3.0RC1 final(?)

Fixed issue with G1 H1 moves when endstops are not already triggered. There is still an issue if a move involves only remote drivers and a main board endstop switch.
Don't set up a default bed heater on Duet 3
Fixed issue when creating a switch endstop failed

7 files changed, 111 insertions, 30 deletions

diff --git a/src/CAN/CanMotion.cpp b/src/CAN/CanMotion.cpp
index 13b52110..fd311f6d 100644
--- a/src/CAN/CanMotion.cpp
+++ b/src/CAN/CanMotion.cpp
@@ -112,7 +112,7 @@ void CanMotion::FinishMovement(uint32_t moveStartTime)
 	CanMessageBuffer *buf;
 	while ((buf = movementBufferList) != nullptr)
 	{
-		boardsActiveInLastMove.SetBit(buf->id.Dst());
+		boardsActiveInLastMove.SetBit(buf->id.Dst());	//TODO should we set this if there were no steps for drives on the board, just drives to be enabled?
 		movementBufferList = buf->next;
 		buf->msg.move.whenToExecute = moveStartTime;
 		CanInterface::SendMotion(buf);				// queues the buffer for sending and frees it when done
@@ -183,17 +183,45 @@ void CanMotion::InsertHiccup(uint32_t numClocks)
 	CanInterface::WakeCanSender();
 }
 
-void CanMotion::StopDriver(DriverId driver)
+void CanMotion::StopDriver(bool isBeingPrepared, DriverId driver)
 {
-	driversToStop[driversToStopIndexBeingFilled].AddEntry(driver);
-	CanInterface::WakeCanSender();
+	if (isBeingPrepared)
+	{
+		// Search for the correct movement buffer
+		CanMessageBuffer* buf = movementBufferList;
+		while (buf != nullptr && buf->id.Dst() != driver.boardAddress)
+		{
+			buf = buf->next;
+		}
+
+		if (buf != nullptr)
+		{
+			buf->msg.move.perDrive[driver.localDriver].steps = 0;
+		}
+	}
+	else
+	{
+		driversToStop[driversToStopIndexBeingFilled].AddEntry(driver);
+		CanInterface::WakeCanSender();
+	}
 }
 
-void CanMotion::StopAxis(size_t axis)
+void CanMotion::StopAxis(bool isBeingPrepared, size_t axis)
 {
-	if (!stopAllFlag)
+	const AxisDriversConfig& cfg = reprap.GetPlatform().GetAxisDriversConfig(axis);
+	if (isBeingPrepared)
+	{
+		for (size_t i = 0; i < cfg.numDrivers; ++i)
+		{
+			const DriverId driver = cfg.driverNumbers[i];
+			if (driver.IsRemote())
+			{
+				StopDriver(true, driver);
+			}
+		}
+	}
+	else if (!stopAllFlag)
 	{
-		const AxisDriversConfig& cfg = reprap.GetPlatform().GetAxisDriversConfig(axis);
 		for (size_t i = 0; i < cfg.numDrivers; ++i)
 		{
 			const DriverId driver = cfg.driverNumbers[i];
@@ -206,10 +234,25 @@ void CanMotion::StopAxis(size_t axis)
 	}
 }
 
-void CanMotion::StopAll()
+void CanMotion::StopAll(bool isBeingPrepared)
 {
-	stopAllFlag = true;
-	CanInterface::WakeCanSender();
+	if (isBeingPrepared)
+	{
+		// We still send the messages so that the drives get enabled, but we set the steps to zero
+		for (CanMessageBuffer *buf = movementBufferList; buf != nullptr; buf = buf->next)
+		{
+			buf->msg.move.accelerationClocks = buf->msg.move.decelClocks = buf->msg.move.steadyClocks = 0;
+			for (size_t drive = 0; drive < ARRAY_SIZE(buf->msg.move.perDrive); ++drive)
+			{
+				buf->msg.move.perDrive[drive].steps = 0;
+			}
+		}
+	}
+	else
+	{
+		stopAllFlag = true;
+		CanInterface::WakeCanSender();
+	}
 }
 
 #endif
diff --git a/src/CAN/CanMotion.h b/src/CAN/CanMotion.h
index ff775bde..e9b5929f 100644
--- a/src/CAN/CanMotion.h
+++ b/src/CAN/CanMotion.h
@@ -25,9 +25,9 @@ namespace CanMotion
 
 	// The next 4 functions may be called from the step ISR, so they can't send CAN messages directly
 	void InsertHiccup(uint32_t numClocks);
-	void StopDriver(DriverId driver);
-	void StopAxis(size_t axis);
-	void StopAll();
+	void StopDriver(bool isBeingPrepared, DriverId driver);
+	void StopAxis(bool isBeingPrepared, size_t axis);
+	void StopAll(bool isBeingPrepared);
 }
 
 #endif
diff --git a/src/Endstops/EndstopsManager.cpp b/src/Endstops/EndstopsManager.cpp
index a3925ba6..461b92ac 100644
--- a/src/Endstops/EndstopsManager.cpp
+++ b/src/Endstops/EndstopsManager.cpp
@@ -293,7 +293,14 @@ GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply,
 		axisEndstops[lastAxisSeen] = nullptr;
 		SwitchEndstop * const sw = new SwitchEndstop(lastAxisSeen, lastPosSeen);
 		const GCodeResult rslt = sw->Configure(gb, reply);
-		axisEndstops[lastAxisSeen] = sw;
+		if (rslt == GCodeResult::ok)
+		{
+			axisEndstops[lastAxisSeen] = sw;
+		}
+		else
+		{
+			delete sw;
+		}
 		return rslt;
 	}
 
diff --git a/src/Heating/Heat.cpp b/src/Heating/Heat.cpp
index 1ef6c48b..aafa7b3a 100644
--- a/src/Heating/Heat.cpp
+++ b/src/Heating/Heat.cpp
@@ -95,7 +95,10 @@ Heat::Heat() noexcept
 	{
 		h = -1;
 	}
+#if !DUET3
 	bedHeaters[0] = DefaultBedHeater;
+#endif
+
 	for (int8_t& h : chamberHeaters)
 	{
 		h = -1;
diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp
index 955685e6..abefdf56 100644
--- a/src/Movement/DDA.cpp
+++ b/src/Movement/DDA.cpp
@@ -1268,7 +1268,7 @@ void DDA::Prepare(uint8_t simMode, float extrusionPending[]) noexcept
 				const AxisDriversConfig& config = platform.GetAxisDriversConfig(Z_AXIS);
 				if (drive < config.numDrivers)
 				{
-					const int32_t delta = lrintf(directionVector[drive] * totalDistance * reprap.GetPlatform().DriveStepsPerUnit(Z_AXIS));
+					const int32_t delta = lrintf(directionVector[drive] * totalDistance * platform.DriveStepsPerUnit(Z_AXIS));
 					const DriverId driver = config.driverNumbers[drive];
 #if SUPPORT_CAN_EXPANSION
 					if (driver.IsRemote())
@@ -1308,7 +1308,7 @@ void DDA::Prepare(uint8_t simMode, float extrusionPending[]) noexcept
 				const int32_t delta = endPoint[drive] - prev->endPoint[drive];
 				if (platform.GetDriversBitmap(drive) != 0)					// if any of the drives is local
 				{
-					reprap.GetPlatform().EnableLocalDrivers(drive);
+					platform.EnableLocalDrivers(drive);
 					DriveMovement* const pdm = DriveMovement::Allocate(drive, DMState::moving);
 					pdm->totalSteps = labs(delta);
 					pdm->direction = (delta >= 0);
@@ -1352,7 +1352,7 @@ void DDA::Prepare(uint8_t simMode, float extrusionPending[]) noexcept
 					if (flags.continuousRotationShortcut && reprap.GetMove().GetKinematics().IsContinuousRotationAxis(drive))
 					{
 						// This is a continuous rotation axis, so we may have adjusted the move to cross the 180 degrees position
-						const int32_t stepsPerRotation = lrintf(360.0 * reprap.GetPlatform().DriveStepsPerUnit(drive));
+						const int32_t stepsPerRotation = lrintf(360.0 * platform.DriveStepsPerUnit(drive));
 						if (delta > stepsPerRotation/2)
 						{
 							delta -= stepsPerRotation;
@@ -1436,7 +1436,7 @@ void DDA::Prepare(uint8_t simMode, float extrusionPending[]) noexcept
 					{
 						DriveMovement* const pdm = DriveMovement::Allocate(drive, DMState::moving);
 						const bool stepsToDo = pdm->PrepareExtruder(*this, params, extrusionPending[extruder], speedChange, flags.usePressureAdvance);
-						reprap.GetPlatform().EnableLocalDrivers(drive);
+						platform.EnableLocalDrivers(drive);
 
 						if (stepsToDo)
 						{
@@ -1475,7 +1475,7 @@ void DDA::Prepare(uint8_t simMode, float extrusionPending[]) noexcept
 				ClearBit(additionalAxisMotorsToEnable, drive);
 				if (platform.GetDriversBitmap(drive) != 0)		// if any of the connected axis drives is local
 				{
-					reprap.GetPlatform().EnableLocalDrivers(drive);
+					platform.EnableLocalDrivers(drive);
 				}
 #if SUPPORT_CAN_EXPANSION
 				const AxisDriversConfig& config = platform.GetAxisDriversConfig(drive);
@@ -1493,9 +1493,18 @@ void DDA::Prepare(uint8_t simMode, float extrusionPending[]) noexcept
 
 		const DDAState st = prev->state;
 		afterPrepare.moveStartTime = (st == DDAState::executing || st == DDAState::frozen)
-						? prev->afterPrepare.moveStartTime + prev->clocksNeeded				// this move will follow the previous one, so calculate the start time assuming no more hiccups
+						? prev->afterPrepare.moveStartTime + prev->clocksNeeded			// this move will follow the previous one, so calculate the start time assuming no more hiccups
 							: StepTimer::GetTimerTicks() + MovementStartDelayClocks;	// else this move is the first so start it after a short delay
 
+		if (flags.checkEndstops)
+		{
+			// Before we send movement commands to remote drives, if any endstop switches we are monitoring are already set, make sure we don't start the motors concerned.
+			// This is especially important when using CAN-connected motors or endstops, because we rely on receiving "endstop changed" messages.
+			// Moves that check endstops are always run as isolated moves, so there can be no move in progress and the endstops must already be primed.
+			platform.EnableAllSteppingDrivers();
+			CheckEndstops(platform);									// this may modify pending CAN moves, and may set status 'completed'
+		}
+
 #if SUPPORT_CAN_EXPANSION
 		CanMotion::FinishMovement(afterPrepare.moveStartTime);
 #endif
@@ -1520,7 +1529,10 @@ void DDA::Prepare(uint8_t simMode, float extrusionPending[]) noexcept
 #endif
 	}
 
-	state = frozen;					// must do this last so that the ISR doesn't start executing it before we have finished setting it up
+	if (state != completed)
+	{
+		state = frozen;					// must do this last so that the ISR doesn't start executing it before we have finished setting it up
+	}
 }
 
 // Take a unit positive-hyperquadrant vector, and return the factor needed to obtain
@@ -1625,8 +1637,11 @@ float DDA::NormaliseXYZ() noexcept
 	}
 }
 
+// Check the endstops, given that we know that this move checks endstops.
+// Either this move is currently executing (DDARing.currentDDA == this) and the state is 'executing', or we have almost finished preparing it and the state is 'provisional'.
 void DDA::CheckEndstops(Platform& platform) noexcept
 {
+	const bool fromPrepare = (state == DDAState::provisional);		// determine this before anything sets the state to 'completed'
 	for (;;)
 	{
 		const EndstopHitDetails hitDetails = platform.GetEndstops().CheckEndstops(flags.goingSlow);
@@ -1635,7 +1650,7 @@ void DDA::CheckEndstops(Platform& platform) noexcept
 		case EndstopHitAction::stopAll:
 			MoveAborted();											// set the state to completed and recalculate the endpoints
 #if SUPPORT_CAN_EXPANSION
-			CanMotion::StopAll();
+			CanMotion::StopAll(fromPrepare);
 #endif
 			if (hitDetails.isZProbe)
 			{
@@ -1658,11 +1673,11 @@ void DDA::CheckEndstops(Platform& platform) noexcept
 #if SUPPORT_CAN_EXPANSION
 			if (state == completed)									// if the call to StopDrive flagged the move as completed
 			{
-				CanMotion::StopAll();
+				CanMotion::StopAll(fromPrepare);
 			}
 			else
 			{
-				CanMotion::StopAxis(hitDetails.axis);
+				CanMotion::StopAxis(fromPrepare, hitDetails.axis);
 			}
 #endif
 			if (hitDetails.setAxisLow)
@@ -1681,7 +1696,7 @@ void DDA::CheckEndstops(Platform& platform) noexcept
 #if SUPPORT_CAN_EXPANSION
 			if (hitDetails.driver.IsRemote())
 			{
-				CanMotion::StopDriver(hitDetails.driver);
+				CanMotion::StopDriver(fromPrepare, hitDetails.driver);
 			}
 			else
 #endif
@@ -1761,9 +1776,12 @@ pre(state == frozen)
 
 	if (activeDMs != nullptr)
 	{
-		p.EnableAllSteppingDrivers();							// make sure that all drivers are enabled
+		if (!flags.checkEndstops)
+		{
+			p.EnableAllSteppingDrivers();							// make sure that all drivers are enabled
+		}
 		const size_t numTotalAxes = reprap.GetGCodes().GetTotalAxes();
-		unsigned int extrusions = 0, retractions = 0;			// bitmaps of extruding and retracting drives
+		unsigned int extrusions = 0, retractions = 0;				// bitmaps of extruding and retracting drives
 		for (const DriveMovement* pdm = activeDMs; pdm != nullptr; pdm = pdm->nextDM)
 		{
 			const size_t drive = pdm->drive;
diff --git a/src/Movement/DDARing.cpp b/src/Movement/DDARing.cpp
index 17a66224..fc84012d 100644
--- a/src/Movement/DDARing.cpp
+++ b/src/Movement/DDARing.cpp
@@ -204,8 +204,18 @@ void DDARing::Spin(uint8_t simulationMode, bool shouldStartMove) noexcept
 		// No DDA is executing, so start executing a new one if possible
 		if (shouldStartMove || !CanAddMove())
 		{
-			PrepareMoves(getPointer, 0, 0, simulationMode);
-			DDA * const dda = getPointer;							// capture volatile variable
+			DDA * dda = getPointer;									// capture volatile variable
+			if (dda->GetState() == DDA::provisional)
+			{
+				PrepareMoves(dda, 0, 0, simulationMode);
+				while (dda->GetState() == DDA::completed)
+				{
+					// We prepared the move but found there was nothing to do because endstops are already triggered
+					getPointer = dda = dda->GetNext();
+					completedMoves++;
+				}
+			}
+
 			if (dda->GetState() == DDA::frozen)
 			{
 				if (simulationMode != 0)
diff --git a/src/Version.h b/src/Version.h
index aeab5809..03511424 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -20,7 +20,7 @@
 #endif
 
 #ifndef DATE
-# define DATE "2019-12-16b3"
+# define DATE "2019-12-16b7"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"