Added Duet085 configuration (non-RTOS)

10 files changed, 55 insertions, 45 deletions

diff --git a/src/BugList.txt b/src/BugList.txt
index 0640055f..880deb84 100644
--- a/src/BugList.txt
+++ b/src/BugList.txt
@@ -140,10 +140,10 @@ Todo in 1.21.1 bugfix release:
 - [believed fixed in 2.0b2] BUG movement system hangs sometimes if using very high microstepping, e.g. janke PSU model and config.g
 - [consider, done in 2.0] Simulation to assume machine starts homed, restore homed status at end
 - [consider, done in 2.0] Update user coordinates after using G10 to change offsets, https://www.duet3d.com/forum/thread.php?pid=44900#p44900
-- [done, test] Support M916 on older Duets
 
 Remaining:
 
+- [done, test] Support M916 on older Duets
 - [done, test] M122 has some duplicate parts of network status on Maestro
 - [done, ok] prevent watchdog reset if MaxReps gets too high
 - [done] BUG manual probing, see https://github.com/dc42/RepRapFirmware/issues/170#issuecomment-380790290
diff --git a/src/Duet/MCP4461/MCP4461.cpp b/src/Duet/MCP4461/MCP4461.cpp
index 1ce346c0..4a263cfa 100644
--- a/src/Duet/MCP4461/MCP4461.cpp
+++ b/src/Duet/MCP4461/MCP4461.cpp
@@ -1,4 +1,5 @@
 #include "MCP4461.h"
+#include "RepRapFirmware.h"
 
 /*
 Library to control the MCP4461 Digital Potentiometer over I2C.
diff --git a/src/Duet/MCP4461/MCP4461.h b/src/Duet/MCP4461/MCP4461.h
index 9d6ae941..d5ee32b6 100644
--- a/src/Duet/MCP4461/MCP4461.h
+++ b/src/Duet/MCP4461/MCP4461.h
@@ -6,7 +6,7 @@
 #define DEFAULT_ADDRESS 0x2C  //With A0 and A1 grounded
 #define DEFAULT_WIPER_VALUE 0x80  //Default to the wipers in midrange
 
-// meory addresses (all shifted 4 bits left)
+// memory addresses (all shifted 4 bits left)
 //For all the Wipers 0x100 = Full scale, 0x80 = mid scale, 0x0 = Zero scale
 #define MCP4461_VW0 0x00
 #define MCP4461_VW1 0x10
diff --git a/src/Duet/Network.cpp b/src/Duet/Network.cpp
index 3d2a8d3b..a0ddfaa5 100644
--- a/src/Duet/Network.cpp
+++ b/src/Duet/Network.cpp
@@ -422,7 +422,6 @@ void Network::Spin(bool full)
 					UnlockLWIP();
 
 					platform.Message(UsbMessage, "Network down\n");
-					platform.ClassReport(longWait);
 					return;
 				}
 
@@ -457,7 +456,6 @@ void Network::Spin(bool full)
 
 						UnlockLWIP();
 						platform.MessageF(UsbMessage, "Network up, IP=%s\n", IP4String(ip).c_str());
-						platform.ClassReport(longWait);
 						return;
 					}
 				}
@@ -514,7 +512,6 @@ void Network::Spin(bool full)
 
 		UnlockLWIP();
 	}
-	platform.ClassReport(longWait);
 	webserver->Spin();
 }
 
diff --git a/src/Duet/NetworkTransaction.cpp b/src/Duet/NetworkTransaction.cpp
index 2e64c139..b16e44b9 100644
--- a/src/Duet/NetworkTransaction.cpp
+++ b/src/Duet/NetworkTransaction.cpp
@@ -228,7 +228,7 @@ void NetworkTransaction::Write(OutputStack *stack)
 	{
 		if (CanWrite())
 		{
-			sendStack->Append(stack);
+			sendStack->Append(*stack);
 		}
 		else
 		{
diff --git a/src/Duet/Pins_Duet.h b/src/Duet/Pins_Duet.h
index e4ec76b5..8f17abdf 100644
--- a/src/Duet/Pins_Duet.h
+++ b/src/Duet/Pins_Duet.h
@@ -117,8 +117,9 @@ constexpr Pin ATX_POWER_PIN = 12;											// Arduino Due pin number that contr
 constexpr Pin Z_PROBE_PIN = 64;												// aka A10
 
 // Digital pin number to turn the IR LED on (high) or off (low)
-constexpr Pin Z_PROBE_MOD_PIN06 = 52;											// Digital pin number to turn the IR LED on (high) or off (low) on Duet v0.6 and v1.0 (PB21)
+constexpr Pin Z_PROBE_MOD_PIN06 = 52;										// Digital pin number to turn the IR LED on (high) or off (low) on Duet v0.6 and v1.0 (PB21)
 constexpr Pin Z_PROBE_MOD_PIN07 = X12;										// Digital pin number to turn the IR LED on (high) or off (low) on Duet v0.7 and v0.8.5 (PC10)
+constexpr Pin DiagPin = NoPin;
 
 // Pin number that the DAC that controls the second extruder motor current on the Duet 0.8.5 is connected to
 constexpr int Dac0DigitalPin = 66;											// Arduino Due pin number corresponding to DAC0 output pin
diff --git a/src/Duet/Webserver.cpp b/src/Duet/Webserver.cpp
index 1756e324..e35bfc5d 100644
--- a/src/Duet/Webserver.cpp
+++ b/src/Duet/Webserver.cpp
@@ -127,14 +127,12 @@ void Webserver::Spin()
 		// Check if we can actually send something back to the client
 		if (OutputBuffer::GetBytesLeft(nullptr) == 0)
 		{
-			platform->ClassReport(longWait);
 			return;
 		}
 
 		// We must ensure that we have exclusive access to LWIP
 		if (!network->Lock())
 		{
-			platform->ClassReport(longWait);
 			return;
 		}
 
@@ -238,7 +236,6 @@ void Webserver::Spin()
 		}
 		network->Unlock();		// unlock LWIP again
 	}
-	platform->ClassReport(longWait);
 }
 
 void Webserver::Exit()
@@ -794,11 +791,9 @@ void Webserver::HttpInterpreter::SendJsonResponse(const char* command)
 
 		if (StringEquals(command, "configfile"))	// rr_configfile [DEPRECATED]
 		{
-			const char *configPath = platform->GetMassStorage()->CombineName(platform->GetSysDir(), platform->GetConfigFile());
-			char fileName[MaxFilenameLength];
-			SafeStrncpy(fileName, configPath, MaxFilenameLength);
-
-			SendFile(fileName, false);
+			String<MaxFilenameLength> fileName;
+			MassStorage::CombineName(fileName.GetRef(), platform->GetSysDir(), platform->GetConfigFile());
+			SendFile(fileName.c_str(), false);
 			return;
 		}
 
@@ -939,7 +934,7 @@ void Webserver::HttpInterpreter::GetJsonResponse(const char* request, OutputBuff
 	}
 	else if (StringEquals(request, "gcode") && GetKeyValue("gcode") != nullptr)
 	{
-		RegularGCodeInput * const httpInput = reprap.GetGCodes().GetHTTPInput();
+		NetworkGCodeInput * const httpInput = reprap.GetGCodes().GetHTTPInput();
 		httpInput->Put(HttpMessage, GetKeyValue("gcode"));
 		response->printf("{\"buff\":%u}", httpInput->BufferSpaceLeft());
 	}
@@ -1721,7 +1716,7 @@ void Webserver::HttpInterpreter::ProcessDeferredRequest()
 	// At the moment only file info requests are deferred.
 	// Parsing the file may take a while, so keep LwIP running while we're waiting
 	network->Unlock();
-	bool gotFileInfo = reprap.GetPrintMonitor().GetFileInfoResponse(filenameBeingProcessed, jsonResponse);
+	bool gotFileInfo = reprap.GetFileInfoResponse(filenameBeingProcessed, jsonResponse, false);
 	while (!network->Lock());
 
 	// Because LwIP was unlocked before, there is a chance that the ConnectionLost() call has already
@@ -1993,7 +1988,7 @@ void Webserver::FtpInterpreter::ProcessLine()
 			else if (StringStartsWith(clientMessage, "CWD"))
 			{
 				ReadFilename(3);
-				ChangeDirectory(filename);
+				ChangeDirectory(filename.c_str());
 			}
 			// change to parent of current directory
 			else if (StringEquals(clientMessage, "CDUP"))
@@ -2048,7 +2043,7 @@ void Webserver::FtpInterpreter::ProcessLine()
 			else if (StringStartsWith(clientMessage, "DELE"))
 			{
 				ReadFilename(4);
-				if (platform->GetMassStorage()->Delete(currentDir, filename))
+				if (platform->GetMassStorage()->Delete(currentDir, filename.c_str()))
 				{
 					SendReply(250, "Delete operation successful.");
 				}
@@ -2061,7 +2056,7 @@ void Webserver::FtpInterpreter::ProcessLine()
 			else if (StringStartsWith(clientMessage, "RMD"))
 			{
 				ReadFilename(3);
-				if (platform->GetMassStorage()->Delete(currentDir, filename))
+				if (platform->GetMassStorage()->Delete(currentDir, filename.c_str()))
 				{
 					SendReply(250, "Remove directory operation successful.");
 				}
@@ -2074,11 +2069,17 @@ void Webserver::FtpInterpreter::ProcessLine()
 			else if (StringStartsWith(clientMessage, "MKD"))
 			{
 				ReadFilename(3);
-				const char *location = (filename[0] == '/')
-										? filename
-											: platform->GetMassStorage()->CombineName(currentDir, filename);
+				String<MaxFilenameLength> location;
+				if (filename[0] == '/')
+				{
+					location.copy(filename.c_str());
+				}
+				else
+				{
+					MassStorage::CombineName(location.GetRef(), currentDir, filename.c_str());
+				}
 
-				if (platform->GetMassStorage()->MakeDirectory(location))
+				if (platform->GetMassStorage()->MakeDirectory(location.c_str()))
 				{
 					NetworkTransaction *transaction = webserver->currentTransaction;
 					transaction->Printf("257 \"%s\" created\r\n", location);
@@ -2095,12 +2096,12 @@ void Webserver::FtpInterpreter::ProcessLine()
 				ReadFilename(4);
 				if (filename[0] != '/')
 				{
-					const char *temp = platform->GetMassStorage()->CombineName(currentDir, filename);
-					SafeStrncpy(filename, temp, MaxFilenameLength);
-					filename[MaxFilenameLength - 1] = 0;
+					String<MaxFilenameLength> temp;
+					MassStorage::CombineName(temp.GetRef(), currentDir, filename.c_str());
+					filename.copy(temp.c_str());
 				}
 
-				if (platform->GetMassStorage()->FileExists(filename))
+				if (platform->GetMassStorage()->FileExists(filename.c_str()))
 				{
 					SendReply(350, "Ready to RNTO.");
 				}
@@ -2112,13 +2113,13 @@ void Webserver::FtpInterpreter::ProcessLine()
 			else if (StringStartsWith(clientMessage, "RNTO"))
 			{
 				// Copy origin path to temp oldFilename and read new path
-				char oldFilename[MaxFilenameLength];
-				SafeStrncpy(oldFilename, filename, MaxFilenameLength);
-				oldFilename[MaxFilenameLength - 1] = 0;
+				String<MaxFilenameLength> oldFilename;
+				oldFilename.copy(filename.c_str());
 				ReadFilename(4);
 
-				const char *newFilename = platform->GetMassStorage()->CombineName(currentDir, filename);
-				if (platform->GetMassStorage()->Rename(oldFilename, newFilename))
+				String<MaxFilenameLength> newFilename;
+				MassStorage::CombineName(newFilename.GetRef(), currentDir, filename.c_str());
+				if (platform->GetMassStorage()->Rename(oldFilename.c_str(), newFilename.c_str()))
 				{
 					SendReply(250, "Rename successful.");
 				}
@@ -2223,8 +2224,8 @@ void Webserver::FtpInterpreter::ProcessLine()
 			{
 				ReadFilename(4);
 
-				FileStore *file = platform->OpenFile(currentDir, filename, OpenMode::write);
-				if (StartUpload(file, filename))
+				FileStore *file = platform->OpenFile(currentDir, filename.c_str(), OpenMode::write);
+				if (StartUpload(file, filename.c_str()))
 				{
 					SendReply(150, "OK to send data.");
 					state = doingPasvIO;
@@ -2241,7 +2242,7 @@ void Webserver::FtpInterpreter::ProcessLine()
 			{
 				ReadFilename(4);
 
-				FileStore *file = platform->OpenFile(currentDir, filename, OpenMode::read);
+				FileStore *file = platform->OpenFile(currentDir, filename.c_str(), OpenMode::read);
 				if (file == nullptr)
 				{
 					SendReply(550, "Failed to open file.");
@@ -2642,7 +2643,7 @@ bool Webserver::TelnetInterpreter::ProcessLine()
 			}
 
 			// All other codes are stored for the GCodes class
-			RegularGCodeInput * const telnetInput = reprap.GetGCodes().GetTelnetInput();
+			NetworkGCodeInput * const telnetInput = reprap.GetGCodes().GetTelnetInput();
 			telnetInput->Put(TelnetMessage, clientMessage);
 			break;
 	}
diff --git a/src/Duet/Webserver.h b/src/Duet/Webserver.h
index a7dee72b..c9c29108 100644
--- a/src/Duet/Webserver.h
+++ b/src/Duet/Webserver.h
@@ -273,7 +273,7 @@ protected:
 		char clientMessage[ftpMessageLength];
 		size_t clientPointer;
 
-		char filename[MaxFilenameLength];
+		String<MaxFilenameLength> filename;
 		char currentDir[MaxFilenameLength];
 
 		uint32_t portOpenTime;
diff --git a/src/Platform.cpp b/src/Platform.cpp
index 4542e1a9..312cbbd9 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -189,7 +189,10 @@ Platform::Platform() :
 // Initialise the Platform. Note: this is the first module to be initialised, so don't call other modules from here!
 void Platform::Init()
 {
-	pinMode(DiagPin, OUTPUT_LOW);				// set up diag LED for debugging and turn it off
+	if (DiagPin != NoPin)
+	{
+		pinMode(DiagPin, OUTPUT_LOW);				// set up diag LED for debugging and turn it off
+	}
 
 	// Deal with power first
 	pinMode(ATX_POWER_PIN, OUTPUT_LOW);
@@ -1223,9 +1226,9 @@ bool Platform::FlushMessages()
 
 #ifdef SERIAL_AUX2_DEVICE
 	// Write non-blocking data to the second AUX line
-	bool aux2hasMore;
+	bool aux2HasMore;
 	{
-		MutexLocker lock(aux2MutexHandle);
+		MutexLocker lock(aux2Mutex);
 		OutputBuffer *aux2OutputBuffer = aux2Output.GetFirstItem();
 		if (aux2OutputBuffer != nullptr)
 		{
@@ -1241,7 +1244,7 @@ bool Platform::FlushMessages()
 				aux2Output.SetFirstItem(aux2OutputBuffer);
 			}
 		}
-		aux2hasMore = (aux2Output.GetFirstItem() != nullptr);
+		aux2HasMore = (aux2Output.GetFirstItem() != nullptr);
 	}
 #endif
 
@@ -1803,6 +1806,10 @@ void Platform::SoftwareReset(uint16_t reason, const uint32_t *stk)
 #endif
 	}
 
+#ifndef RSTC_MR_KEY_PASSWD
+// Definition of RSTC_MR_KEY_PASSWD is missing in the SAM3X ASF files
+# define RSTC_MR_KEY_PASSWD (0xA5u << 24)
+#endif
 	RSTC->RSTC_MR = RSTC_MR_KEY_PASSWD;			// ignore any signal on the NRST pin for now so that the reset reason will show as Software
 	Reset();
 	for(;;) {}
diff --git a/src/Version.h b/src/Version.h
index 22a64fb3..12cf9865 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -8,14 +8,17 @@
 #ifndef SRC_VERSION_H_
 #define SRC_VERSION_H_
 
+
+#ifndef VERSION
 #ifdef RTOS
-# define RTOSVER "(RTOS)"
+# define RTOSVER		"(RTOS)"
+# define MAIN_VERSION	"2.0"
 #else
+# define MAIN_VERSION	"1.21.1"
 # define RTOSVER
 #endif
 
-#ifndef VERSION
-# define VERSION "2.0" RTOSVER "beta3"
+# define VERSION MAIN_VERSION RTOSVER "beta3"
 #endif
 
 #ifndef DATE