lastTimeSent) & 0xFFFF;
 # else
-				// On the SAME5x the time stamp counter counts CAN bit times divided by 64
-				const uint32_t timeSyncTxDelay = (((timeSyncTxTimeStamp - lastTimeSyncTxPreparedStamp) & 0xFFFF) * CanInterface::GetTimeStampPeriod()) >> 6;
+			// On the SAME5x the time stamp counter counts CAN bit times divided by 64
+			const uint32_t timeSyncTxDelay = (((timeSyncTxTimeStamp - lastTimeSyncTxPreparedStamp) & 0xFFFF) * CanInterface::GetTimeStampPeriod()) >> 6;
 # endif
-				if (timeSyncTxDelay > peakTimeSyncTxDelay)
-				{
-					peakTimeSyncTxDelay = timeSyncTxDelay;
-				}
-
-				// Occasionally on the SAME70 we get very large delays reported. These delays are not genuine.
-				if (timeSyncTxDelay < MaxTimeSyncDelay)
-				{
-					msg->lastTimeAcknowledgeDelay = timeSyncTxDelay;
-				}
-				gotTimeSyncTxTimeStamp = false;
-			}
-
-			msg->isPrinting = reprap.GetGCodes().IsReallyPrinting();
-
-			// Send the real time just once a second
-			const uint32_t realTime = (uint32_t)reprap.GetPlatform().GetDateTime();
-			if (realTime != lastRealTimeSent)
+			if (timeSyncTxDelay > peakTimeSyncTxDelay)
 			{
-				msg->realTime = realTime;
-				lastRealTimeSent = realTime;
+				peakTimeSyncTxDelay = timeSyncTxDelay;
 			}
-			else
+
+			// Occasionally on the SAME70 we get very large delays reported. These delays are not genuine.
+			if (timeSyncTxDelay < MaxTimeSyncDelay)
 			{
-				buf.dataLength = CanMessageTimeSync::SizeWithoutRealTime;		// send a short message to save CAN bandwidth
+				msg->lastTimeAcknowledgeDelay = timeSyncTxDelay;
 			}
+			gotTimeSyncTxTimeStamp = false;
+		}
+
+		msg->isPrinting = reprap.GetGCodes().IsReallyPrinting();
+
+		// Send the real time just once a second
+		const uint32_t realTime = (uint32_t)reprap.GetPlatform().GetDateTime();
+		if (realTime != lastRealTimeSent)
+		{
+			msg->realTime = realTime;
+			lastRealTimeSent = realTime;
+		}
+		else
+		{
+			buf.dataLength = CanMessageTimeSync::SizeWithoutRealTime;		// send a short message to save CAN bandwidth
+		}
 
 #if SAME70
-			lastTimeSent = StepTimer::GetTimerTicks();
+		lastTimeSent = StepTimer::GetTimerTicks();
 #else
-			{
-				AtomicCriticalSectionLocker lock;
-				lastTimeSent = StepTimer::GetTimerTicks();
-				lastTimeSyncTxPreparedStamp = CanInterface::GetTimeStampCounter();
-			}
-#endif
-			msg->timeSent = lastTimeSent;
-			SendCanMessage(TxBufferIndexTimeSync, 0, &buf);
-			++timeSyncMessagesSent;
+		{
+			AtomicCriticalSectionLocker lock;
+			lastTimeSent = StepTimer::GetTimerTicks();
+			lastTimeSyncTxPreparedStamp = CanInterface::GetTimeStampCounter();
 		}
+#endif
+		msg->timeSent = lastTimeSent;
+		SendCanMessage(TxBufferIndexTimeSync, 0, &buf);
+		++timeSyncMessagesSent;
+
+		// Blink the LED at about 2Hz. Duet 3 expansion boards will blink in sync when they have established clock sync with us.
+		digitalWrite(DiagPin, XNor(DiagOnPolarity, lastTimeSent & (1u << 19)) != 0);
 
 		// Delay until it is time again
 		vTaskDelayUntil(&lastWakeTime, CanClockIntervalMillis);
 
+#if SUPPORT_REMOTE_COMMANDS
+		if (inExpansionMode)
+		{
+			vTaskDelete(nullptr);											// once in expansion mode we can't revert to main board mode, so we don't need this task any more
+		}
+#endif
+
 		// Check that the message was sent and get the time stamp
 		if (can0dev->IsSpaceAvailable((CanDevice::TxBufferNumber)TxBufferIndexTimeSync, 0))		// if the buffer is free already then the message was sent
 		{
@@ -562,8 +567,8 @@ extern "C" [[noreturn]] void CanClockLoop(void *) noexcept
 		else
 		{
 			(void)can0dev->IsSpaceAvailable((CanDevice::TxBufferNumber)TxBufferIndexTimeSync, MaxTimeSyncSendWait);		// free the buffer
-			can0dev->PollTxEventFifo(TxCallback);								// empty the fifo
-			gotTimeSyncTxTimeStamp = false;										// ignore any values read from it
+			can0dev->PollTxEventFifo(TxCallback);							// empty the fifo
+			gotTimeSyncTxTimeStamp = false;									// ignore any values read from it
 		}
 	}
 }
diff --git a/src/Config/Pins_Duet3_MB6HC.h b/src/Config/Pins_Duet3_MB6HC.h
index ac1d82eb..d9076bed 100644
--- a/src/Config/Pins_Duet3_MB6HC.h
+++ b/src/Config/Pins_Duet3_MB6HC.h
@@ -153,6 +153,8 @@ constexpr float V12MonitorVoltageRange = (60.4 + 4.7)/4.7 * 3.3;			// voltage di
 // Digital pin number to turn the IR LED on (high) or off (low), also controls the DIAG LED
 constexpr Pin DiagPin = PortCPin(20);
 constexpr bool DiagOnPolarity = true;
+constexpr Pin ActLedPin = NoPin;
+constexpr bool ActOnPolarity = false;
 
 // SD cards
 constexpr size_t NumSdCards = 2;											// we now allow one SPI-connected SD card to be configured at boot time
diff --git a/src/Config/Pins_Duet3_MB6XD.h b/src/Config/Pins_Duet3_MB6XD.h
index 940bb93f..ac87e4dd 100644
--- a/src/Config/Pins_Duet3_MB6XD.h
+++ b/src/Config/Pins_Duet3_MB6XD.h
@@ -136,6 +136,7 @@ constexpr float V12MonitorVoltageRange = (60.4 + 4.7)/4.7 * 3.3;			// voltage di
 constexpr Pin DiagPin = PortBPin(6);										// diag/status LED
 constexpr Pin ActLedPin = PortBPin(7);										// activityLED
 constexpr bool DiagOnPolarity = false;
+constexpr bool ActOnPolarity = false;
 
 // SD cards
 constexpr size_t NumSdCards = 2;
diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp
index 968ed426..5988dfd2 100644
--- a/src/Platform/Platform.cpp
+++ b/src/Platform/Platform.cpp
@@ -415,7 +415,7 @@ Platform::Platform() noexcept :
 #endif
 	tickState(0), debugCode(0),
 	lastDriverPollMillis(0),
-#ifdef DUET3MINI
+#if SUPPORT_CAN_EXPANSION
 	whenLastCanMessageProcessed(0),
 #endif
 
@@ -977,8 +977,7 @@ void Platform::Spin() noexcept
 		return;
 	}
 
-#if defined(DUET3) || defined(DUET3MINI) || defined(__LPC17xx__)
-# if SUPPORT_REMOTE_COMMANDS
+#if SUPPORT_REMOTE_COMMANDS
 	if (CanInterface::InExpansionMode())
 	{
 		if (StepTimer::IsSynced())
@@ -990,21 +989,14 @@ void Platform::Spin() noexcept
 			digitalWrite(DiagPin, XNor(DiagOnPolarity, StepTimer::GetTimerTicks() & (1u << 17)) != 0);
 		}
 	}
-	else
-# endif
-	{
-		// Blink the LED at about 2Hz. Duet 3 expansion boards will blink in sync when they have established clock sync with us.
-		digitalWrite(DiagPin, XNor(DiagOnPolarity, StepTimer::GetTimerTicks() & (1u << 19)) != 0);
-	}
 #endif
 
-#if defined(DUET3MINI)
+#if SUPPORT_CAN_EXPANSION
 	// Turn off the ACT LED if it is time to do so
 	if (millis() - whenLastCanMessageProcessed > ActLedFlashTime)
 	{
 		digitalWrite(ActLedPin, !ActOnPolarity);
 	}
-
 #endif
 
 #if HAS_MASS_STORAGE || HAS_SBC_INTERFACE || HAS_EMBEDDED_FILES
@@ -4552,7 +4544,7 @@ GCodeResult Platform::UpdateRemoteStepsPerMmAndMicrostepping(AxesBitmap axesAndE
 
 void Platform::OnProcessingCanMessage() noexcept
 {
-#ifdef DUET3MINI			// MB6HC doesn't yet have a ACT LED
+#if SUPPORT_CAN_EXPANSION
 	whenLastCanMessageProcessed = millis();
 	digitalWrite(ActLedPin, ActOnPolarity);				// turn the ACT LED on
 #endif
diff --git a/src/Platform/Platform.h b/src/Platform/Platform.h
index a8ae2c27..b8eca7d9 100644
--- a/src/Platform/Platform.h
+++ b/src/Platform/Platform.h
@@ -912,7 +912,7 @@ private:
 	// Event handling
 	uint32_t lastDriverPollMillis;						// when we last checked the drivers and voltage monitoring
 
-#ifdef DUET3MINI
+#if SUPPORT_CAN_EXPANSION
 	uint32_t whenLastCanMessageProcessed;
 #endif
 
diff --git a/src/Version.h b/src/Version.h
index eca88cd1..711fda3f 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -10,7 +10,7 @@
 
 #ifndef VERSION
 // Note: the complete VERSION string must be in standard version number format and must not contain spaces! This is so that DWC can parse it.
-# define MAIN_VERSION	"3.4.2rc1"
+# define MAIN_VERSION	"3.4.2rc1+"
 # ifdef USE_CAN0
 #  define VERSION_SUFFIX	"(CAN0)"
 # else