Added SUPPORT_REMOTE_COMMANDS

14 files changed, 33 insertions, 16 deletions

diff --git a/src/CAN/CommandProcessor.cpp b/src/CAN/CommandProcessor.cpp
index 201b188b..304beb57 100644
--- a/src/CAN/CommandProcessor.cpp
+++ b/src/CAN/CommandProcessor.cpp
@@ -287,7 +287,7 @@ static void HandleInputStateChanged(const CanMessageInputChanged& msg, CanAddres
 	}
 }
 
-#ifndef DUET3_ATE
+#if SUPPORT_REMOTE_COMMANDS
 
 static GCodeResult EutGetInfo(const CanMessageReturnInfo& msg, const StringRef& reply, uint8_t& extra)
 {
@@ -311,9 +311,7 @@ static GCodeResult EutGetInfo(const CanMessageReturnInfo& msg, const StringRef&
 	case CanMessageReturnInfo::typeM408:
 		// For now we ignore the parameter and always return the same set of info
 		// This command is currently only used by the ATE, which needs the board type and the voltages
-		reply.copy("{\"firmwareElectronics\":\"Duet 3 ");
-		reply.cat(BOARD_NAME);
-		reply.cat("\"");
+		reply.printf("{\"firmwareElectronics\":\"Duet 3 %.0s\"", BOARD_NAME);
 #if HAS_VOLTAGE_MONITOR
 		{
 			const MinMaxCurrent voltages = reprap.GetPlatform().GetPowerVoltages();
@@ -380,7 +378,7 @@ 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...
 	{
 		const CanMessageType id = buf->id.MsgType();
-#ifndef DUET3_ATE
+#if SUPPORT_REMOTE_COMMANDS
 		if (CanInterface::InEutMode())
 		{
 			String<StringLength500> reply;
diff --git a/src/Hardware/IoPorts.cpp b/src/Hardware/IoPorts.cpp
index 4039df02..4453ab6e 100644
--- a/src/Hardware/IoPorts.cpp
+++ b/src/Hardware/IoPorts.cpp
@@ -181,11 +181,15 @@ void IoPort::DetachInterrupt() const noexcept
 	}
 }
 
+#if SUPPORT_REMOTE_COMMANDS
+
 bool IoPort::SetAnalogCallback(AnalogInCallbackFunction fn, CallbackParameter cbp, uint32_t ticksPerCall) noexcept
 {
 	return AnalogIn::SetCallback(GetAnalogChannel(), fn, cbp, ticksPerCall, false);
 }
 
+#endif
+
 // Allocate the specified logical pin, returning true if successful
 bool IoPort::Allocate(const char *pn, const StringRef& reply, PinUsedBy neededFor, PinAccess access) noexcept
 {
diff --git a/src/Hardware/IoPorts.h b/src/Hardware/IoPorts.h
index 0bbfbedb..f775e935 100644
--- a/src/Hardware/IoPorts.h
+++ b/src/Hardware/IoPorts.h
@@ -41,7 +41,9 @@ public:
 	bool ReadDigital() const noexcept;
 	bool AttachInterrupt(StandardCallbackFunction callback, InterruptMode mode, CallbackParameter param) const noexcept;
 	void DetachInterrupt() const noexcept;
+#if SUPPORT_REMOTE_COMMANDS
 	bool SetAnalogCallback(AnalogInCallbackFunction fn, CallbackParameter cbp, uint32_t ticksPerCall) noexcept;
+#endif
 
 	uint16_t ReadAnalog() const noexcept;
 
diff --git a/src/InputMonitors/InputMonitor.cpp b/src/InputMonitors/InputMonitor.cpp
index 25f1ff74..a59ce075 100644
--- a/src/InputMonitors/InputMonitor.cpp
+++ b/src/InputMonitors/InputMonitor.cpp
@@ -7,7 +7,7 @@
 
 #include "InputMonitor.h"
 
-#if SUPPORT_CAN_EXPANSION
+#if SUPPORT_REMOTE_COMMANDS
 
 #include <CanMessageFormats.h>
 #include <Hardware/IoPorts.h>
diff --git a/src/InputMonitors/InputMonitor.h b/src/InputMonitors/InputMonitor.h
index ac43f2ea..3e127c93 100644
--- a/src/InputMonitors/InputMonitor.h
+++ b/src/InputMonitors/InputMonitor.h
@@ -10,7 +10,7 @@
 
 #include <RepRapFirmware.h>
 
-#if SUPPORT_CAN_EXPANSION
+#if SUPPORT_REMOTE_COMMANDS
 
 #include <Hardware/IoPorts.h>
 #include <GCodes/GCodeResult.h>
diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp
index 61a29164..0ac49b5b 100644
--- a/src/Movement/DDA.cpp
+++ b/src/Movement/DDA.cpp
@@ -625,6 +625,8 @@ bool DDA::InitAsyncMove(DDARing& ring, const AsyncMove& nextMove) noexcept
 
 #endif
 
+#if SUPPORT_REMOTE_COMMANDS
+
 // Set up a remote move. Return true if it represents real movement, else false.
 bool DDA::InitFromRemote(const CanMessageMovement& msg) noexcept
 {
@@ -740,6 +742,8 @@ bool DDA::InitFromRemote(const CanMessageMovement& msg) noexcept
 	return true;
 }
 
+#endif
+
 // Return true if this move is or might have been intended to be a deceleration-only move
 // A move planned as a deceleration-only move may have a short acceleration segment at the start because of rounding error
 inline bool DDA::IsDecelerationMove() const noexcept
diff --git a/src/Movement/DDA.h b/src/Movement/DDA.h
index e9dc5dfa..b8a29677 100644
--- a/src/Movement/DDA.h
+++ b/src/Movement/DDA.h
@@ -71,10 +71,14 @@ public:
 
 #if SUPPORT_CAN_EXPANSION
 	uint32_t InsertHiccup(uint32_t whenNextInterruptWanted) noexcept;
-	bool InitFromRemote(const CanMessageMovement& msg) noexcept;
 #else
 	void InsertHiccup(uint32_t whenNextInterruptWanted) noexcept;
 #endif
+
+#if SUPPORT_REMOTE_COMMANDS
+	bool InitFromRemote(const CanMessageMovement& msg) noexcept;
+#endif
+
 	const int32_t *DriveCoordinates() const noexcept { return endPoint; }			// Get endpoints of a move in machine coordinates
 	void SetDriveCoordinate(int32_t a, size_t drive) noexcept;						// Force an end point
 	void SetFeedRate(float rate) noexcept { requestedSpeed = rate; }
diff --git a/src/Movement/DDARing.cpp b/src/Movement/DDARing.cpp
index c0aac98d..164ad83e 100644
--- a/src/Movement/DDARing.cpp
+++ b/src/Movement/DDARing.cpp
@@ -864,7 +864,7 @@ uint32_t DDARing::ManageLaserPower() const noexcept
 
 #endif
 
-#if SUPPORT_CAN_EXPANSION
+#if SUPPORT_REMOTE_COMMANDS
 
 // Add a move from the ATE to the movement queue
 void DDARing::AddMoveFromRemote(const CanMessageMovement& msg) noexcept
diff --git a/src/Movement/DDARing.h b/src/Movement/DDARing.h
index 544dc5a8..0979088e 100644
--- a/src/Movement/DDARing.h
+++ b/src/Movement/DDARing.h
@@ -85,7 +85,7 @@ public:
 
 	GCodeResult ConfigureMovementQueue(GCodeBuffer& gb, const StringRef& reply) noexcept;
 
-#if SUPPORT_CAN_EXPANSION
+#if SUPPORT_REMOTE_COMMANDS
 	void AddMoveFromRemote(const CanMessageMovement& msg) noexcept;						// add a move from the ATE to the movement queue
 #endif
 
diff --git a/src/Movement/Move.h b/src/Movement/Move.h
index f92bea5d..7037be8a 100644
--- a/src/Movement/Move.h
+++ b/src/Movement/Move.h
@@ -199,7 +199,7 @@ public:
 	static void WakeLaserTaskFromISR() noexcept;											// wake up the laser task, called at the start of a new move
 #endif
 
-#if SUPPORT_CAN_EXPANSION
+#if SUPPORT_REMOTE_COMMANDS
 	void AddMoveFromRemote(const CanMessageMovement& msg) noexcept							// add a move from the ATE to the movement queue
 	{
 		mainDDARing.AddMoveFromRemote(msg);
diff --git a/src/Movement/StepTimer.cpp b/src/Movement/StepTimer.cpp
index bdb6761c..5b19c78f 100644
--- a/src/Movement/StepTimer.cpp
+++ b/src/Movement/StepTimer.cpp
@@ -18,7 +18,7 @@
 
 StepTimer * volatile StepTimer::pendingList = nullptr;
 
-#if SUPPORT_CAN_EXPANSION
+#if SUPPORT_REMOTE_COMMANDS
 volatile uint32_t StepTimer::localTimeOffset = 0;
 volatile uint32_t StepTimer::whenLastSynced;
 volatile bool StepTimer::synced = false;
diff --git a/src/Movement/StepTimer.h b/src/Movement/StepTimer.h
index 4beec8e0..c05491df 100644
--- a/src/Movement/StepTimer.h
+++ b/src/Movement/StepTimer.h
@@ -72,7 +72,7 @@ public:
 	static constexpr float StepClocksToMillis = 1000.0/(float)StepClockRate;
 	static constexpr uint32_t MinInterruptInterval = 6;							// about 6us
 
-#if SUPPORT_CAN_EXPANSION
+#if SUPPORT_REMOTE_COMMANDS
 	static uint32_t GetLocalTimeOffset() { return localTimeOffset; }
 	//TODO change this to a PLL
 	static void SetLocalTimeOffset(uint32_t offset) { localTimeOffset = offset; synced = true; whenLastSynced = millis(); }
@@ -89,7 +89,7 @@ private:
 
 	static StepTimer * volatile pendingList;									// list of pending callbacks, soonest first
 
-#if SUPPORT_CAN_EXPANSION
+#if SUPPORT_REMOTE_COMMANDS
 	static volatile uint32_t localTimeOffset;									// local time minus master time
 	static volatile uint32_t whenLastSynced;									// the millis tick count when we last synced
 	static volatile bool synced;
diff --git a/src/Pins.h b/src/Pins.h
index ad68e92d..7f33c4ce 100644
--- a/src/Pins.h
+++ b/src/Pins.h
@@ -202,4 +202,8 @@
 # define MCU_HAS_TRUERANDOM	0
 #endif
 
+// 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))
+
 #endif // PINS_H__
diff --git a/src/Platform.h b/src/Platform.h
index 60bd06ec..778137db 100644
--- a/src/Platform.h
+++ b/src/Platform.h
@@ -629,13 +629,14 @@ public:
 #if SUPPORT_CAN_EXPANSION
 	void HandleRemoteGpInChange(CanAddress src, uint8_t handleMajor, uint8_t handleMinor, bool state) noexcept;
 	GCodeResult UpdateRemoteStepsPerMmAndMicrostepping(AxesBitmap axesAndExtruders, const StringRef& reply) noexcept;
-# ifndef DUET3_ATE
+#endif
+
+#if SUPPORT_REMOTE_COMMANDS
 	GCodeResult EutHandleM950Gpio(const CanMessageGeneric& msg, const StringRef& reply) noexcept;
 	GCodeResult EutHandleGpioWrite(const CanMessageWriteGpio& msg, const StringRef& reply) noexcept;
 	GCodeResult EutSetMotorCurrents(const CanMessageMultipleDrivesRequest<float>& msg, size_t dataLength, const StringRef& reply) noexcept;
 	GCodeResult EutSetStepsPerMmAndMicrostepping(const CanMessageMultipleDrivesRequest<StepsPerUnitAndMicrostepping>& msg, size_t dataLength, const StringRef& reply) noexcept;
 	GCodeResult EutHandleSetDriverStates(const CanMessageMultipleDrivesRequest<DriverStateControl>& msg, const StringRef& reply) noexcept;
-# endif
 #endif
 
 #if VARIABLE_NUM_DRIVERS