Release 2.02RC62.02RC6

Fix for extruder movement less than 1 microstep Fix for G30 on SCARA immediately after homing prox+distal arms Fix babystepping move immediately after extruding move Added nanoDLP compatibility option Corrected PCCB pin assignments G1 R moves never use machine coordinates
author: David Crocker <dcrocker@eschertech.com> 2018-12-15 14:47:19 +0300
committer: David Crocker <dcrocker@eschertech.com> 2018-12-15 14:47:19 +0300
commit: a25f8204d2fe36ad174b98dea673a114503cc457 (patch)
tree: 69c4bbd7abafb97a86a04705b80291875c62738a
parent: a15773859dabee6e88cce157f7c00d17e29171b4 (diff)
24 files changed, 424 insertions, 343 deletions
diff --git a/.cproject b/.cproject
index 0a6dc1e9..6aaa4961 100644
--- a/.cproject
+++ b/.cproject
@@ -257,7 +257,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="elf" artifactName="${ProjName}-Alligator" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887" name="Alligator" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
+				<configuration artifactExtension="elf" artifactName="${ProjName}-Alligator" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887" name="Alligator" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
 					<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.1745168887." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.623324432" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release">
 							<option id="cdt.managedbuild.option.gnu.cross.path.645044151" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/>
@@ -302,9 +302,11 @@
 								<option id="gnu.cpp.link.option.nostdlibs.760089516" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.1593340130" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/Alligator/}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RRFLibraries/SAM3X}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.libs.1260510068" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" useByScannerDiscovery="false" valueType="libs">
 									<listOptionValue builtIn="false" value="${CoreName}"/>
+									<listOptionValue builtIn="false" value="RRFLibraries"/>
 								</option>
 								<option id="gnu.cpp.link.option.flags.1376831701" name="Linker flags" superClass="gnu.cpp.link.option.flags" useByScannerDiscovery="false" value="-Os -Wl,--gc-sections -Wl,--fatal-warnings -mcpu=cortex-m3 -T&quot;${workspace_loc:/${CoreName}/variants/alligator/linker_scripts/gcc/flash.ld&quot; -Wl,-Map,&quot;${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.map&quot;" valueType="string"/>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1951368129" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
@@ -339,6 +341,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Duet}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Duet/Lwip}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Duet/EMAC}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RRFLibraries/src}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.preprocessor.def.890621467" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="__SAM3X8E__"/>
@@ -378,7 +381,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="elf" artifactName="Duet2CombinedFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622" name="Duet2_RTOS" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
+				<configuration artifactExtension="elf" artifactName="Duet2CombinedFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622" name="Duet2_RTOS" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
 					<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622." name="/" resourcePath="">
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 							<option id="cdt.managedbuild.option.gnu.cross.path.1881231799" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/>
@@ -763,7 +766,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="elf" artifactName="PccbFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.1798324396" name="PCCB" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
+				<configuration artifactExtension="elf" artifactName="PccbFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.1798324396" name="PCCB" optionalBuildProperties="" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
 					<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.1798324396." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.1017317107" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release">
 							<option id="cdt.managedbuild.option.gnu.cross.path.1932906636" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/>
@@ -885,7 +888,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="elf" artifactName="PccbFirmware_X5" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.1798324396.239853003" name="PCCB_X5" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
+				<configuration artifactExtension="elf" artifactName="PccbFirmware_X5" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.1798324396.239853003" name="PCCB_X5" optionalBuildProperties="" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.elf ${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.bin">
 					<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.1798324396.239853003." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.2113529528" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release">
 							<option id="cdt.managedbuild.option.gnu.cross.path.1216992967" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/>
diff --git a/src/Alligator/Microstepping.cpp b/src/Alligator/Microstepping.cpp
index baf62efc..af83e759 100644
--- a/src/Alligator/Microstepping.cpp
+++ b/src/Alligator/Microstepping.cpp
@@ -11,7 +11,7 @@
 //***************************************************************************************************
 // Alligator Microstepping static class
 
-uint8_t microsteppingPins[ DRIVES - MinAxes ];
+uint8_t microsteppingPins[ NumDirectDrivers - MinAxes ];
 
 void Microstepping::Init() {
 
@@ -19,7 +19,7 @@ void Microstepping::Init() {
 	static_assert(sizeof(microsteppingPins) == sizeof(MICROSTEPPING_PINS), "Incompatible array types");
 	memcpy(microsteppingPins, MICROSTEPPING_PINS, sizeof(MICROSTEPPING_PINS));
 
-	for(uint8_t pin=0; pin < (DRIVES-MinAxes); pin++ ) {
+	for(uint8_t pin=0; pin < (NumDirectDrivers - MinAxes); pin++ ) {
 		pinMode( microsteppingPins[pin], OUTPUT_HIGH);
 	}
 }
@@ -27,7 +27,7 @@ void Microstepping::Init() {
 bool Microstepping::Set(uint8_t drive, uint8_t value) {
 
 	// Do not exceed the maximum value
-	if ( drive >= (DRIVES - MinAxes) )
+	if ( drive >= (NumDirectDrivers - MinAxes) )
 	{
 		return false;
 	}
@@ -45,7 +45,7 @@ bool Microstepping::Set(uint8_t drive, uint8_t value) {
 uint8_t Microstepping::Read( uint8_t drive ) {
 
 	// Do not exceed the maximum value
-	if ( drive < (DRIVES - MinAxes) )
+	if ( drive < (NumDirectDrivers - MinAxes) )
 	{
 		return ( digitalRead(microsteppingPins[drive]) == LOW ? 16 : 32 );
 	}
diff --git a/src/Alligator/Pins_Alligator.h b/src/Alligator/Pins_Alligator.h
index 6cdc61ce..859efd6b 100644
--- a/src/Alligator/Pins_Alligator.h
+++ b/src/Alligator/Pins_Alligator.h
@@ -27,11 +27,10 @@ const size_t NumFirmwareUpdateModules = 1;
 // The physical capabilities of the machine
 
 // Alligator + Piggy module max 7 stepper driver
-const size_t DRIVES = 7;						// The number of drives in the machine, including X, Y, and Z plus extruder drives
-#define DRIVES_(a,b,c,d,e,f,g,h,i,j,k,l) { a,b,c,d,e,f,g }
-const size_t MaxDriversPerAxis = 4;				// The maximum number of stepper drivers assigned to one axis
-// Initialization macro used in statements needing to initialize values in arrays of size MAX_AXES
-#define AXES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f }
+constexpr size_t NumDirectDrivers = 7;				// The number of drives in the machine, including X, Y, and Z plus extruder drives
+constexpr size_t MaxTotalDrivers = NumDirectDrivers;
+
+constexpr size_t MaxDriversPerAxis = 4;				// The maximum number of stepper drivers assigned to one axis
 
 constexpr size_t NumEndstops = 6;					// The number of inputs we have for endstops, filament sensors etc.
 // Alligator + Piggy module max 5 heaters
@@ -42,21 +41,22 @@ constexpr size_t NumThermistorInputs = 5;
 
 constexpr size_t MaxAxes = 7;						// The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
 constexpr size_t MinAxes = 3;						// The minimum and default number of axes
-constexpr size_t MaxExtruders = DRIVES - MinAxes;	// The maximum number of extruders
+constexpr size_t MaxExtruders = NumDirectDrivers - MinAxes;	// The maximum number of extruders
 
 constexpr size_t NUM_SERIAL_CHANNELS = 3;			// The number of serial IO channels (USB and two auxiliary UARTs)
 #define SERIAL_MAIN_DEVICE SerialUSB
 #define SERIAL_AUX_DEVICE Serial
 #define SERIAL_AUX2_DEVICE Serial1
 
-// The numbers of entries in each array must correspond with the values of DRIVES, AXES, or HEATERS. Set values to NoPin to flag unavailability.
-// DRIVES
-const Pin ENABLE_PINS[DRIVES] = { 24, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin };
-const Pin STEP_PINS[DRIVES] = { X16, X14, X1, 5, 28, 11, X9 };
-const Pin DIRECTION_PINS[DRIVES] = { 2, 78, X13, 4, 27, 29, 12};
+constexpr Pin UsbVBusPin = NoPin;					// Pin used to monitor VBUS on USB port. Not needed for SAM3X.
+
+// The numbers of entries in each array must correspond with the values of NumDirectDrivers, MaxAxes, or NumHeaters. Set values to NoPin to flag unavailability.
+const Pin ENABLE_PINS[NumDirectDrivers] = { 24, NoPin, NoPin, NoPin, NoPin, NoPin, NoPin };
+const Pin STEP_PINS[NumDirectDrivers] = { X16, X14, X1, 5, 28, 11, X9 };
+const Pin DIRECTION_PINS[NumDirectDrivers] = { 2, 78, X13, 4, 27, 29, 12};
 
 // MICROSTEPPING Pins
-const Pin MICROSTEPPING_PINS[DRIVES - MinAxes] = { X12, X10, 44, 45 };
+const Pin MICROSTEPPING_PINS[NumDirectDrivers - MinAxes] = { X12, X10, 44, 45 };
 
 // Motor FAULT Pin
 const Pin MotorFaultDetectPin = 22;
diff --git a/src/BugList.txt b/src/BugList.txt
index 4d01c50d..5a6b2eaa 100644
--- a/src/BugList.txt
+++ b/src/BugList.txt
@@ -167,7 +167,7 @@ To be investigated for 2.02RC5 or release:
 - [probing speed was too high] Multiple G29 commands in succession, https://forum.duet3d.com/topic/7920/bed-compensation-g29-problems
 - [may be fixed by possible fix for for Z and U moving at different speeds] investigate slow movement, https://forum.duet3d.com/topic/6974/problem-with-3-independent-z-axis-motors-and-endstops/32
 
-To be fixed in 2.02RC5:
+Fixed in 2.02RC5:
 - [done, ok] 12864 display of speed factor wrong, https://forum.duet3d.com/topic/7747/reprapfirmware-2-02rc4-released/10
 - [done, ok] 12864 button menu handling wrong, https://forum.duet3d.com/topic/7747/reprapfirmware-2-02rc4-released/14
 - [done, ok] 12864 items 510- display user position not machine position
@@ -184,14 +184,41 @@ To be fixed in 2.02RC5:
 - [done, ok] M106 Pnn Svv always set full PWM if vv > 1 and there were additional parameters e.g. F, https://forum.duet3d.com/topic/7810/question-about-m106/6
 - [done] Possible fix for Z and U moving at different speeds, https://forum.duet3d.com/topic/7755/drive-3-is-slower-as-drive-2-at-homing-in-z-solved/32
 - [done, ok] For SimpleFilamentMonitor, include filament present/not present status in M591 report
-- [done, ok] Heater turn on momentarily when Duet is reset
+- [done, ok] Heaters turn on momentarily when Duet is reset
 - [done, ok] When G53 is in effect, don't apply tool offsets or axis mapping
-- [done, ok] Don't alow both S0 and T0 in M291, it creates a message that can't be dismissed
+- [done, ok] Don't allow both S0 and T0 in M291, it creates a message that can't be dismissed
+
+To be fixed in 2.02RC6:
+- [done] When VIN power comes up (again), clear out open-load status bits to avoid spurious open load warnings
+- [done, ok] Fix behaviour when extrusion per move is < 1 step, https://forum.duet3d.com/topic/7949/my-experience-with-relative-extrusion-problem-and-solution/13
+- [still can't reproduce] Investigate macro using M291 again, https://forum.duet3d.com/topic/7782/issues-with-macros-halting-the-printer/26
+- [done, ok] 12864 fallback: if 'menu' action is used with no parameter, use the F parameter
+- [done, ok] Different U and Z homing speeds is back and worse, https://forum.duet3d.com/topic/7755/drive-3-is-slower-as-drive-2-at-homing-in-z-solved/30
+- [done, ok] A baby stepping move after an extruding move when the printer is idle replicates the same extrusion, https://forum.duet3d.com/topic/7940/firmware-2-02rc5-now-available
+- [done, test] Suppress motor disconnected message if motor current is very low, https://forum.duet3d.com/topic/7994/possible-bug/4
+- [done, ok] When entering a subfolder on the 12864 display from a file list, the screen does not update until you rotate the encoder, https://forum.duet3d.com/topic/8014/12864-display-sd-print-subfolder-screen-update
+- [done, ok] Add date/time if known to config-override.g
+- [done, ok] Resume after pause doesn't use workplace coordinate offsets, https://forum.duet3d.com/topic/4557/cnc-coordinate-systems/29 and https://forum.duet3d.com/topic/7940/firmware-2-02rc5-now-available/16
+- [done, ok] Add nanoDLP to compatibility options, also add M650 and M651 support
+- [done] Return a 503 http error when we run out of buffers while trying to compose a http reply
+- [done] M206 now sets offsets for the current workplace, not workplace 0
+- [done] memory for 12864 display and menu system is not allocated until M918 is processed
+- [done, test] scheduled vs. completed move count wrong, https://forum.duet3d.com/topic/8052/print-stopped-at-83-for-seemingly-no-reason/2
+- [done, ok] G2/G3 moves use a variable arg segment length
+- [done, ok] Add sin + cosine calculation time
+- [done, ok] New version of FatFS
+- [done, ok] Allow M226 and M600 even when no file is being printed
+- [done, test] Print progress based on requested extrusion *before* mixing, for ditto printing
+- [done, ok] G30 after SCARA homing prox and distal sometimes failed due to rounding error in arm calculation, https://forum.duet3d.com/post/72199
 
 Future:
+- Run script if thermal error? https://forum.duet3d.com/topic/8038/suggestion-run-script-in-case-of-thermal-error
+- Run script on filament error?
+- In CNC mode, allow Fanuc-style X and/or Y coordinates without repeating the G0 or G1 command
 - Option for an endstop input to trigger an emergency pause
+- Count steps until homing switch is triggered compared to original, https://forum.duet3d.com/topic/8017/request-check-for-lost-steps
 - In CNC or laser mode, don't segment G0 moves for mesh bed compensation, https://forum.duet3d.com/topic/7728/go-vs-g1-movement/11
-- Z homing switch offset in M208 or elswhere, https://forum.duet3d.com/topic/7767/z-offset-is-negated-in-homing-g-macro
+- Z homing switch offset in M208 or elsewhere, https://forum.duet3d.com/topic/7767/z-offset-is-negated-in-homing-g-macro
 - After looking for G1 Z commands in gcode file analyser, check that there is extrusion after it
 - M260 allow bytes to be specified in hex, more generally allow hex anywhere?
 - Auto mount SD card when it is inserted
diff --git a/src/Configuration.h b/src/Configuration.h
index a0285afd..7dcde5b7 100644
--- a/src/Configuration.h
+++ b/src/Configuration.h
@@ -47,6 +47,11 @@ constexpr float DefaultXYInstantDv = 15.0;				// mm/sec
 constexpr float DefaultZInstantDv = 0.2;
 constexpr float DefaultEInstantDv = 2.0;
 
+constexpr float DefaultAxisMinimum = 0.0;
+constexpr float DefaultAxisMaximum = 200.0;
+
+constexpr float MinimumOpenLoadMotorCurrent = 300;		// minimum current in mA for the open load status to be taken seriously
+
 // Timeouts
 constexpr uint32_t FanCheckInterval = 500;				// Milliseconds
 constexpr uint32_t OpenLoadTimeout = 500;				// Milliseconds
@@ -205,7 +210,7 @@ constexpr int DefaultZProbeADValue = 500;				// Default trigger threshold
 constexpr float TRIANGLE_ZERO = -0.001;					// Millimetres
 constexpr float SILLY_Z_VALUE = -9999.0;				// Millimetres
 
-// String lengths. Try not to have too many different ones.
+// String lengths. Try not to have too many different ones, because each one causes an instantiation of the String template
 constexpr size_t MaxMessageLength = 256;
 constexpr size_t MaxTitleLength = 61;
 
@@ -221,6 +226,7 @@ constexpr size_t MaxHeaterNameLength = 20;				// Maximum number of characters in
 constexpr size_t MaxFanNameLength = 20;					// Maximum number of characters in a fan name
 
 constexpr size_t FormatStringLength = 256;
+constexpr size_t GCodeReplyLength = 256;				// Maximum number of characters in a GCode reply that doesn't use an OutputBuffer
 constexpr size_t MachineNameLength = 40;
 constexpr size_t RepRapPasswordLength = 20;
 constexpr size_t MediumStringLength = MaxFilenameLength;
diff --git a/src/GCodes/GCodeMachineState.h b/src/GCodes/GCodeMachineState.h
index 7e015aea..443a5e2f 100644
--- a/src/GCodes/GCodeMachineState.h
+++ b/src/GCodes/GCodeMachineState.h
@@ -120,7 +120,7 @@ public:
 	post(!result.IsLive(); result.state == GCodeState::normal);
 
 	// Return true if the G54 command is in effect
-	bool UsingG54() const { return useMachineCoordinates || useMachineCoordinatesSticky; }
+	bool UsingMachineCoordinates() const { return useMachineCoordinates || useMachineCoordinatesSticky; }
 
 	// Copy values that may have been altered by config.g into this state record
 	void CopyStateFrom(const GCodeMachineState& other)
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 38590f75..7857d44a 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -44,21 +44,6 @@
 # include "Fans/DotStarLed.h"
 #endif
 
-const size_t gcodeReplyLength = 2048;			// long enough to pass back a reasonable number of files in response to M20
-
-// Set up some default values for special moves, e.g. for Z probing and firmware retraction
-void GCodes::RawMove::SetDefaults()
-{
-	moveType = 0;
-	isCoordinated = false;
-	usingStandardFeedrate = false;
-	usePressureAdvance = false;
-	endStopsToCheck = 0;
-	filePos = noFilePosition;
-	xAxes = DefaultXAxisMapping;
-	yAxes = DefaultYAxisMapping;
-}
-
 #if SUPPORT_OBJECT_MODEL
 
 // Object model table and functions
@@ -146,11 +131,10 @@ void GCodes::Init()
 	Reset();
 
 	distanceScale = 1.0;
-	arcSegmentLength = DefaultArcSegmentLength;
 	virtualExtruderPosition = rawExtruderTotal = 0.0;
-	for (size_t extruder = 0; extruder < MaxExtruders; extruder++)
+	for (float& f : rawExtruderTotalByDrive)
 	{
-		rawExtruderTotalByDrive[extruder] = 0.0;
+		f = 0.0;
 	}
 
 	runningConfigFile = false;
@@ -160,9 +144,9 @@ void GCodes::Init()
 	limitAxes = noMovesBeforeHoming = true;
 	SetAllAxesNotHomed();
 
-	for (size_t i = 0; i < NUM_FANS; ++i)
+	for (float& f : pausedFanSpeeds)
 	{
-		pausedFanSpeeds[i] = 0.0;
+		f = 0.0;
 	}
 	lastDefaultFanSpeed = pausedDefaultFanSpeed = 0.0;
 
@@ -237,9 +221,9 @@ void GCodes::Reset()
 	currentCoordinateSystem = 0;
 #endif
 
-	for (size_t i = 0; i < MaxTotalDrivers; ++i)
+	for (float& f : moveBuffer.coords)
 	{
-		moveBuffer.coords[i] = 0.0;						// clear out all axis and extruder coordinates
+		f = 0.0;										// clear out all axis and extruder coordinates
 	}
 
 	ClearMove();
@@ -287,17 +271,17 @@ void GCodes::Reset()
 	codeQueue->Clear();
 	cancelWait = isWaiting = displayNoToolWarning = false;
 
-	for (size_t i = 0; i < NumResources; ++i)
+	for (const GCodeBuffer*& gbp : resourceOwners)
 	{
-		resourceOwners[i] = nullptr;
+		gbp = nullptr;
 	}
 }
 
 bool GCodes::DoingFileMacro() const
 {
-	for (const GCodeBuffer *gb : gcodeSources)
+	for (const GCodeBuffer *gbp : gcodeSources)
 	{
-		if (gb != nullptr && gb->IsDoingFileMacro())
+		if (gbp != nullptr && gbp->IsDoingFileMacro())
 		{
 			return true;
 		}
@@ -408,7 +392,7 @@ void GCodes::Spin()
 	GCodeBuffer& gb = *gbp;
 
 	// Set up a buffer for the reply
-	String<gcodeReplyLength> reply;
+	String<GCodeReplyLength> reply;
 
 	if (gb.GetState() == GCodeState::normal)
 	{
@@ -481,6 +465,11 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 					}
 				}
 			}
+
+			if (platform.Emulating() == Compatibility::nanoDLP && &gb == serialGCode && !DoingFileMacro())
+			{
+				reply.copy("Z_move_comp");
+			}
 			gb.SetState(GCodeState::normal);
 		}
 		break;
@@ -526,7 +515,8 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 						// went (i.e. the difference between our start and end positions) and if we need to
 						// incorporate any correction factors. That's why we only need to set the final tool
 						// offset to this value in order to finish the tool probing.
-						currentTool->SetOffset(axis, (toolChangeRestorePoint.moveCoords[axis] - currentUserPosition[axis]) + gb.GetFValue(), true);
+						const float coord = toolChangeRestorePoint.moveCoords[axis] - currentUserPosition[axis] + gb.GetFValue();
+						currentTool->SetOffset(axis, coord, true);
 						break;
 					}
 				}
@@ -542,7 +532,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 		}
 		else
 		{
-			String<PASSWORD_LENGTH> nextHomingFileName;
+			String<RepRapPasswordLength> nextHomingFileName;
 			AxesBitmap mustHomeFirst = reprap.GetMove().GetKinematics().GetHomingFileName(toBeHomed, axesHomed, numVisibleAxes, nextHomingFileName.GetRef());
 			if (mustHomeFirst != 0)
 			{
@@ -590,8 +580,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 	case GCodeState::m109ToolChange0:	// Run tfree for the old tool (if any)
 		doingToolChange = true;
 		SaveFanSpeeds();
-		memcpy(toolChangeRestorePoint.moveCoords, currentUserPosition, MaxAxes * sizeof(currentUserPosition[0]));
-		toolChangeRestorePoint.feedRate = gb.MachineState().feedRate;
+		SavePosition(toolChangeRestorePoint, gb);
 		gb.AdvanceState();
 		if ((gb.MachineState().toolChangeParam & TFreeBit) != 0)
 		{
@@ -725,16 +714,12 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 		if (LockMovementAndWaitForStandstill(gb))
 		{
 			float currentZ = moveBuffer.coords[Z_AXIS];
-			for (size_t drive = 0; drive < numVisibleAxes; ++drive)
+			for (size_t axis = 0; axis < numVisibleAxes; ++axis)
 			{
-				currentUserPosition[drive] =  pauseRestorePoint.moveCoords[drive];
+				currentUserPosition[axis] = pauseRestorePoint.moveCoords[axis];
 			}
 			ToolOffsetTransform(currentUserPosition, moveBuffer.coords);
-			for (size_t drive = numTotalAxes; drive < MaxTotalDrivers; ++drive)
-			{
-				moveBuffer.coords[drive] = 0.0;
-			}
-			moveBuffer.SetDefaults();
+			SetMoveBufferDefaults();
 			moveBuffer.feedRate = DefaultFeedRate * SecondsToMinutes;	// ask for a good feed rate, we may have paused during a slow move
 			if (gb.GetState() == GCodeState::resuming1 && currentZ > pauseRestorePoint.moveCoords[Z_AXIS])
 			{
@@ -847,7 +832,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 			{
 				if (move.IsAccessibleProbePoint(x, y))
 				{
-					moveBuffer.SetDefaults();
+					SetMoveBufferDefaults();
 					moveBuffer.coords[X_AXIS] = x - platform.GetCurrentZProbeParameters().xOffset;
 					moveBuffer.coords[Y_AXIS] = y - platform.GetCurrentZProbeParameters().yOffset;
 					moveBuffer.coords[Z_AXIS] = platform.GetZProbeStartingHeight();
@@ -924,7 +909,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 			{
 				zProbeTriggered = false;
 				platform.SetProbing(true);
-				moveBuffer.SetDefaults();
+				SetMoveBufferDefaults();
 				moveBuffer.endStopsToCheck = ZProbeActive;
 				moveBuffer.coords[Z_AXIS] = -platform.GetZProbeDiveHeight();
 				moveBuffer.feedRate = platform.GetCurrentZProbeParameters().probeSpeed;
@@ -973,7 +958,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 
 	case GCodeState::gridProbing4a:	// ready to lift the probe after probing the current grid probe point
 		// Move back up to the dive height
-		moveBuffer.SetDefaults();
+		SetMoveBufferDefaults();
 		moveBuffer.coords[Z_AXIS] = platform.GetZProbeStartingHeight();
 		moveBuffer.feedRate = platform.GetZProbeTravelSpeed();
 		NewMoveAvailable(1);
@@ -1103,7 +1088,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 	// States used for G30 probing
 	case GCodeState::probingAtPoint0:
 		// Initial state when executing G30 with a P parameter. Start by moving to the dive height at the current position.
-		moveBuffer.SetDefaults();
+		SetMoveBufferDefaults();
 		moveBuffer.coords[Z_AXIS] = platform.GetZProbeStartingHeight();
 		moveBuffer.feedRate = platform.GetZProbeTravelSpeed();
 		NewMoveAvailable(1);
@@ -1114,9 +1099,8 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 		// The move to raise/lower the head to the correct dive height has been commanded.
 		if (LockMovementAndWaitForStandstill(gb))
 		{
-			// Head is at the dive height but needs to be moved to the correct XY position.
-			// The XY coordinates have already been stored.
-			moveBuffer.SetDefaults();
+			// Head is at the dive height but needs to be moved to the correct XY position. The XY coordinates have already been stored.
+			SetMoveBufferDefaults();
 			(void)reprap.GetMove().GetProbeCoordinates(g30ProbePointIndex, moveBuffer.coords[X_AXIS], moveBuffer.coords[Y_AXIS], true);
 			moveBuffer.coords[Z_AXIS] = platform.GetZProbeStartingHeight();
 			moveBuffer.feedRate = platform.GetZProbeTravelSpeed();
@@ -1186,7 +1170,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 			{
 				zProbeTriggered = false;
 				platform.SetProbing(true);
-				moveBuffer.SetDefaults();
+				SetMoveBufferDefaults();
 				moveBuffer.endStopsToCheck = ZProbeActive;
 				moveBuffer.coords[Z_AXIS] = (GetAxisIsHomed(Z_AXIS))
 											? -platform.GetZProbeDiveHeight()			// Z axis has been homed, so no point in going very far
@@ -1267,7 +1251,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 
 	case GCodeState::probingAtPoint4a:
 		// Move back up to the dive height before we change anything, in particular before we adjust leadscrews
-		moveBuffer.SetDefaults();
+		SetMoveBufferDefaults();
 		moveBuffer.coords[Z_AXIS] = platform.GetZProbeStartingHeight();
 		moveBuffer.feedRate = platform.GetZProbeTravelSpeed();
 		NewMoveAvailable(1);
@@ -1387,12 +1371,8 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 			const AxesBitmap xAxes = reprap.GetCurrentXAxes();
 			const AxesBitmap yAxes = reprap.GetCurrentYAxes();
 			reprap.GetMove().GetCurrentUserPosition(moveBuffer.coords, 0, xAxes, yAxes);
+			SetMoveBufferDefaults();
 			moveBuffer.coords[Z_AXIS] += retractHop;
-			for (size_t i = numTotalAxes; i < MaxTotalDrivers; ++i)
-			{
-				moveBuffer.coords[i] = 0.0;
-			}
-			moveBuffer.SetDefaults();
 			moveBuffer.feedRate = platform.MaxFeedrate(Z_AXIS);
 			moveBuffer.filePos = (&gb == fileGCode) ? gb.GetFilePosition(fileInput->BytesCached()) : noFilePosition;
 			moveBuffer.canPauseAfter = false;			// don't pause after a retraction because that could cause too much retraction
@@ -1412,15 +1392,11 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 				const uint32_t xAxes = reprap.GetCurrentXAxes();
 				const uint32_t yAxes = reprap.GetCurrentYAxes();
 				reprap.GetMove().GetCurrentUserPosition(moveBuffer.coords, 0, xAxes, yAxes);
-				for (size_t i = numTotalAxes; i < MaxTotalDrivers; ++i)
-				{
-					moveBuffer.coords[i] = 0.0;
-				}
+				SetMoveBufferDefaults();
 				for (size_t i = 0; i < tool->DriveCount(); ++i)
 				{
 					moveBuffer.coords[numTotalAxes + tool->Drive(i)] = retractLength + retractExtra;
 				}
-				moveBuffer.SetDefaults();
 				moveBuffer.feedRate = unRetractSpeed;
 				moveBuffer.isFirmwareRetraction = true;
 				moveBuffer.filePos = (&gb == fileGCode) ? gb.MachineState().fileState.GetPosition() - fileInput->BytesCached() : noFilePosition;
@@ -1634,7 +1610,7 @@ void GCodes::EndSimulation(GCodeBuffer *gb)
 	// Ending a simulation, so restore the position
 	RestorePosition(simulationRestorePoint, gb);
 	ToolOffsetTransform(currentUserPosition, moveBuffer.coords);
-	reprap.GetMove().SetNewPosition(simulationRestorePoint.moveCoords, true);
+	reprap.GetMove().SetNewPosition(moveBuffer.coords, true);
 	axesHomed = axesHomedBeforeSimulation;
 }
 
@@ -1775,7 +1751,7 @@ void GCodes::DoPause(GCodeBuffer& gb, PauseReason reason, const char *msg)
 #endif
 		}
 
-		// Replace the paused machine coordinates by user coordinates, which we updated earlier
+		// Replace the paused machine coordinates by user coordinates, which we updated earlier if they were returned by Move::PausePrint
 		for (size_t axis = 0; axis < numVisibleAxes; ++axis)
 		{
 			pauseRestorePoint.moveCoords[axis] = currentUserPosition[axis];
@@ -1901,6 +1877,10 @@ bool GCodes::DoEmergencyPause()
 	// Save the resume info, stop movement immediately and run the low voltage pause script to lift the nozzle etc.
 	GrabMovement(*autoPauseGCode);
 
+	// When we use RTOS there is a possible race condition in the following, because we might try to pause when a waiting move has just been added
+	// but before the gcode buffer has been re-initialised ready for the next command. So start a critical section.
+	TaskCriticalSectionLocker lock;
+
 	const bool movesSkipped = reprap.GetMove().LowPowerOrStallPause(pauseRestorePoint);
 	if (movesSkipped)
 	{
@@ -1927,8 +1907,6 @@ bool GCodes::DoEmergencyPause()
 		pauseRestorePoint.feedRate = fileGCode->MachineState().feedRate;
 		pauseRestorePoint.virtualExtruderPosition = virtualExtruderPosition;
 
-		// TODO: when we use RTOS there is a possible race condition in the following,
-		// because we might try to pause when a waiting move has just been added but before the gcode buffer has been re-initialised ready for the next command
 		pauseRestorePoint.filePos = fileGCode->GetFilePosition(fileInput->BytesCached());
 		pauseRestorePoint.proportionDone = 0.0;
 #if SUPPORT_LASER || SUPPORT_IOBITS
@@ -1936,6 +1914,8 @@ bool GCodes::DoEmergencyPause()
 #endif
 	}
 
+	codeQueue->PurgeEntries();
+
 	// Replace the paused machine coordinates by user coordinates, which we updated earlier
 	for (size_t axis = 0; axis < numVisibleAxes; ++axis)
 	{
@@ -2038,7 +2018,7 @@ bool GCodes::PauseOnStall(DriversBitmap stalledDrivers)
 		return false;
 	}
 
-	String<100> stallErrorString;
+	String<MediumStringLength> stallErrorString;
 	stallErrorString.printf("Stall detected on driver(s)");
 	ListDrivers(stallErrorString.GetRef(), stalledDrivers);
 	DoPause(*autoPauseGCode, PauseReason::stall, stallErrorString.c_str());
@@ -2331,6 +2311,13 @@ bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb)
 					virtualExtruderPosition = moveArg;
 				}
 
+				// rawExtruderTotal is used to calculate print progress, so it must be based on the requested extrusion before accounting for mixing,
+				// otherwise IDEX ditto printing and similar gives strange results
+				if (moveBuffer.moveType == 0 && !doingToolChange)
+				{
+					rawExtruderTotal += requestedExtrusionAmount;
+				}
+
 				for (size_t eDrive = 0; eDrive < eMoveCount; eDrive++)
 				{
 					const int drive = tool->Drive(eDrive);
@@ -2344,10 +2331,6 @@ bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb)
 						rawExtruderTotalByDrive[drive] += extrusionAmount;
 
 						// Don't count extrusion done in filament loading or tool change macros towards total filament consumed, it distorts the print progress
-						if (moveBuffer.moveType == 0 && !doingToolChange)
-						{
-							rawExtruderTotal += extrusionAmount;
-						}
 						moveBuffer.coords[drive + numTotalAxes] = extrusionAmount * extrusionFactors[drive];
 #if HAS_SMART_DRIVERS
 						if (moveBuffer.moveType == 1)
@@ -2431,13 +2414,6 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 			moveBuffer.yAxes = DefaultYAxisMapping;
 		}
 	}
-#if SUPPORT_WORKPLACE_COORDINATES
-	else if (gb.MachineState().UsingG54())
-	{
-		moveBuffer.xAxes = DefaultXAxisMapping;
-		moveBuffer.yAxes = DefaultYAxisMapping;
-	}
-#endif
 
 	// Check for 'R' parameter to move relative to a restore point
 	const RestorePoint * rp = nullptr;
@@ -2454,6 +2430,14 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 		}
 	}
 
+#if SUPPORT_WORKPLACE_COORDINATES
+	if (moveBuffer.moveType == 0 && rp == nullptr && gb.MachineState().UsingMachineCoordinates())
+	{
+		moveBuffer.xAxes = DefaultXAxisMapping;
+		moveBuffer.yAxes = DefaultYAxisMapping;
+	}
+#endif
+
 	// Check for laser power setting or IOBITS
 #if SUPPORT_LASER || SUPPORT_IOBITS
 	if (rp != nullptr)
@@ -2493,7 +2477,7 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 #endif
 #endif
 
-	if (moveBuffer.moveType != 0 || gb.MachineState().UsingG54())
+	if (moveBuffer.moveType != 0 || (rp == nullptr && gb.MachineState().UsingMachineCoordinates()))
 	{
 		// This may be a raw motor move, in which case we need the current raw motor positions in moveBuffer.coords.
 		// If it isn't a raw motor move, it will still be applied without axis or bed transform applied,
@@ -2520,7 +2504,7 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 
 			SetBit(axesMentioned, axis);
 			const float moveArg = gb.GetFValue() * distanceScale;
-			if (moveBuffer.moveType != 0 || gb.MachineState().UsingG54())
+			if (moveBuffer.moveType != 0 || (rp == nullptr && gb.MachineState().UsingMachineCoordinates()))
 			{
 				if (gb.MachineState().axesRelative)
 				{
@@ -2586,7 +2570,7 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 	}
 	else
 	{
-		if (gb.MachineState().UsingG54())
+		if (rp == nullptr && gb.MachineState().UsingMachineCoordinates())
 		{
 			gb.SetState(GCodeState::waitingForSpecialMoveToComplete);			// we need to update the user coordinates after the move
 		}
@@ -2598,6 +2582,12 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 			}
 
 			ToolOffsetTransform(currentUserPosition, moveBuffer.coords, axesMentioned);	// apply tool offset, axis mapping, baby stepping, Z hop and axis scaling
+
+			// If we are emulating Marlin for nanoDLP then we need to set a special end state
+			if (platform.Emulating() == Compatibility::nanoDLP && &gb == serialGCode && !DoingFileMacro())
+			{
+				gb.SetState(GCodeState::waitingForSpecialMoveToComplete);
+			}
 		}
 
 		AxesBitmap effectiveAxesHomed = axesHomed;
@@ -2830,6 +2820,9 @@ const char* GCodes::DoArcMove(GCodeBuffer& gb, bool clockwise)
 	}
 
 	// Compute how many segments we need to move, but don't store it yet
+	// For the arc to deviate up to MaxArcDeviation from the ideal, the segment length should be sqrt(8 * arcRadius * MaxArcDeviation + fsquare(MaxArcDeviation))
+	// We leave out the square term because it is very small
+	const float arcSegmentLength = constrain<float>(sqrt(8 * arcRadius * MaxArcDeviation), MinArcSegmentLength, MaxArcSegmentLength);
 	totalSegments = max<unsigned int>((unsigned int)((arcRadius * totalArc)/arcSegmentLength + 0.8), 1u);
 	arcAngleIncrement = totalArc/totalSegments;
 	if (clockwise)
@@ -3782,6 +3775,7 @@ void GCodes::HandleReply(GCodeBuffer& gb, GCodeResult rslt, const char* reply)
 		}
 		break;
 
+	case Compatibility::nanoDLP:		// nanoDLP is like Marlin except that G0 and G1 commands return "Z_move_comp<LF>" before "ok<LF>"
 	case Compatibility::marlin:
 		// We don't need to handle M20 here because we always allocate an output buffer for that one
 		if (gb.GetCommandLetter() == 'M' && gb.GetCommandNumber() == 28)
@@ -3854,6 +3848,7 @@ void GCodes::HandleReply(GCodeBuffer& gb, OutputBuffer *reply)
 		return;
 
 	case Compatibility::marlin:
+	case Compatibility::nanoDLP:
 		if (gb.GetCommandLetter() =='M' && gb.GetCommandNumber() == 20)
 		{
 			platform.Message(type, "Begin file list\n");
@@ -4171,11 +4166,7 @@ GCodeResult GCodes::RetractFilament(GCodeBuffer& gb, bool retract)
 		const uint32_t xAxes = reprap.GetCurrentXAxes();
 		const uint32_t yAxes = reprap.GetCurrentYAxes();
 		reprap.GetMove().GetCurrentUserPosition(moveBuffer.coords, 0, xAxes, yAxes);
-		for (size_t i = numTotalAxes; i < MaxTotalDrivers; ++i)
-		{
-			moveBuffer.coords[i] = 0.0;
-		}
-		moveBuffer.SetDefaults();
+		SetMoveBufferDefaults();
 		moveBuffer.isFirmwareRetraction = true;
 		moveBuffer.filePos = (&gb == fileGCode) ? gb.GetFilePosition(fileInput->BytesCached()) : noFilePosition;
 		moveBuffer.xAxes = xAxes;
@@ -4421,7 +4412,7 @@ void GCodes::StopPrint(StopPrintReason reason)
 			}
 		}
 
-		if (platform.Emulating() == Compatibility::marlin)
+		if (platform.EmulatingMarlin())
 		{
 			// Pronterface expects a "Done printing" message
 			platform.Message(UsbMessage, "Done printing file\n");
@@ -4470,7 +4461,8 @@ void GCodes::UpdateCurrentUserPosition()
 	ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);
 }
 
-// Save position to a restore point
+// Save position to a restore point.
+// Note that restore point coordinates are not affected by workplace coordinate offsets. This allows them to be use din resume.g.
 void GCodes::SavePosition(RestorePoint& rp, const GCodeBuffer& gb) const
 {
 	for (size_t axis = 0; axis < numVisibleAxes; ++axis)
@@ -4514,13 +4506,7 @@ void GCodes::ToolOffsetTransform(const float coordsIn[MaxAxes], float coordsOut[
 	{
 		for (size_t axis = 0; axis < numVisibleAxes; ++axis)
 		{
-			const float totalOffset =
-#if SUPPORT_WORKPLACE_COORDINATES
-				workplaceCoordinates[currentCoordinateSystem][axis];
-#else
-				axisOffsets[axis];
-#endif
-			coordsOut[axis] = (coordsIn[axis] * axisScaleFactors[axis]) + totalOffset;
+			coordsOut[axis] = (coordsIn[axis] * axisScaleFactors[axis]) + GetWorkplaceOffset(axis);
 		}
 	}
 	else
@@ -4533,13 +4519,7 @@ void GCodes::ToolOffsetTransform(const float coordsIn[MaxAxes], float coordsOut[
 				&& (axis != Y_AXIS || IsBitSet(yAxes, Y_AXIS))
 			   )
 			{
-				const float totalOffset =
-#if SUPPORT_WORKPLACE_COORDINATES
-					workplaceCoordinates[currentCoordinateSystem][axis]
-#else
-					axisOffsets[axis]
-#endif
-					- currentTool->GetOffset(axis);
+				const float totalOffset = GetWorkplaceOffset(axis) - currentTool->GetOffset(axis);
 				const size_t inputAxis = (IsBitSet(explicitAxes, axis)) ? axis
 										: (IsBitSet(xAxes, axis)) ? X_AXIS
 											: (IsBitSet(yAxes, axis)) ? Y_AXIS
@@ -4560,13 +4540,7 @@ void GCodes::ToolOffsetInverseTransform(const float coordsIn[MaxAxes], float coo
 	{
 		for (size_t axis = 0; axis < numVisibleAxes; ++axis)
 		{
-			const float totalOffset =
-#if SUPPORT_WORKPLACE_COORDINATES
-				workplaceCoordinates[currentCoordinateSystem][axis];
-#else
-				axisOffsets[axis];
-#endif
-			coordsOut[axis] = (coordsIn[axis] - totalOffset) / axisScaleFactors[axis];
+			coordsOut[axis] = (coordsIn[axis] - GetWorkplaceOffset(axis)) / axisScaleFactors[axis];
 		}
 	}
 	else
@@ -4577,13 +4551,7 @@ void GCodes::ToolOffsetInverseTransform(const float coordsIn[MaxAxes], float coo
 		size_t numXAxes = 0, numYAxes = 0;
 		for (size_t axis = 0; axis < numVisibleAxes; ++axis)
 		{
-			const float totalOffset =
-#if SUPPORT_WORKPLACE_COORDINATES
-				workplaceCoordinates[currentCoordinateSystem][axis]
-#else
-				axisOffsets[axis]
-#endif
-				- currentTool->GetOffset(axis);
+			const float totalOffset = GetWorkplaceOffset(axis) - currentTool->GetOffset(axis);
 			coordsOut[axis] = coordsIn[axis]/axisScaleFactors[axis] - totalOffset;
 			if (IsBitSet(xAxes, axis))
 			{
@@ -4725,7 +4693,7 @@ GCodeResult GCodes::WriteConfigOverrideFile(GCodeBuffer& gb, const StringRef& re
 		return GCodeResult::error;
 	}
 
-	bool ok = f->Write("; This is a system-generated file - do not edit\n");
+	bool ok = WriteConfigOverrideHeader(f);
 	if (ok)
 	{
 		ok = reprap.GetMove().GetKinematics().WriteCalibrationParameters(f);
@@ -4773,6 +4741,28 @@ GCodeResult GCodes::WriteConfigOverrideFile(GCodeBuffer& gb, const StringRef& re
 	return GCodeResult::ok;
 }
 
+// Write the config-override header returning true if success
+// This is implemented as a separate function to avoid allocating a buffer on the stack and then calling functions that also allocate buffers on the stack
+bool GCodes::WriteConfigOverrideHeader(FileStore *f) const
+{
+	String<MaxFilenameLength> buf;
+	buf.copy("; config-override.g file generated in response to M500");
+	if (platform.IsDateTimeSet())
+	{
+		time_t timeNow = platform.GetDateTime();
+		const struct tm * const timeInfo = gmtime(&timeNow);
+		buf.catf(" at %04u-%02u-%02u %02u:%02u",
+						timeInfo->tm_year + 1900, timeInfo->tm_mon + 1, timeInfo->tm_mday, timeInfo->tm_hour, timeInfo->tm_min);
+	}
+	buf.cat('\n');
+	bool ok = f->Write(buf.c_str());
+	if (ok)
+	{
+		ok = f->Write("; This is a system-generated file - do not edit\n");
+	}
+	return ok;
+}
+
 // Report the temperatures of one tool in M105 format
 void GCodes::ReportToolTemperatures(const StringRef& reply, const Tool *tool, bool includeNumber) const
 {
@@ -4861,7 +4851,7 @@ void GCodes::CheckReportDue(GCodeBuffer& gb, const StringRef& reply) const
 	{
 		if (now - gb.whenTimerStarted >= 1000)
 		{
-			if (platform.Emulating() == Compatibility::marlin && (&gb == serialGCode || &gb == telnetGCode))
+			if (platform.EmulatingMarlin() && (&gb == serialGCode || &gb == telnetGCode))
 			{
 				// In Marlin emulation mode we should return a standard temperature report every second
 				GenerateTemperatureReport(reply);
@@ -4920,6 +4910,23 @@ OutputBuffer *GCodes::GenerateJsonStatusResponse(int type, int seq, ResponseSour
 	return statusResponse;
 }
 
+// Set up some default values in the move buffer for special moves, e.g. for Z probing and firmware retraction
+void GCodes::SetMoveBufferDefaults()
+{
+	moveBuffer.moveType = 0;
+	moveBuffer.isCoordinated = false;
+	moveBuffer.usingStandardFeedrate = false;
+	moveBuffer.usePressureAdvance = false;
+	moveBuffer.endStopsToCheck = 0;
+	moveBuffer.filePos = noFilePosition;
+	moveBuffer.xAxes = DefaultXAxisMapping;
+	moveBuffer.yAxes = DefaultYAxisMapping;
+	for (size_t drive = numTotalAxes; drive < MaxTotalDrivers; ++drive)
+	{
+		moveBuffer.coords[drive] = 0.0;			// clear extrusion
+	}
+}
+
 // Resource locking/unlocking
 
 // Lock the resource, returning true if success.
diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h
index 059cf400..ac096872 100644
--- a/src/GCodes/GCodes.h
+++ b/src/GCodes/GCodes.h
@@ -130,8 +130,6 @@ public:
 		uint8_t hasExtrusion : 1;										// true if the move includes extrusion - only valid if the move was set up by SetupMove
 		uint8_t isCoordinated : 1;										// true if this is a coordinates move
 		uint8_t usingStandardFeedrate : 1;								// true if this move uses the standard feed rate
-
-		void SetDefaults();												// set up default values
 	};
 
 	GCodes(Platform& p);
@@ -367,6 +365,8 @@ private:
 	GCodeResult ChangeSimulationMode(GCodeBuffer& gb, const StringRef &reply, uint32_t newSimulationMode);		// Handle M37 to change the simulation mode
 
 	GCodeResult WriteConfigOverrideFile(GCodeBuffer& gb, const StringRef& reply) const; // Write the config-override file
+	bool WriteConfigOverrideHeader(FileStore *f) const;							// Write the config-override header
+
 	void CopyConfigFinalValues(GCodeBuffer& gb);							// Copy the feed rate etc. from the daemon to the input channels
 
 	void ClearBabyStepping() { currentBabyStepZOffset = 0.0; }
@@ -386,11 +386,22 @@ private:
 	void NewMoveAvailable(unsigned int sl);								// Flag that a new move is available
 	void NewMoveAvailable();											// Flag that a new move is available
 
+	void SetMoveBufferDefaults();										// Set up default values in the move buffer
+
 #if SUPPORT_12864_LCD
 	int GetHeaterNumber(unsigned int itemNumber) const;
 #endif
 	Pwm_t ConvertLaserPwm(float reqVal) const;
 
+	inline float GetWorkplaceOffset(size_t axis) const
+	{
+#if SUPPORT_WORKPLACE_COORDINATES
+		return workplaceCoordinates[currentCoordinateSystem][axis];
+#else
+		return axisOffsets[axis];
+#endif
+	}
+
 #ifdef SERIAL_AUX_DEVICE
 	static bool emergencyStopCommanded;
 	static void CommandEmergencyStop(UARTClass *p);
@@ -482,7 +493,6 @@ private:
 	float rawExtruderTotalByDrive[MaxExtruders]; // Extrusion amount in the last G1 command with an E parameter when in absolute extrusion mode
 	float rawExtruderTotal;						// Total extrusion amount fed to Move class since starting print, before applying extrusion factor, summed over all drives
 	float distanceScale;						// MM or inches
-	float arcSegmentLength;						// Length of segments that we split arc moves into
 
 #if SUPPORT_WORKPLACE_COORDINATES
 	static const size_t NumCoordinateSystems = 9;
@@ -599,6 +609,7 @@ private:
 	static constexpr const char* RESUME_AFTER_POWER_FAIL_G = "resurrect.g";
 	static constexpr const char* RESUME_PROLOGUE_G = "resurrect-prologue.g";
 	static constexpr const char* FILAMENT_CHANGE_G = "filament-change.g";
+	static constexpr const char* PEEL_MOVE_G = "peel-move.g";
 #if HAS_SMART_DRIVERS
 	static constexpr const char* REHOME_G = "rehome.g";
 #endif
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index 1ef0c8d1..a62735ce 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -615,7 +615,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 					outBuf->copy("GCode files:\n");
 				}
 
-				bool encapsulateList = ((&gb != serialGCode && &gb != telnetGCode) || platform.Emulating() != Compatibility::marlin);
+				bool encapsulateList = ((&gb != serialGCode && &gb != telnetGCode) || !platform.EmulatingMarlin());
 				FileInfo fileInfo;
 				if (platform.GetMassStorage()->FindFirst(dir.c_str(), fileInfo))
 				{
@@ -623,11 +623,11 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 					do {
 						if (encapsulateList)
 						{
-							outBuf->catf("%c%s%c%c", FILE_LIST_BRACKET, fileInfo.fileName, FILE_LIST_BRACKET, FILE_LIST_SEPARATOR);
+							outBuf->catf("%c%s%c%c", FILE_LIST_BRACKET, fileInfo.fileName.c_str(), FILE_LIST_BRACKET, FILE_LIST_SEPARATOR);
 						}
 						else
 						{
-							outBuf->catf("%s\n", fileInfo.fileName);
+							outBuf->catf("%s\n", fileInfo.fileName.c_str());
 						}
 					} while (platform.GetMassStorage()->FindNext(fileInfo));
 
@@ -688,7 +688,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 				if (QueueFileToPrint(filename.c_str(), reply))
 				{
 					reprap.GetPrintMonitor().StartingPrint(filename.c_str());
-					if (platform.Emulating() == Compatibility::marlin && (&gb == serialGCode || &gb == telnetGCode))
+					if (platform.EmulatingMarlin() && (&gb == serialGCode || &gb == telnetGCode))
 					{
 						reply.copy("File opened\nFile selected");
 					}
@@ -779,8 +779,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 		}
 		break;
 
-	case 226: // Gcode Initiated Pause
-		if (&gb == fileGCode)						// ignore M226 if it did't come from within a file being printed
+	case 226: // Synchronous pause, normally initiated from within the file being printed
+		if (!isPaused && !IsPausing())
 		{
 			if (gb.IsDoingFileMacro())
 			{
@@ -788,7 +788,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 			}
 			else
 			{
-				if (!LockMovement(gb))				// lock movement before calling DoPause
+				if (!LockMovementAndWaitForStandstill(gb))	// lock movement before calling DoPause, also wait for movement to complete
 				{
 					return false;
 				}
@@ -797,8 +797,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 		}
 		break;
 
-	case 600: // Filament change pause
-		if (&gb == fileGCode)						// ignore M600 if it did't come from within a file being printed
+	case 600: // Filament change pause, synchronous
+		if (!isPaused && !IsPausing())
 		{
 			if (gb.IsDoingFileMacro())
 			{
@@ -806,7 +806,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 			}
 			else
 			{
-				if (!LockMovement(gb))				// lock movement before calling DoPause
+				if (!LockMovementAndWaitForStandstill(gb))	// lock movement before calling DoPause, also wait for movement to complete
 				{
 					return false;
 				}
@@ -1533,7 +1533,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 
 	case 117:	// Display message
 		{
-			String<MaxFilenameLength> msg;
+			String<MediumStringLength> msg;
 			gb.GetUnprecedentedString(msg.GetRef());
 			reprap.SetMessage(msg.c_str());
 		}
@@ -2180,7 +2180,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 			if (amountPushed != difference && segmentsLeft == 0 && reprap.GetMove().AllMovesAreFinished())
 			{
 				// The pipeline is empty, so execute the babystepping move immediately
-				moveBuffer.SetDefaults();
+				SetMoveBufferDefaults();
 				moveBuffer.feedRate = platform.MaxFeedrate(Z_AXIS);
 				NewMoveAvailable(1);
 			}
@@ -2527,7 +2527,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 #if SUPPORT_OBJECT_MODEL
 			case 1:
 				{
-					String<MaxFilenameLength> filter;
+					String<MediumStringLength> filter;
 					bool dummy;
 					gb.TryGetQuotedString('F', filter.GetRef(), dummy);
 					if (!OutputBuffer::Allocate(outBuf))
@@ -2755,7 +2755,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 
 	case 550: // Set/report machine name
 		{
-			String<MACHINE_NAME_LENGTH> name;
+			String<MachineNameLength> name;
 			bool seen = false;
 			gb.TryGetPossiblyQuotedString('P', name.GetRef(), seen);
 			if (seen)
@@ -2771,7 +2771,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 
 	case 551: // Set password (no option to report it)
 		{
-			String<PASSWORD_LENGTH> password;
+			String<RepRapPasswordLength> password;
 			bool seen = false;
 			gb.TryGetPossiblyQuotedString('P', password.GetRef(), seen);
 			if (seen)
@@ -2899,7 +2899,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 			{
 			case Compatibility::me:
 			case Compatibility::reprapFirmware:
-				reply.cat("RepRap Firmware (i.e. in native mode)");
+				reply.cat("RepRapFirmware (i.e. in native mode)");
 				break;
 
 			case Compatibility::marlin:
@@ -2918,6 +2918,10 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 				reply.cat("Repetier");
 				break;
 
+			case Compatibility::nanoDLP:
+				reply.cat("nanoDLP");
+				break;
+
 			default:
 				reply.catf("Unknown: (%u)", (unsigned int)platform.Emulating());
 			}
@@ -3534,6 +3538,17 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 
 	// For case 600, see 226
 
+	case 650:	// Set peel move parameters - ignored
+		break;
+
+	case 651:	// Execute DLP peel move
+		if (!LockMovementAndWaitForStandstill(gb))
+		{
+			return false;
+		}
+		DoFileMacro(gb, PEEL_MOVE_G, true);
+		break;
+
 	case 665: // Set delta configuration
 		if (!LockMovementAndWaitForStandstill(gb))
 		{
diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp
index 0eb7120b..428b2ab0 100644
--- a/src/GCodes/GCodes3.cpp
+++ b/src/GCodes/GCodes3.cpp
@@ -120,7 +120,7 @@ GCodeResult GCodes::SetPrintZProbe(GCodeBuffer& gb, const StringRef& reply)
 }
 
 // Deal with G60
-GCodeResult GCodes::SavePosition(GCodeBuffer& gb,const  StringRef& reply)
+GCodeResult GCodes::SavePosition(GCodeBuffer& gb, const StringRef& reply)
 {
 	const uint32_t sParam = (gb.Seen('S')) ? gb.GetUIValue() : 0;
 	if (sParam < ARRAY_SIZE(numberedRestorePoints))
@@ -201,7 +201,7 @@ GCodeResult GCodes::OffsetAxes(GCodeBuffer& gb, const StringRef& reply)
 		if (gb.Seen(axisLetters[axis]))
 		{
 #if SUPPORT_WORKPLACE_COORDINATES
-			workplaceCoordinates[0][axis]
+			workplaceCoordinates[currentCoordinateSystem][axis]
 #else
 			axisOffsets[axis]
 #endif
@@ -450,7 +450,7 @@ GCodeResult GCodes::SimulateFile(GCodeBuffer& gb, const StringRef &reply, const
 		{
 			axesHomedBeforeSimulation = axesHomed;
 			axesHomed = LowestNBits<AxesBitmap>(numVisibleAxes);	// pretend all axes are homed
-			reprap.GetMove().GetCurrentUserPosition(simulationRestorePoint.moveCoords, 0, reprap.GetCurrentXAxes(), reprap.GetCurrentYAxes());
+			SavePosition(simulationRestorePoint, gb);
 			simulationRestorePoint.feedRate = gb.MachineState().feedRate;
 		}
 		simulationTime = 0.0;
@@ -488,8 +488,7 @@ GCodeResult GCodes::ChangeSimulationMode(GCodeBuffer& gb, const StringRef &reply
 				// Starting a new simulation, so save the current position
 				axesHomedBeforeSimulation = axesHomed;
 				axesHomed = LowestNBits<AxesBitmap>(numVisibleAxes);	// pretend all axes are homed
-				reprap.GetMove().GetCurrentUserPosition(simulationRestorePoint.moveCoords, 0, reprap.GetCurrentXAxes(), reprap.GetCurrentYAxes());
-				simulationRestorePoint.feedRate = gb.MachineState().feedRate;
+				SavePosition(simulationRestorePoint, gb);
 			}
 			simulationTime = 0.0;
 		}
@@ -736,22 +735,20 @@ GCodeResult GCodes::DoDriveMapping(GCodeBuffer& gb, const StringRef& reply)
 			{
 				++drive;
 			}
-			if (drive < MaxAxes)
+			if (drive == numTotalAxes && drive < MaxAxes)
 			{
-				if (drive == numTotalAxes)
-				{
-					axisLetters[drive] = c;						// assign the drive to this drive letter
-					moveBuffer.coords[drive] = 0.0;				// user has defined a new axis, so set its position
-					currentUserPosition[drive] = 0.0;			// set its requested user position too in case it is visible
-					++numTotalAxes;
-					numVisibleAxes = numTotalAxes;				// assume any new axes are visible unless there is a P parameter
-					reprap.GetMove().SetNewPosition(moveBuffer.coords, true);	// tell the Move system where the new axis is
-				}
-				platform.SetAxisDriversConfig(drive, config);
-				if (numTotalAxes + numExtruders > MaxTotalDrivers)
-				{
-					numExtruders = MaxTotalDrivers - numTotalAxes;		// if we added axes, we may have fewer extruders now
-				}
+				axisLetters[drive] = c;								// assign the drive to this drive letter
+				++numTotalAxes;
+				numVisibleAxes = numTotalAxes;						// assume any new axes are visible unless there is a P parameter
+				float initialCoords[MaxAxes];
+				reprap.GetMove().GetKinematics().GetAssumedInitialPosition(drive + 1, initialCoords);
+				moveBuffer.coords[drive] = initialCoords[drive];	// user has defined a new axis, so set its position
+				ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);
+			}
+			platform.SetAxisDriversConfig(drive, config);
+			if (numTotalAxes + numExtruders > MaxTotalDrivers)
+			{
+				numExtruders = MaxTotalDrivers - numTotalAxes;		// if we added axes, we may have fewer extruders now
 			}
 		}
 		++lettersToTry;
@@ -787,7 +784,10 @@ GCodeResult GCodes::DoDriveMapping(GCodeBuffer& gb, const StringRef& reply)
 
 	if (seen)
 	{
-		UpdateCurrentUserPosition();			// make sure that any new visible axes are up to date
+		// In the DDA ring, the axis positions for invisible non-moving axes are not always copied over from previous moves.
+		// So if we have more visible axes than before, then we need to update their positions to get them in sync.
+		// We could do this only when we increase the number of visible axes, but for simplicity we do it always.
+		reprap.GetMove().SetNewPosition(moveBuffer.coords, true);		// tell the Move system where the axes are
 	}
 	else
 	{
@@ -844,7 +844,7 @@ GCodeResult GCodes::ProbeTool(GCodeBuffer& gb, const StringRef& reply)
 			}
 
 			// Save the current axis coordinates
-			memcpy(toolChangeRestorePoint.moveCoords, currentUserPosition, ARRAY_SIZE(currentUserPosition) * sizeof(currentUserPosition[0]));
+			SavePosition(toolChangeRestorePoint, gb);
 
 			// Prepare another move similar to G1 .. S3
 			moveBuffer.moveType = 3;
diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp
index 0278e53a..ae0a5bc6 100644
--- a/src/Movement/DDA.cpp
+++ b/src/Movement/DDA.cpp
@@ -290,17 +290,17 @@ bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping)
 	for (size_t drive = 0; drive < MaxTotalDrivers; drive++)
 	{
 		accelerations[drive] = normalAccelerations[drive];
-		if (drive >= numTotalAxes || (!doMotorMapping && drive < numVisibleAxes))
-		{
-			endPoint[drive] = Move::MotorEndPointToMachine(drive, nextMove.coords[drive]);
-		}
-
 		endCoordinates[drive] = nextMove.coords[drive];
-		int32_t delta;
+		int32_t delta;													// this will be the net number of steps
+
 		if (drive < numTotalAxes)
 		{
+			if (!doMotorMapping && drive < numVisibleAxes)
+			{
+				endPoint[drive] = Move::MotorMovementToSteps(drive, nextMove.coords[drive]);
+			}
 			delta = endPoint[drive] - positionNow[drive];
-			if (k.IsContinuousRotationAxis(drive) && nextMove.moveType != 1 && nextMove.moveType != 2)
+			if (k.IsContinuousRotationAxis(drive) && nextMove.moveType == 0)
 			{
 				const int32_t stepsPerRotation = lrintf(360.0 * reprap.GetPlatform().DriveStepsPerUnit(drive));
 				if (delta > stepsPerRotation/2)
@@ -312,27 +312,34 @@ bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping)
 					delta += stepsPerRotation;
 				}
 			}
-		}
-		else
-		{
-			delta = endPoint[drive];
-		}
-
-		if (drive < numTotalAxes && doMotorMapping)
-		{
-			const float positionDelta = nextMove.coords[drive] - prev->GetEndCoordinate(drive, false);
-			directionVector[drive] = positionDelta;
-			if (positionDelta != 0.0 && (IsBitSet(nextMove.yAxes, drive) || IsBitSet(nextMove.xAxes, drive)))
+			if (doMotorMapping)
+			{
+				const float positionDelta = nextMove.coords[drive] - prev->GetEndCoordinate(drive, false);
+				directionVector[drive] = positionDelta;
+				if (positionDelta != 0.0 && (IsBitSet(nextMove.yAxes, drive) || IsBitSet(nextMove.xAxes, drive)))
+				{
+					xyMoving = true;
+				}
+			}
+			else
 			{
-				xyMoving = true;
+				directionVector[drive] = (float)delta/reprap.GetPlatform().DriveStepsPerUnit(drive);
 			}
 		}
 		else
 		{
-			directionVector[drive] = (float)delta/reprap.GetPlatform().DriveStepsPerUnit(drive);
-			if (drive >= numTotalAxes && nextMove.coords[drive] > 0.0)
+			// It's an extruder drive. We defer calculating the steps because they may be affected by nonlinear extrusion, which we can't calculate until we
+			// know the speed of the move, and because extruder movement is relative so we need to accumulate fractions of a whole step between moves.
+			const float movement = nextMove.coords[drive];
+			directionVector[drive] = movement;
+			if (movement != 0.0)
 			{
-				extruding = true;						// flag this move as extruding even if the number of extruder microsteps is zero
+				extruding = true;
+				delta = (movement > 0.0) ? 1 : -1;		// set 1 step for now, it will be recalculated later
+			}
+			else
+			{
+				delta = 0;
 			}
 		}
 
@@ -347,8 +354,6 @@ bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping)
 			if (drive >= numTotalAxes)
 			{
 				// It's an extruder movement
-				nextMove.coords[drive] -= directionVector[drive];
-														// subtract the amount of extrusion we actually did to leave the residue outstanding
 				if (xyMoving && nextMove.usePressureAdvance)
 				{
 					const float compensationTime = reprap.GetPlatform().GetPressureAdvance(drive - numTotalAxes);
@@ -1044,7 +1049,7 @@ pre(disableDeltaMapping || drive < MaxAxes)
 {
 	if (disableMotorMapping)
 	{
-		return Move::MotorEndpointToPosition(endPoint[drive], drive);
+		return Move::MotorStepsToMovement(drive, endPoint[drive]);
 	}
 	else
 	{
@@ -1177,7 +1182,7 @@ inline void DDA::AdjustAcceleration()
 
 // Prepare this DDA for execution.
 // This must not be called with interrupts disabled, because it calls Platform::EnableDrive.
-void DDA::Prepare(uint8_t simMode)
+void DDA::Prepare(uint8_t simMode, float extrusionPending[])
 {
 	if (   xyMoving
 		&& reprap.GetMove().IsDRCenabled()
@@ -1246,7 +1251,7 @@ void DDA::Prepare(uint8_t simMode)
 #endif
 
 		// Handle all drivers
-		const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
+		const size_t numTotalAxes = reprap.GetGCodes().GetTotalAxes();
 		Platform& platform = reprap.GetPlatform();
 		for (size_t drive = 0; drive < NumDirectDrivers; ++drive)
 		{
@@ -1269,7 +1274,7 @@ void DDA::Prepare(uint8_t simMode)
 					else
 					{
 						reprap.GetPlatform().EnableDrive(drive);
-						if (drive >= numAxes)
+						if (drive >= numTotalAxes)
 						{
 							// If there is any extruder jerk in this move, in theory that means we need to instantly extrude or retract some amount of filament.
 							// Pass the speed change to PrepareExtruder
@@ -1283,7 +1288,7 @@ void DDA::Prepare(uint8_t simMode)
 							{
 								speedChange = 0.0;
 							}
-							pdm->PrepareExtruder(*this, params, speedChange, usePressureAdvance);
+							pdm->PrepareExtruder(*this, params, extrusionPending[drive - numTotalAxes], speedChange, usePressureAdvance);
 
 							// Check for sensible values, print them if they look dubious
 							if (reprap.Debug(moduleDda)
@@ -1350,7 +1355,7 @@ void DDA::Prepare(uint8_t simMode)
 				}
 				else
 				{
-					if (drive < numAxes)
+					if (drive < numTotalAxes)
 					{
 						const AxisDriversConfig& config = platform.GetAxisDriversConfig(drive);
 						for (size_t i = 0; i < config.numDrivers; ++i)
@@ -1364,7 +1369,7 @@ void DDA::Prepare(uint8_t simMode)
 					}
 					else
 					{
-						const uint8_t driver = platform.GetExtruderDriver(drive - numAxes);
+						const uint8_t driver = platform.GetExtruderDriver(drive - numTotalAxes);
 						if (driver >= NumDirectDrivers)
 						{
 							CanInterface::AddMovement(*this, params, driver - NumDirectDrivers, *pdm);
diff --git a/src/Movement/DDA.h b/src/Movement/DDA.h
index f506373e..452bcdd5 100644
--- a/src/Movement/DDA.h
+++ b/src/Movement/DDA.h
@@ -39,7 +39,8 @@ public:
 
 	DDA(DDA* n);
 
-	bool Init(GCodes::RawMove &nextMove, bool doMotorMapping) __attribute__ ((hot));	// Set up a new move, returning true if it represents real movement
+	bool Init(GCodes::RawMove &nextMove, bool doMotorMapping) __attribute__ ((hot));
+																	// Set up a new move, returning true if it represents real movement
 	bool Init(const float_t steps[MaxTotalDrivers]);				// Set up a raw (unmapped) motor move
 	void Init();													// Set up initial positions for machine startup
 	bool Start(uint32_t tim) __attribute__ ((hot));					// Start executing the DDA, i.e. move the move.
@@ -48,7 +49,7 @@ public:
 	void SetPrevious(DDA *p) { prev = p; }
 	void Complete() { state = completed; }
 	bool Free();
-	void Prepare(uint8_t simMode) __attribute__ ((hot));			// Calculate all the values and freeze this DDA
+	void Prepare(uint8_t simMode, float extrusionPending[]) __attribute__ ((hot));	// Calculate all the values and freeze this DDA
 	bool HasStepError() const;
 	bool CanPauseAfter() const { return canPauseAfter; }
 	bool IsPrintingMove() const { return isPrintingMove; }			// Return true if this involves both XY movement and extrusion
diff --git a/src/Movement/DriveMovement.cpp b/src/Movement/DriveMovement.cpp
index 54805798..02c9078d 100644
--- a/src/Movement/DriveMovement.cpp
+++ b/src/Movement/DriveMovement.cpp
@@ -171,35 +171,45 @@ void DriveMovement::PrepareDeltaAxis(const DDA& dda, const PrepParams& params)
 }
 
 // Prepare this DM for an extruder move
-void DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, float speedChange, bool doCompensation)
+void DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, float& extrusionPending, float speedChange, bool doCompensation)
 {
-	const float dv = dda.directionVector[drive];
-	float stepsPerMm = reprap.GetPlatform().DriveStepsPerUnit(drive) * fabsf(dv);
+	// Calculate the requested extrusion amount and a few other things
+	float dv = dda.directionVector[drive];
+	float extrusionRequired = dda.totalDistance * dv;
 	const size_t extruder = drive - reprap.GetGCodes().GetTotalAxes();
 
 #if SUPPORT_NONLINEAR_EXTRUSION
+	// Add the nonlinear extrusion correction to totalExtrusion
 	if (dda.isPrintingMove)
 	{
 		float a, b, limit;
 		if (reprap.GetPlatform().GetExtrusionCoefficients(extruder, a, b, limit))
 		{
-			const float averageExtrusionSpeed = (dda.totalDistance * dv * StepTimer::StepClockRate)/dda.clocksNeeded;
+			const float averageExtrusionSpeed = (extrusionRequired * StepTimer::StepClockRate)/dda.clocksNeeded;
 			const float factor = 1.0 + min<float>((averageExtrusionSpeed * a) + (averageExtrusionSpeed * averageExtrusionSpeed * b), limit);
-			stepsPerMm *= factor;
+			extrusionRequired *= factor;
 		}
 	}
 #endif
 
+	// Add on any fractional extrusion pending from the previous move
+	extrusionRequired += extrusionPending;
+	dv = extrusionRequired/dda.totalDistance;
+	direction = (dv >= 0.0);
+
+	const float rawStepsPerMm = reprap.GetPlatform().DriveStepsPerUnit(drive);
+	const float effectiveStepsPerMm = fabsf(dv) * rawStepsPerMm;
+
 	float compensationTime;
 	float accelCompensationDistance;
-	int32_t netSteps;
 
-	if (doCompensation && dv > 0.0)
+	if (doCompensation && direction)
 	{
 		// Calculate the pressure advance parameters
 		compensationTime = reprap.GetPlatform().GetPressureAdvance(extruder);
-		mp.cart.compensationClocks = roundU32(compensationTime * (float)StepTimer::StepClockRate);
-		mp.cart.accelCompensationClocks = roundU32(compensationTime * (float)StepTimer::StepClockRate * params.compFactor);
+		const float compensationClocks = compensationTime * (float)StepTimer::StepClockRate;
+		mp.cart.compensationClocks = roundU32(compensationClocks);
+		mp.cart.accelCompensationClocks = roundU32(compensationClocks * params.compFactor);
 
 #ifdef COMPENSATE_SPEED_CHANGES
 		// If there is a speed change at the start of the move, theoretically we should instantly advance or retard the filament by the associated compensation amount.
@@ -207,33 +217,40 @@ void DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, fl
 		const float factor = 1.0 + (speedChange * compensationTime)/dda.totalDistance;
 		stepsPerMm *= factor;
 #endif
-		// Recalculate the net total step count to allow for compensation. It may be negative.
-		const float compensationDistance = (dda.endSpeed - dda.startSpeed) * compensationTime;
-		netSteps = (int32_t)((dda.totalDistance + compensationDistance) * stepsPerMm);
+		// Calculate the net total extrusion to allow for compensation. It may be negative.
+		extrusionRequired += (dda.endSpeed - dda.startSpeed) * compensationTime * dv;
 
 		// Calculate the acceleration phase parameters
 		accelCompensationDistance = compensationTime * (dda.topSpeed - dda.startSpeed);
-		mp.cart.accelStopStep = (uint32_t)((dda.accelDistance + accelCompensationDistance) * stepsPerMm) + 1;
+		mp.cart.accelStopStep = (uint32_t)((dda.accelDistance + accelCompensationDistance) * effectiveStepsPerMm) + 1;
 	}
 	else
 	{
 		accelCompensationDistance = compensationTime = 0.0;
 		mp.cart.compensationClocks = mp.cart.accelCompensationClocks = 0;
-		netSteps = (int32_t)(dda.totalDistance * stepsPerMm);		// it may have changed from totalSteps if we are using nonlinear extrusion
 
 		// Calculate the acceleration phase parameters
-		mp.cart.accelStopStep = (uint32_t)(dda.accelDistance * stepsPerMm) + 1;
+		mp.cart.accelStopStep = (uint32_t)(dda.accelDistance * effectiveStepsPerMm) + 1;
 	}
 
-	mp.cart.twoCsquaredTimesMmPerStepDivA = roundU64((double)(StepTimer::StepClockRateSquared * 2)/((double)stepsPerMm * (double)dda.acceleration));
-	mp.cart.twoCsquaredTimesMmPerStepDivD = roundU64((double)(StepTimer::StepClockRateSquared * 2)/((double)stepsPerMm * (double)dda.deceleration));
+	int32_t netSteps = (int32_t)(extrusionRequired * rawStepsPerMm);
+	extrusionPending = extrusionRequired - (float)netSteps/rawStepsPerMm;
+
+	if (!direction)
+	{
+		netSteps = -netSteps;
+	}
+
+	// Note, netSteps may be negative at this point if we are applying pressure advance
+	mp.cart.twoCsquaredTimesMmPerStepDivA = roundU64((double)(StepTimer::StepClockRateSquared * 2)/((double)effectiveStepsPerMm * (double)dda.acceleration));
+	mp.cart.twoCsquaredTimesMmPerStepDivD = roundU64((double)(StepTimer::StepClockRateSquared * 2)/((double)effectiveStepsPerMm * (double)dda.deceleration));
 
 	// Constant speed phase parameters
-	mp.cart.mmPerStepTimesCKdivtopSpeed = (uint32_t)((float)((uint64_t)StepTimer::StepClockRate * K1)/(stepsPerMm * dda.topSpeed));
+	mp.cart.mmPerStepTimesCKdivtopSpeed = (uint32_t)((float)((uint64_t)StepTimer::StepClockRate * K1)/(effectiveStepsPerMm * dda.topSpeed));
 
 	// Calculate the deceleration and reverse phase parameters and update totalSteps
 	// First check whether there is any deceleration at all, otherwise we may get strange results because of rounding errors
-	if (dda.decelDistance * stepsPerMm < 0.5)		// if less than 1 deceleration step
+	if (dda.decelDistance * effectiveStepsPerMm < 0.5)		// if less than 1 deceleration step
 	{
 		totalSteps = (uint32_t)max<int32_t>(netSteps, 0);
 		mp.cart.decelStartStep = reverseStartStep = netSteps + 1;
@@ -242,7 +259,7 @@ void DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, fl
 	}
 	else
 	{
-		mp.cart.decelStartStep = (uint32_t)((params.decelStartDistance + accelCompensationDistance) * stepsPerMm) + 1;
+		mp.cart.decelStartStep = (uint32_t)((params.decelStartDistance + accelCompensationDistance) * effectiveStepsPerMm) + 1;
 		const int32_t initialDecelSpeedTimesCdivD = (int32_t)params.topSpeedTimesCdivD - (int32_t)mp.cart.compensationClocks;	// signed because it may be negative and we square it
 		const uint64_t initialDecelSpeedTimesCdivDSquared = isquare64(initialDecelSpeedTimesCdivD);
 		twoDistanceToStopTimesCsquaredDivD =
diff --git a/src/Movement/DriveMovement.h b/src/Movement/DriveMovement.h
index c0ed0cc6..7099feee 100644
--- a/src/Movement/DriveMovement.h
+++ b/src/Movement/DriveMovement.h
@@ -135,7 +135,7 @@ public:
 	bool CalcNextStepTimeDelta(const DDA &dda, bool live) __attribute__ ((hot));
 	void PrepareCartesianAxis(const DDA& dda, const PrepParams& params) __attribute__ ((hot));
 	void PrepareDeltaAxis(const DDA& dda, const PrepParams& params) __attribute__ ((hot));
-	void PrepareExtruder(const DDA& dda, const PrepParams& params, float speedChange, bool doCompensation) __attribute__ ((hot));
+	void PrepareExtruder(const DDA& dda, const PrepParams& params, float& extrusionPending, float speedChange, bool doCompensation) __attribute__ ((hot));
 	void ReduceSpeed(const DDA& dda, uint32_t inverseSpeedFactor);
 	void DebugPrint(char c, bool withDelta) const;
 	int32_t GetNetStepsLeft() const;
diff --git a/src/Movement/Kinematics/ScaraKinematics.cpp b/src/Movement/Kinematics/ScaraKinematics.cpp
index 4ec47dc1..eec4e998 100644
--- a/src/Movement/Kinematics/ScaraKinematics.cpp
+++ b/src/Movement/Kinematics/ScaraKinematics.cpp
@@ -98,6 +98,12 @@ bool ScaraKinematics::CalculateThetaAndPsi(const float machinePos[], bool isCoor
 		armMode = !armMode;
 	}
 
+	// Save the original and transformed coordinates so that we don't need to calculate them again if we are commanded to move to this position
+	cachedX = machinePos[0];
+	cachedY = machinePos[1];
+	cachedTheta = theta;
+	cachedPsi = psi;
+	cachedArmMode = armMode;
 	return true;
 }
 
@@ -143,8 +149,12 @@ void ScaraKinematics::MotorStepsToCartesian(const int32_t motorPos[], const floa
 	const float theta = ((float)motorPos[X_AXIS]/stepsPerMm[X_AXIS]);
     const float psi = ((float)motorPos[Y_AXIS]/stepsPerMm[Y_AXIS]) + (crosstalk[0] * theta);
 
-    machinePos[X_AXIS] = (cosf(theta * DegreesToRadians) * proximalArmLength + cosf((psi + theta) * DegreesToRadians) * distalArmLength) - xOffset;
-    machinePos[Y_AXIS] = (sinf(theta * DegreesToRadians) * proximalArmLength + sinf((psi + theta) * DegreesToRadians) * distalArmLength) - yOffset;
+    // Cache the current values so that a Z probe at this position won't fail due to rounding error when transforming the XY coordinates back
+    currentArmMode = cachedArmMode = (motorPos[Y_AXIS] >= 0);
+    cachedTheta = theta;
+    cachedPsi = psi;
+    cachedX = machinePos[X_AXIS] = (cosf(theta * DegreesToRadians) * proximalArmLength + cosf((psi + theta) * DegreesToRadians) * distalArmLength) - xOffset;
+    cachedY = machinePos[Y_AXIS] = (sinf(theta * DegreesToRadians) * proximalArmLength + sinf((psi + theta) * DegreesToRadians) * distalArmLength) - yOffset;
 
     // On some machines (e.g. Helios), the X and/or Y arm motors also affect the Z height
     machinePos[Z_AXIS] = ((float)motorPos[Z_AXIS]/stepsPerMm[Z_AXIS]) + (crosstalk[1] * theta) + (crosstalk[2] * psi);
@@ -221,18 +231,7 @@ bool ScaraKinematics::IsReachable(float x, float y, bool isCoordinated) const
 	// See if we can transform the position
 	float theta, psi;
 	bool armMode = currentArmMode;
-	const bool reachable = CalculateThetaAndPsi(coords, isCoordinated, theta, psi, armMode);
-	if (reachable)
-	{
-		// Save the original and transformed coordinates so that we don't need to calculate them again if we are commanded to move to this position
-		cachedX = x;
-		cachedY = y;
-		cachedTheta = theta;
-		cachedPsi = psi;
-		cachedArmMode = armMode;
-	}
-
-    return reachable;
+	return CalculateThetaAndPsi(coords, isCoordinated, theta, psi, armMode);
 }
 
 // Limit the Cartesian position that the user wants to move to, returning true if any coordinates were changed
@@ -245,12 +244,6 @@ bool ScaraKinematics::LimitPosition(float coords[], size_t numVisibleAxes, AxesB
 	bool armMode = currentArmMode;
 	if (CalculateThetaAndPsi(coords, isCoordinated, theta, psi, armMode))
 	{
-		// Save the original and transformed coordinates so that we don't need to calculate them again if we are commanded to move to this position
-		cachedX = coords[0];
-		cachedY = coords[1];
-		cachedTheta = theta;
-		cachedPsi = psi;
-		cachedArmMode = armMode;
 		return m208Limited;
 	}
 
@@ -392,7 +385,7 @@ bool ScaraKinematics::QueryTerminateHomingMove(size_t axis) const
 }
 
 // This function is called from the step ISR when an endstop switch is triggered during homing after stopping just one motor or all motors.
-// Take the action needed to define the current position, normally by calling dda.SetDriveCoordinate() and return false.
+// Take the action needed to define the current position, normally by calling dda.SetDriveCoordinate().
 void ScaraKinematics::OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const
 {
 	switch (axis)
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp
index bd81d352..b2a648f5 100644
--- a/src/Movement/Move.cpp
+++ b/src/Movement/Move.cpp
@@ -244,6 +244,7 @@ void Move::Spin()
 				if (ddaRingAddPointer->Init(specialMoveCoords))
 				{
 					ddaRingAddPointer = ddaRingAddPointer->GetNext();
+					scheduledMoves++;
 					if (moveState == MoveState::idle || moveState == MoveState::timing)
 					{
 						// We were previously idle, so we have a state change
@@ -268,14 +269,6 @@ void Move::Spin()
 			{
 				if (simulationMode < 2)		// in simulation mode 2 and higher, we don't process incoming moves beyond this point
 				{
-#if 0	// disabled this because it causes jerky movements on the SCARA printer
-					// Add on the extrusion left over from last time.
-					const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
-					for (size_t drive = numAxes; drive < DRIVES; ++drive)
-					{
-						nextMove.coords[drive] += extrusionPending[drive - numAxes];
-					}
-#endif
 					if (nextMove.moveType == 0)
 					{
 						AxisAndBedTransform(nextMove.coords, nextMove.xAxes, nextMove.yAxes, true);
@@ -284,8 +277,8 @@ void Move::Spin()
 					if (ddaRingAddPointer->Init(nextMove, !IsRawMotorMove(nextMove.moveType)))
 					{
 						ddaRingAddPointer = ddaRingAddPointer->GetNext();
-						idleCount = 0;
 						scheduledMoves++;
+						idleCount = 0;
 						if (moveState == MoveState::idle || moveState == MoveState::timing)
 						{
 							moveState = MoveState::collecting;
@@ -298,14 +291,6 @@ void Move::Spin()
 							lastStateChangeTime = now;
 						}
 					}
-
-#if 0	// see above
-					// Save the amount of extrusion not done
-					for (size_t drive = numAxes; drive < DRIVES; ++drive)
-					{
-						extrusionPending[drive - numAxes] = nextMove.coords[drive];
-					}
-#endif
 				}
 			}
 		}
@@ -338,7 +323,7 @@ void Move::Spin()
 #endif
 			   )
 			{
-				dda->Prepare(simulationMode);
+				dda->Prepare(simulationMode, extrusionPending);
 			}
 			if (dda->GetState() == DDA::frozen)
 			{
@@ -402,7 +387,7 @@ void Move::Spin()
 #endif
 			   )
 			{
-				cdda->Prepare(simulationMode);
+				cdda->Prepare(simulationMode, extrusionPending);
 			}
 			preparedTime += cdda->GetTimeLeft();
 			++preparedCount;
@@ -569,9 +554,16 @@ bool Move::LowPowerOrStallPause(RestorePoint& rp)
 	{
 		// We are executing a move that has a file address, so we can interrupt it
 		StepTimer::DisableStepInterrupt();
+#if SUPPORT_LASER
+		if (reprap.GetGCodes().GetMachineType() == MachineType::laser)
+		{
+			reprap.GetPlatform().SetLaserPwm(0);
+		}
+#endif
 		dda->MoveAborted();
 		CurrentMoveCompleted();							// updates live endpoints, extrusion, ddaRingGetPointer, currentDda etc.
 		--completedMoves;								// this move wasn't really completed
+		--scheduledMoves;								// ...but it is no longer scheduled either
 		abortedMove = true;
 	}
 	else
@@ -720,13 +712,13 @@ void Move::EndPointToMachine(const float coords[], int32_t ep[], size_t numDrive
 		const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
 		for (size_t drive = numAxes; drive < numDrives; ++drive)
 		{
-			ep[drive] = MotorEndPointToMachine(drive, coords[drive]);
+			ep[drive] = MotorMovementToSteps(drive, coords[drive]);
 		}
 	}
 }
 
 // Convert distance to steps for a particular drive
-int32_t Move::MotorEndPointToMachine(size_t drive, float coord)
+int32_t Move::MotorMovementToSteps(size_t drive, float coord)
 {
 	return lrintf(coord * reprap.GetPlatform().DriveStepsPerUnit(drive));
 }
@@ -744,16 +736,16 @@ bool Move::CartesianToMotorSteps(const float machinePos[MaxAxes], int32_t motorP
 {
 	const bool b = kinematics->CartesianToMotorSteps(machinePos, reprap.GetPlatform().GetDriveStepsPerUnit(),
 														reprap.GetGCodes().GetVisibleAxes(), reprap.GetGCodes().GetTotalAxes(), motorPos, isCoordinated);
-	if (reprap.Debug(moduleMove) && reprap.Debug(moduleDda))
+	if (b)
 	{
-		if (b)
+		if (reprap.Debug(moduleMove) && reprap.Debug(moduleDda))
 		{
 			debugPrintf("Transformed %.2f %.2f %.2f to %" PRIu32 " %" PRIu32 " %" PRIu32 "\n", (double)machinePos[0], (double)machinePos[1], (double)machinePos[2], motorPos[0], motorPos[1], motorPos[2]);
 		}
-		else
-		{
-			debugPrintf("Unable to transform %.2f %.2f %.2f\n", (double)machinePos[0], (double)machinePos[1], (double)machinePos[2]);
-		}
+	}
+	else if (reprap.Debug(moduleMove))
+	{
+		debugPrintf("Unable to transform %.2f %.2f %.2f\n", (double)machinePos[0], (double)machinePos[1], (double)machinePos[2]);
 	}
 	return b;
 }
@@ -1129,7 +1121,7 @@ void Move::GetCurrentMachinePosition(float m[MaxAxes], bool disableMotorMapping)
 	}
 }
 
-/*static*/ float Move::MotorEndpointToPosition(int32_t endpoint, size_t drive)
+/*static*/ float Move::MotorStepsToMovement(size_t drive, int32_t endpoint)
 {
 	return ((float)(endpoint))/reprap.GetPlatform().DriveStepsPerUnit(drive);
 }
diff --git a/src/Movement/Move.h b/src/Movement/Move.h
index 68f1984b..8792305e 100644
--- a/src/Movement/Move.h
+++ b/src/Movement/Move.h
@@ -150,8 +150,8 @@ public:
 	uint32_t GetStepInterval(size_t axis, uint32_t microstepShift) const;			// Get the current step interval for this axis or extruder
 #endif
 
-	static int32_t MotorEndPointToMachine(size_t drive, float coord);				// Convert a single motor position to number of steps
-	static float MotorEndpointToPosition(int32_t endpoint, size_t drive);			// Convert number of motor steps to motor position
+	static int32_t MotorMovementToSteps(size_t drive, float coord);					// Convert a single motor position to number of steps
+	static float MotorStepsToMovement(size_t drive, int32_t endpoint);				// Convert number of motor steps to motor position
 
 protected:
 	DECLARE_OBJECT_MODEL
diff --git a/src/Movement/StepTimer.cpp b/src/Movement/StepTimer.cpp
index 8b275588..c09bccc7 100644
--- a/src/Movement/StepTimer.cpp
+++ b/src/Movement/StepTimer.cpp
@@ -16,8 +16,8 @@
 
 #if SAM4S || SAME70
 // Static data used by step ISR
-volatile uint32_t stepTimerPendingStatus = 0;	// for holding status bits that we have read (and therefore cleared) but haven't serviced yet
-volatile uint32_t stepTimerHighWord = 0;		// upper 16 bits of step timer
+static volatile uint32_t stepTimerPendingStatus = 0;	// for holding status bits that we have read (and therefore cleared) but haven't serviced yet
+static volatile uint32_t stepTimerHighWord = 0;			// upper 16 bits of step timer
 #endif
 
 namespace StepTimer
@@ -85,6 +85,14 @@ namespace StepTimer
 		return (lowWord & 0x0000FFFF) | highWord;
 	}
 
+#else
+
+	// Get the interrupt clock count. Despite the name, on these processors we don't need to disable interrupts before calling this.
+	uint32_t GetInterruptClocksInterruptsDisabled()
+	{
+		return STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_CV;
+	}
+
 #endif
 
 	// Schedule an interrupt at the specified clock count, or return true if that time is imminent or has passed already.
diff --git a/src/Movement/StepTimer.h b/src/Movement/StepTimer.h
index b82a11c1..3818f3b1 100644
--- a/src/Movement/StepTimer.h
+++ b/src/Movement/StepTimer.h
@@ -19,11 +19,13 @@ namespace StepTimer
 
 	void Init();
 
-#if SAM4S || SAME70		// if the TCs are 16-bit
-
-	// Function GetInterruptClocksInterruptsDisabled() is quite long for these processors, so it is moved to StepTimer.cpp and no longer inlined
+	// Function GetInterruptClocksInterruptsDisabled() is quite long for SAM4S and SAME70 processors, so it is moved to StepTimer.cpp and no longer inlined
+	// On other processor we have had trouble with the compiler moving instructions around too much when it is inlined.
+	// So we don't inline it any more.
 	uint32_t GetInterruptClocksInterruptsDisabled() __attribute__ ((hot));	// Get the interrupt clock count, when we know already that interrupts are disabled
 
+#if SAM4S || SAME70		// if the TCs are 16-bit
+
 	// Get the interrupt clock count
 	static inline uint32_t GetInterruptClocks()
 	{
@@ -38,13 +40,7 @@ namespace StepTimer
 	// Get the interrupt clock count
 	static inline uint32_t GetInterruptClocks()
 	{
-		return STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_CV;
-	}
-
-	// Get the interrupt clock count, when we know that interrupts are already disabled
-	static inline uint32_t GetInterruptClocksInterruptsDisabled()
-	{
-		return STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_CV;
+		return GetInterruptClocksInterruptsDisabled();					// no need to disable interrupts on these processors
 	}
 
 #endif
diff --git a/src/ObjectModel/ObjectModel.cpp b/src/ObjectModel/ObjectModel.cpp
index 44c579b1..d8ead242 100644
--- a/src/ObjectModel/ObjectModel.cpp
+++ b/src/ObjectModel/ObjectModel.cpp
@@ -117,7 +117,7 @@ void ObjectModelTableEntry::ReportItemAsJson(OutputBuffer *buf, const char *filt
 		break;
 
 	case TYPE_OF(const char*):
-		buf->EncodeString((const char*)nParam, strlen((const char*)nParam), true, true, false);
+		buf->EncodeString((const char*)nParam, true);
 		break;
 
 	case TYPE_OF(Bitmap32):
diff --git a/src/Pccb/Pins_Pccb.h b/src/Pccb/Pins_Pccb.h
index 23d3d5a7..362ae1c9 100644
--- a/src/Pccb/Pins_Pccb.h
+++ b/src/Pccb/Pins_Pccb.h
@@ -79,7 +79,7 @@ constexpr size_t NUM_SERIAL_CHANNELS = 1;			// The number of serial IO channels
 #define SERIAL_MAIN_DEVICE SerialUSB
 
 // SerialUSB
-constexpr Pin UsbVBusPin = 47;						// Pin used to monitor VBUS on USB port
+constexpr Pin UsbVBusPin = PortCPin(11);			// Pin used to monitor VBUS on USB port
 
 #define I2C_IFACE	Wire							// First and only I2C interface
 #define I2C_IRQn	WIRE_ISR_ID
@@ -91,10 +91,10 @@ constexpr Pin GlobalTmc22xxEnablePin = 1;			// The pin that drives ENN of all in
 
 #ifdef PCCB_X5
 
-constexpr Pin GlobalTmc2660EnablePin = 52;			// The pin that drives ENN of all drivers on the DueX5
-constexpr Pin ENABLE_PINS[NumDirectDrivers] = { 61, 35, 41, 55, 0, 64 };
-constexpr Pin STEP_PINS[NumDirectDrivers] = { 60, 38, 58, 56, 46, 50 };
-constexpr Pin DIRECTION_PINS[NumDirectDrivers] = { 17, 57, 54, 34, 1, 53 };
+constexpr Pin GlobalTmc2660EnablePin = PortCPin(16); // The pin that drives ENN of all drivers on the DueX5
+constexpr Pin ENABLE_PINS[NumDirectDrivers] =		{ PortBPin(14), PortCPin(25), PortCPin( 5), PortCPin(19), PortAPin( 0), PortCPin(28) };
+constexpr Pin STEP_PINS[NumDirectDrivers] =			{ PortCPin(24), PortCPin( 2), PortCPin(22), PortCPin(20), PortCPin(10), PortCPin(14) };
+constexpr Pin DIRECTION_PINS[NumDirectDrivers] =	{ PortAPin(17), PortCPin(21), PortCPin(18), PortCPin(13), PortAPin( 1), PortCPin(17) };
 
 Spi * const SPI_TMC2660 = SPI;
 constexpr uint32_t ID_TMC2660_SPI = ID_SPI;
@@ -102,15 +102,15 @@ constexpr IRQn TMC2660_SPI_IRQn = SPI_IRQn;
 # define TMC2660_SPI_Handler	SPI_Handler
 
 // Pin assignments, using USART1 in SPI mode
-constexpr Pin TMC2660MosiPin = 13;					// PA13
-constexpr Pin TMC2660MisoPin = 12;					// PA12
-constexpr Pin TMC2660SclkPin = 14;					// PA14
+constexpr Pin TMC2660MosiPin = PortAPin(13);
+constexpr Pin TMC2660MisoPin = PortAPin(12);
+constexpr Pin TMC2660SclkPin = PortAPin(14);
 
 #else
 
-constexpr Pin ENABLE_PINS[NumDirectDrivers] = { NoPin, NoPin, 61, 35, 41, 55, 0, 64 };
-constexpr Pin STEP_PINS[NumDirectDrivers] = { 40, 43, 60, 38, 58, 56, 46, 50 };
-constexpr Pin DIRECTION_PINS[NumDirectDrivers] = { 8, 11, 17, 57, 54, 34, 1, 53 };
+constexpr Pin ENABLE_PINS[NumDirectDrivers] =		{ NoPin,		NoPin,		  PortBPin(14), PortCPin(25), PortCPin( 5), PortCPin(19), PortAPin( 0), PortCPin(28) };
+constexpr Pin STEP_PINS[NumDirectDrivers] =			{ PortCPin( 4), PortCPin( 7), PortCPin(24), PortCPin( 2), PortCPin(22), PortCPin(20), PortCPin(10), PortCPin(14) };
+constexpr Pin DIRECTION_PINS[NumDirectDrivers] =	{ PortAPin( 8), PortAPin(11), PortAPin(17), PortCPin(21), PortCPin(18), PortCPin(13), PortAPin( 1), PortCPin(17) };
 
 Uart * const TMC22xxUarts[MaxSmartDrivers] = { UART0, UART1 };
 constexpr uint32_t TMC22xxUartIds[MaxSmartDrivers] = { ID_UART0, ID_UART1 };
@@ -135,13 +135,13 @@ const uint32_t TransferTimeout = 10;						// any transfer should complete within
 // Endstops
 // RepRapFirmware only has a single endstop per axis.
 // Gcode defines if it is a max ("high end") or min ("low end") endstop and sets if it is active HIGH or LOW.
-constexpr Pin END_STOP_PINS[NumEndstops] = { 25, 67, 24, 63 };
+constexpr Pin END_STOP_PINS[NumEndstops] = { PortAPin(24), PortAPin(25), PortCPin(31), PortCPin(27) };
 
 // Heaters and thermistors
-constexpr Pin HEAT_ON_PINS[NumHeaters] = { 36, 59 };					// these are actually the LED control pins
-constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { 20, 49 }; 	// Thermistor pin numbers
-constexpr Pin VssaSensePin = 19;
-constexpr Pin VrefSensePin = 27;
+constexpr Pin HEAT_ON_PINS[NumHeaters] = { PortCPin(0), PortCPin(23) };					// these are actually the LED control pins
+constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { PortAPin(20), PortCPin(13) }; 	// thermistor pin numbers
+constexpr Pin VssaSensePin = PortAPin(19);
+constexpr Pin VrefSensePin = PortBPin(1);
 
 // Default thermistor parameters - on PCCB we default both thermistors to the same parameters
 constexpr float BED_R25 = 100000.0;
@@ -158,14 +158,14 @@ constexpr float THERMISTOR_SERIES_RS = 2200.0;
 constexpr size_t MaxSpiTempSensors = 1;		//TODO which SPI channels does PCCB route to the DueX?
 
 // Digital pins the 31855s have their select lines tied to
-constexpr Pin SpiTempSensorCsPins[MaxSpiTempSensors] = { 63 };				// SPI0_CS6 if a DueX5 is connected
+constexpr Pin SpiTempSensorCsPins[MaxSpiTempSensors] = { PortCPin(27) };				// SPI0_CS6 if a DueX5 is connected
 
 // Pin that controls the ATX power on/off
 constexpr Pin ATX_POWER_PIN = NoPin;
 
 // Analogue pin numbers
 constexpr Pin Z_PROBE_PIN = NoPin;											// Z probe analog input
-constexpr Pin PowerMonitorVinDetectPin = 48;								// Vin monitor
+constexpr Pin PowerMonitorVinDetectPin = PortCPin(12);						// Vin monitor
 constexpr float PowerMonitorVoltageRange = 11.0 * 3.3;						// We use an 11:1 voltage divider
 
 // Digital pin number to turn the IR LED on (high) or off (low), also controls the DIAG LED
@@ -175,24 +175,24 @@ constexpr Pin DiagPin = NoPin;
 // Cooling fans
 constexpr size_t NUM_FANS = 4;
 constexpr size_t NumTachos = 2;
-constexpr Pin COOLING_FAN_PINS[NUM_FANS] = { 16, 39, 15, 37 };				// PWML2, PWML3, TIOA1, PWML1
-constexpr Pin TachoPins[NumTachos] = { 26, 66 };
+constexpr Pin COOLING_FAN_PINS[NUM_FANS] = { PortAPin(16), PortCPin(3), PortAPin(15), PortCPin(1) };		// PWML2, PWML3, TIOA1, PWML1
+constexpr Pin TachoPins[NumTachos] = { PortBPin(0), PortCPin(30) };
 
 // Main LED control
 constexpr size_t NumLeds = 2;												// number of main LEDs
-constexpr Pin LedOnPins[NumLeds] = { 36, 59 };								// LED control pins
+constexpr Pin LedOnPins[NumLeds] = { PortCPin(0), PortCPin(23) };								// LED control pins
 
 // DotStar LED control (USART0 is SharedSPI,
 Usart * const DotStarUsart = USART1;
 constexpr uint32_t DotStarUsartId = ID_USART1;
-constexpr Pin DotStarMosiPin = 22;
-constexpr Pin DotStarSclkPin = 23;
+constexpr Pin DotStarMosiPin = PortAPin(22);
+constexpr Pin DotStarSclkPin = PortAPin(23);
 constexpr IRQn DotStarUsartIRQn = USART1_IRQn;
 const uint32_t DotStarSpiClockFrequency = 100000;		// try sending at 100kHz
 
 // SD cards
 constexpr size_t NumSdCards = 1;
-constexpr Pin SdCardDetectPins[NumSdCards] = { 44 };
+constexpr Pin SdCardDetectPins[NumSdCards] = { PortCPin(8) };
 constexpr Pin SdWriteProtectPins[NumSdCards] = { NoPin };
 constexpr Pin SdSpiCSPins[1] = { NoPin };
 constexpr uint32_t ExpectedSdCardSpeed = 15000000;
@@ -202,10 +202,10 @@ constexpr uint32_t ExpectedSdCardSpeed = 15000000;
 // This is the mapping from logical pins 60+ to firmware pin numbers
 constexpr Pin SpecialPinMap[] =
 {
-	18, 21, 51, 59, 62, 65													// PA18/AD1, PA21/AD8, PC15/AD11, PC22, PC23, PC29
+	PortAPin(18), PortAPin(21), PortCPin(15), PortCPin(29)					// PA18/AD1, PA21/AD8, PC15/AD11, PC29
 };
 
-constexpr int HighestLogicalPin = 65;										// highest logical pin number on this electronics
+constexpr int HighestLogicalPin = 63;										// highest logical pin number on this electronics
 
 // SAM4S Flash locations (may be expanded in the future)
 constexpr uint32_t IAP_FLASH_START = 0x00470000;
diff --git a/src/Platform.cpp b/src/Platform.cpp
index 40cb2273..f149baf8 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -345,8 +345,8 @@ void Platform::Init()
 	// AXES
 	for (size_t axis = 0; axis < MaxAxes; ++axis)
 	{
-		axisMinima[axis] = 0.0;
-		axisMaxima[axis] = 200.0;
+		axisMinima[axis] = DefaultAxisMinimum;
+		axisMaxima[axis] = DefaultAxisMaximum;
 	}
 	axisMaximaProbed = axisMinimaProbed = 0;
 
@@ -400,7 +400,7 @@ void Platform::Init()
 		}
 	}
 
-	for (size_t endstop = 0; endstop <  NumEndstops; ++endstop)
+	for (Pin p : endStopPins)
 	{
 #if defined(DUET_NG) || defined(DUET_06_085) || defined(__RADDS__) || defined(__ALLIGATOR__)
 		// Enable pullup resistors on endstop inputs here if necessary.
@@ -411,9 +411,9 @@ void Platform::Init()
 		// Note: if we don't have a DueX board connected, the pullups on endstop inputs 5-9 must always be enabled.
 		// Also the pullups on endstop inputs 10-11 must always be enabled.
 		// I don't know whether RADDS and Alligator have hardware pullup resistors or not. I'll assume they might not.
-		pinMode(endStopPins[endstop], INPUT_PULLUP);			// enable pullup on endstop input
+		pinMode(p, INPUT_PULLUP);			// enable pullup on endstop input
 #else
-		pinMode(endStopPins[endstop], INPUT);					// don't enable pullup on endstop input
+		pinMode(p, INPUT);					// don't enable pullup on endstop input
 #endif
 	}
 
@@ -521,15 +521,15 @@ void Platform::Init()
 
 	// Enable pullups on all the SPI CS pins. This is required if we are using more than one device on the SPI bus.
 	// Otherwise, when we try to initialise the first device, the other devices may respond as well because their CS lines are not high.
-	for (size_t i = 0; i < MaxSpiTempSensors; ++i)
+	for (Pin p : SpiTempSensorCsPins)
 	{
-		setPullup(SpiTempSensorCsPins[i], true);
+		pinMode(p, INPUT_PULLUP);
 	}
 
-	for (size_t heater = 0; heater < NumHeaters; heater++)
+	for (Pin p : HEAT_ON_PINS)
 	{
 		// pinMode is safe to call when the pin is NoPin, so we don't need to check it here
-		pinMode(HEAT_ON_PINS[heater],
+		pinMode(p,
 #if ACTIVE_LOW_HEAT_ON
 				OUTPUT_HIGH
 #else
@@ -1415,7 +1415,7 @@ void Platform::Spin()
 
 				// The driver often produces a transient open-load error, especially in stealthchop mode, so we require the condition to persist before we report it.
 				// Also, false open load indications persist when in standstill, if the phase has zero current in that position
-				if ((stat & TMC_RR_OLA) != 0)
+				if ((stat & TMC_RR_OLA) != 0 && motorCurrents[nextDriveToPoll] * motorCurrentFraction[nextDriveToPoll] >= MinimumOpenLoadMotorCurrent)
 				{
 					if (!openLoadATimer.IsRunning())
 					{
@@ -1433,7 +1433,7 @@ void Platform::Spin()
 					}
 				}
 
-				if ((stat & TMC_RR_OLB) != 0)
+				if ((stat & TMC_RR_OLB) != 0 && motorCurrents[nextDriveToPoll] * motorCurrentFraction[nextDriveToPoll] >= MinimumOpenLoadMotorCurrent)
 				{
 					if (!openLoadBTimer.IsRunning())
 					{
@@ -1906,9 +1906,9 @@ void Platform::SoftwareReset(uint16_t reason, const uint32_t *stk)
 		if (stk != nullptr)
 		{
 			srdBuf[slot].sp = reinterpret_cast<uint32_t>(stk);
-			for (size_t i = 0; i < ARRAY_SIZE(srdBuf[slot].stack); ++i)
+			for (uint32_t& stval : srdBuf[slot].stack)
 			{
-				srdBuf[slot].stack[i] = (stk < &_estack) ? *stk : 0xFFFFFFFF;
+				stval = (stk < &_estack) ? *stk : 0xFFFFFFFF;
 				++stk;
 			}
 		}
@@ -2235,9 +2235,9 @@ void Platform::Diagnostics(MessageType mtype)
 			{
 				// We saved a stack dump, so print it
 				scratchString.Clear();
-				for (size_t i = 0; i < ARRAY_SIZE(srdBuf[slot].stack); ++i)
+				for (uint32_t stval : srdBuf[slot].stack)
 				{
-					scratchString.catf(" %08" PRIx32, srdBuf[slot].stack[i]);
+					scratchString.catf(" %08" PRIx32, stval);
 				}
 				MessageF(mtype, "Stack:%s\n", scratchString.c_str());
 			}
@@ -2285,7 +2285,7 @@ void Platform::Diagnostics(MessageType mtype)
 	// Show the motor stall status
 	for (size_t drive = 0; drive < numSmartDrivers; ++drive)
 	{
-		String<100> driverStatus;
+		String<MediumStringLength> driverStatus;
 		SmartDrivers::AppendDriverStatus(drive, driverStatus.GetRef());
 		MessageF(mtype, "Driver %u:%s\n", drive, driverStatus.c_str());
 	}
diff --git a/src/Tasks.cpp b/src/Tasks.cpp
index 2f739d59..675a7a4d 100644
--- a/src/Tasks.cpp
+++ b/src/Tasks.cpp
@@ -28,7 +28,7 @@ extern char _end;
 
 // The main task currently runs GCodes, so it needs to be large enough to hold the matrices used for auto calibration.
 // The timer and idle tasks currently never do I/O, so they can be much smaller.
-constexpr unsigned int MainTaskStackWords = 2040;
+constexpr unsigned int MainTaskStackWords = 1600;
 constexpr unsigned int IdleTaskStackWords = 60;
 
 static Task<IdleTaskStackWords> idleTask;
diff --git a/src/Version.h b/src/Version.h
index e22999ec..19c0d8ea 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -12,7 +12,7 @@
 #ifndef VERSION
 #ifdef RTOS
 # define RTOSVER		"(RTOS)"
-# define MAIN_VERSION	"2.02RC5"
+# define MAIN_VERSION	"2.02RC6"
 #else
 # define MAIN_VERSION	"1.22"
 # define RTOSVER
@@ -22,7 +22,7 @@
 #endif
 
 #ifndef DATE
-# define DATE "2018-11-28b1"
+# define DATE "2018-12-15b2"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"
author	David Crocker <dcrocker@eschertech.com>	2018-12-15 14:47:19 +0300
committer	David Crocker <dcrocker@eschertech.com>	2018-12-15 14:47:19 +0300
commit	a25f8204d2fe36ad174b98dea673a114503cc457 (patch)
tree	69c4bbd7abafb97a86a04705b80291875c62738a
parent	a15773859dabee6e88cce157f7c00d17e29171b4 (diff)