Merge branch '3.4-dev' into 3.4-spi-tft3.4-spi-tft

5 files changed, 62 insertions, 38 deletions

diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp
index 4c3a6739..f3d1de15 100644
--- a/src/CAN/CanInterface.cpp
+++ b/src/CAN/CanInterface.cpp
@@ -25,13 +25,13 @@
 #include <GCodes/GCodeBuffer/GCodeBuffer.h>
 #include <ClosedLoop/ClosedLoop.h>
 
-
 #if HAS_SBC_INTERFACE
 # include "SBC/SbcInterface.h"
 #endif
 
 #if SUPPORT_REMOTE_COMMANDS
 # include <Version.h>
+# include <InputMonitors/InputMonitor.h>
 #endif
 
 #include <memory>
@@ -420,7 +420,7 @@ uint16_t CanInterface::GetTimeStampPeriod() noexcept
 
 #endif
 
-// Send a message on the CAN FD channel and reord any errors
+// Send a message on the CAN FD channel and record any errors
 static void SendCanMessage(CanDevice::TxBufferNumber whichBuffer, uint32_t timeout, CanMessageBuffer *buffer) noexcept
 {
 	const uint32_t cancelledId = can0dev->SendMessage(whichBuffer, timeout, buffer);
@@ -437,46 +437,70 @@ extern "C" [[noreturn]] void CanSenderLoop(void *) noexcept
 {
 	for (;;)
 	{
-		TaskBase::Take(Mutex::TimeoutUnlimited);
-		for (;;)
+#if SUPPORT_REMOTE_COMMANDS
+		if (inExpansionMode)
 		{
-			CanMessageBuffer * const urgentMessage = CanMotion::GetUrgentMessage();
-			if (urgentMessage != nullptr)
+			// In expansion mode this task just send notifications when the states of input handles change
+			CanMessageBuffer buf(nullptr);
+			auto msg = buf.SetupStatusMessage<CanMessageInputChanged>(CanInterface::GetCanAddress(), CanInterface::GetCurrentMasterAddress());
+			msg->states = 0;
+			msg->zero = 0;
+			msg->numHandles = 0;
+
+			const uint32_t timeToWait = InputMonitor::AddStateChanges(msg);
+			if (msg->numHandles != 0)
 			{
-				SendCanMessage(TxBufferIndexUrgent, MaxUrgentSendWait, urgentMessage);
+				buf.dataLength = msg->GetActualDataLength();
+				SendCanMessage(TxBufferIndexUrgent, MaxUrgentSendWait, &buf);
+				reprap.GetPlatform().OnProcessingCanMessage();
 			}
-			else if (pendingMotionBuffers != nullptr)
+			TaskBase::Take(timeToWait);							// wait until we are woken up because a message is available, or we time out
+		}
+		else
+#endif
+		{
+			// In main board mode this task sends urgent messages concerning motion
+			for (;;)
 			{
-				CanMessageBuffer *buf;
+				CanMessageBuffer * const urgentMessage = CanMotion::GetUrgentMessage();
+				if (urgentMessage != nullptr)
+				{
+					SendCanMessage(TxBufferIndexUrgent, MaxUrgentSendWait, urgentMessage);
+				}
+				else if (pendingMotionBuffers != nullptr)
 				{
-					TaskCriticalSectionLocker lock;
-					buf = pendingMotionBuffers;
-					pendingMotionBuffers = buf->next;
+					CanMessageBuffer *buf;
+					{
+						TaskCriticalSectionLocker lock;
+						buf = pendingMotionBuffers;
+						pendingMotionBuffers = buf->next;
 #if 0	//unused
-					--numPendingMotionBuffers;
+						--numPendingMotionBuffers;
 #endif
-				}
+					}
 
-				// Send the message
-				SendCanMessage(TxBufferIndexMotion, MaxMotionSendWait, buf);
-				reprap.GetPlatform().OnProcessingCanMessage();
+					// Send the message
+					SendCanMessage(TxBufferIndexMotion, MaxMotionSendWait, buf);
+					reprap.GetPlatform().OnProcessingCanMessage();
 
 #ifdef CAN_DEBUG
-				// Display a debug message too
-				debugPrintf("CCCR %08" PRIx32 ", PSR %08" PRIx32 ", ECR %08" PRIx32 ", TXBRP %08" PRIx32 ", TXBTO %08" PRIx32 ", st %08" PRIx32 "\n",
-							MCAN1->MCAN_CCCR, MCAN1->MCAN_PSR, MCAN1->MCAN_ECR, MCAN1->MCAN_TXBRP, MCAN1->MCAN_TXBTO, GetAndClearStatusBits());
-				buf->msg.DebugPrint();
-				delay(50);
-				debugPrintf("CCCR %08" PRIx32 ", PSR %08" PRIx32 ", ECR %08" PRIx32 ", TXBRP %08" PRIx32 ", TXBTO %08" PRIx32 ", st %08" PRIx32 "\n",
-							MCAN1->MCAN_CCCR, MCAN1->MCAN_PSR, MCAN1->MCAN_ECR, MCAN1->MCAN_TXBRP, MCAN1->MCAN_TXBTO, GetAndClearStatusBits());
+					// Display a debug message too
+					debugPrintf("CCCR %08" PRIx32 ", PSR %08" PRIx32 ", ECR %08" PRIx32 ", TXBRP %08" PRIx32 ", TXBTO %08" PRIx32 ", st %08" PRIx32 "\n",
+								MCAN1->MCAN_CCCR, MCAN1->MCAN_PSR, MCAN1->MCAN_ECR, MCAN1->MCAN_TXBRP, MCAN1->MCAN_TXBTO, GetAndClearStatusBits());
+					buf->msg.DebugPrint();
+					delay(50);
+					debugPrintf("CCCR %08" PRIx32 ", PSR %08" PRIx32 ", ECR %08" PRIx32 ", TXBRP %08" PRIx32 ", TXBTO %08" PRIx32 ", st %08" PRIx32 "\n",
+								MCAN1->MCAN_CCCR, MCAN1->MCAN_PSR, MCAN1->MCAN_ECR, MCAN1->MCAN_TXBRP, MCAN1->MCAN_TXBTO, GetAndClearStatusBits());
 #endif
-				// Free the message buffer.
-				CanMessageBuffer::Free(buf);
-			}
-			else
-			{
-				break;
+					// Free the message buffer.
+					CanMessageBuffer::Free(buf);
+				}
+				else
+				{
+					break;
+				}
 			}
+			TaskBase::Take(Mutex::TimeoutUnlimited);
 		}
 	}
 }
diff --git a/src/CAN/CommandProcessor.cpp b/src/CAN/CommandProcessor.cpp
index d27fa6aa..a91e8cd2 100644
--- a/src/CAN/CommandProcessor.cpp
+++ b/src/CAN/CommandProcessor.cpp
@@ -389,15 +389,15 @@ void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
 {
 	if (buf->id.Src() != CanInterface::GetCanAddress())								// I don't think we should receive our own broadcasts, but in case we do...
 	{
+		if (buf->id.Dst() != CanId::BroadcastAddress)
+		{
+			reprap.GetPlatform().OnProcessingCanMessage();
+		}
+
 		const CanMessageType id = buf->id.MsgType();
 #if SUPPORT_REMOTE_COMMANDS
 		if (CanInterface::InExpansionMode())
 		{
-			if (id != CanMessageType::timeSync)
-			{
-				reprap.GetPlatform().OnProcessingCanMessage();
-			}
-
 			String<StringLength500> reply;
 			const StringRef& replyRef = reply.GetRef();
 			GCodeResult rslt;
diff --git a/src/InputMonitors/InputMonitor.cpp b/src/InputMonitors/InputMonitor.cpp
index 5f797606..d449e679 100644
--- a/src/InputMonitors/InputMonitor.cpp
+++ b/src/InputMonitors/InputMonitor.cpp
@@ -39,7 +39,7 @@ bool InputMonitor::Activate(bool useInterrupt) noexcept
 #if SAME5x
 				!useInterrupt || port.SetAnalogCallback(CommonAnalogPortInterrupt, CallbackParameter(this), 1);
 #else
-				true;			// SAME70 doesn't support SetAnalogCallback yet
+				false;			// SAME70 doesn't support SetAnalogCallback yet
 #endif
 		}
 		active = true;
diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp
index 98040d27..675d5d5f 100644
--- a/src/Platform/Platform.cpp
+++ b/src/Platform/Platform.cpp
@@ -2511,7 +2511,7 @@ void Platform::EnableOneLocalDriver(size_t driver, float requiredCurrent) noexce
 			{
 				SmartDrivers::EnableDrive(driver, true);
 			}
-# if !defined(DUET3MINI)		// no enable pins on 5LC
+# if !defined(DUET3MINI)								// no enable pins on 5LC
 			else
 			{
 				digitalWrite(ENABLE_PINS[driver], enableValues[driver] > 0);
diff --git a/src/Platform/Tasks.cpp b/src/Platform/Tasks.cpp
index 8ef89076..0f8eb0c9 100644
--- a/src/Platform/Tasks.cpp
+++ b/src/Platform/Tasks.cpp
@@ -128,7 +128,7 @@ void *Tasks::GetNVMBuffer(const uint32_t *stk) noexcept
 [[noreturn]] void AppMain() noexcept
 {
 	pinMode(DiagPin, (DiagOnPolarity) ? OUTPUT_LOW : OUTPUT_HIGH);			// set up status LED for debugging and turn it off
-#ifdef DUET3MINI
+#if defined(DUET3MINI) || defined(DUET3_MB6XD)
 	pinMode(ActLedPin, (ActOnPolarity) ? OUTPUT_LOW : OUTPUT_HIGH);			// set up activity LED and turn it off
 #endif