Enabled remote commands on Duet 3 MB6HC

5 files changed, 19 insertions, 5 deletions

diff --git a/src/Hardware/IoPorts.cpp b/src/Hardware/IoPorts.cpp
index 79e8ffb3..58370ead 100644
--- a/src/Hardware/IoPorts.cpp
+++ b/src/Hardware/IoPorts.cpp
@@ -189,7 +189,7 @@ void IoPort::DetachInterrupt() const noexcept
 	}
 }
 
-#if SUPPORT_REMOTE_COMMANDS
+#if SAME5x
 
 bool IoPort::SetAnalogCallback(AnalogInCallbackFunction fn, CallbackParameter cbp, uint32_t ticksPerCall) noexcept
 {
diff --git a/src/Hardware/IoPorts.h b/src/Hardware/IoPorts.h
index 5866ae3a..22e44046 100644
--- a/src/Hardware/IoPorts.h
+++ b/src/Hardware/IoPorts.h
@@ -39,7 +39,7 @@ public:
 	bool ReadDigital() const noexcept;
 	bool AttachInterrupt(StandardCallbackFunction callback, InterruptMode mode, CallbackParameter param) const noexcept;
 	void DetachInterrupt() const noexcept;
-#if SUPPORT_REMOTE_COMMANDS
+#if SAME5x
 	bool SetAnalogCallback(AnalogInCallbackFunction fn, CallbackParameter cbp, uint32_t ticksPerCall) noexcept;
 #endif
 
diff --git a/src/InputMonitors/InputMonitor.cpp b/src/InputMonitors/InputMonitor.cpp
index 5bc4a97e..45e6a9a3 100644
--- a/src/InputMonitors/InputMonitor.cpp
+++ b/src/InputMonitors/InputMonitor.cpp
@@ -35,7 +35,12 @@ bool InputMonitor::Activate(bool useInterrupt) noexcept
 		{
 			// Analog port
 			state = port.ReadAnalog() >= threshold;
-			ok = port.SetAnalogCallback(CommonAnalogPortInterrupt, CallbackParameter(this), 1);
+			ok =
+#if SAME5x
+				!useInterrupt || port.SetAnalogCallback(CommonAnalogPortInterrupt, CallbackParameter(this), 1);
+#else
+				true;			// SAME70 doesn't support SetAnalogCallback yet
+#endif
 		}
 		active = true;
 		whenLastSent = millis();
diff --git a/src/Movement/StepTimer.cpp b/src/Movement/StepTimer.cpp
index cf69fc22..340db752 100644
--- a/src/Movement/StepTimer.cpp
+++ b/src/Movement/StepTimer.cpp
@@ -480,8 +480,17 @@ void StepTimer::CancelCallback() noexcept
 	{
 		reply.catf("next step interrupt due in %" PRIu32 " ticks, %s",
 					pst->whenDue - GetTimerTicks(),
-					((StepTc->INTENSET.reg & TC_INTFLAG_MC0) == 0) ? "disabled" : "enabled");
+# if SAME5x
+					((StepTc->INTENSET.reg & TC_INTFLAG_MC0) == 0)
+# elif SAME70
+					((STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IER & TC_IER_CPBS) == 0)
+# endif
+						? "disabled" : "enabled");
+# if SAME5x
 		if (StepTc->CC[0].reg != pst->whenDue)
+# elif SAME70
+		if (STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_RB != (uint16_t)pst->whenDue)
+# endif
 		{
 			reply.cat(", CC0 mismatch!!");
 		}
diff --git a/src/Pins.h b/src/Pins.h
index c5da74ec..682281ab 100644
--- a/src/Pins.h
+++ b/src/Pins.h
@@ -199,6 +199,6 @@
 
 // Define SUPPORT_REMOTE_COMMANDS according to whether this hardware accepts commands over CAN
 // For now we exclude Duet 3 MB6HC because CoreNG doesn't support analog callbacks
-#define SUPPORT_REMOTE_COMMANDS		(SUPPORT_CAN_EXPANSION && !defined(DUET3_ATE) && !defined(DUET3_V06))
+#define SUPPORT_REMOTE_COMMANDS		(SUPPORT_CAN_EXPANSION && !defined(DUET3_ATE))
 
 #endif // PINS_H__