Bug fixes

Moved Duet 3 common system limits to file Duet3Limits in CANlib project
Fixed G10/G11 speed when multiple extruders are active
We now prepend sensor number and name to remote M308 responses
Removed unused resource locking functions

11 files changed, 45 insertions, 63 deletions

diff --git a/src/Configuration.h b/src/Configuration.h
index 31678ef6..73106bed 100644
--- a/src/Configuration.h
+++ b/src/Configuration.h
@@ -188,7 +188,11 @@ constexpr float DefaultZDive = 5.0;						// Millimetres
 constexpr float DefaultProbingSpeed = 2.0;				// Default Z probing speed mm/sec
 constexpr float DefaultZProbeTravelSpeed = 100.0;		// Default speed for travel to probe points
 constexpr float ZProbeMaxAcceleration = 250.0;			// Maximum Z acceleration to use at the start of a probing move
+
+#if !SAME70												// Using SAME70 as a proxy for Duet 3
 constexpr size_t MaxZProbeProgramBytes = 8;				// Maximum number of bytes in a Z probe program
+#endif
+
 constexpr uint32_t ProbingSpeedReductionFactor = 3;		// The factor by which we reduce the Z probing speed when we get a 'near' indication
 constexpr float DefaultZProbeTolerance = 0.03;			// How close the Z probe trigger height from consecutive taps must be
 constexpr uint8_t DefaultZProbeTaps = 1;				// The maximum number of times we probe each point
diff --git a/src/Duet3_V05/Pins_Duet3_V05.h b/src/Duet3_V05/Pins_Duet3_V05.h
index 1da4a918..42626299 100644
--- a/src/Duet3_V05/Pins_Duet3_V05.h
+++ b/src/Duet3_V05/Pins_Duet3_V05.h
@@ -57,6 +57,8 @@ constexpr uint32_t IAP_IMAGE_END = 0x004FFFFF;
 
 // The physical capabilities of the machine
 
+#include <Duet3Limits.h>							// this file is in the CANlib project because both main and expansion boards need it
+
 constexpr size_t NumDirectDrivers = 6;				// The maximum number of drives supported by the electronics inc. direct expansion
 constexpr size_t MaxSmartDrivers = 6;				// The maximum number of direct smart drivers
 constexpr size_t MaxCanDrivers = 18;
@@ -64,24 +66,15 @@ constexpr size_t MaxCanBoards = 18;
 
 constexpr float MaxTmc5160Current = 3200.0;			// The maximum current we allow the TMC5160/5161 drivers to be set to
 
-constexpr size_t MaxSensors = 64;
-
-constexpr size_t MaxHeaters = 12;
-constexpr size_t MaxExtraHeaterProtections = 8;		// The number of extra heater protection instances
-
 constexpr size_t MaxBedHeaters = 9;
 constexpr size_t MaxChamberHeaters = 4;
-constexpr int8_t DefaultBedHeater = 0;
 constexpr int8_t DefaultE0Heater = 1;				// Index of the default first extruder heater, used only for the legacy status response
 
 constexpr size_t NumThermistorInputs = 4;
 constexpr size_t NumTmcDriversSenseChannels = 1;
 
-constexpr size_t MaxZProbes = 4;
-constexpr size_t MaxGpioPorts = 12;
-
 constexpr size_t MinAxes = 3;						// The minimum and default number of axes
-constexpr size_t MaxAxes = 9;						// The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
+constexpr size_t MaxAxes = 10;						// The maximum number of movement axes in the machine, usually just X, Y and Z, <= DRIVES
 constexpr size_t MaxDriversPerAxis = 5;				// The maximum number of stepper drivers assigned to one axis
 
 constexpr size_t MaxExtruders = 16;					// The maximum number of extruders
@@ -92,8 +85,6 @@ constexpr size_t MaxAxesPlusExtruders = 20;			// May be <= MaxAxes + MaxExtruder
 constexpr size_t MaxHeatersPerTool = 4;
 constexpr size_t MaxExtrudersPerTool = 6;
 
-constexpr size_t MaxFans = 16;
-
 constexpr unsigned int MaxTriggers = 32;			// Must be <= 32 because we store a bitmap of pending triggers in a uint32_t
 
 constexpr size_t NUM_SERIAL_CHANNELS = 2;			// The number of serial IO channels not counting the WiFi serial connection (USB and one auxiliary UART)
diff --git a/src/Duet3_V06/Pins_Duet3_V06.h b/src/Duet3_V06/Pins_Duet3_V06.h
index 6dae5ac5..95feee45 100644
--- a/src/Duet3_V06/Pins_Duet3_V06.h
+++ b/src/Duet3_V06/Pins_Duet3_V06.h
@@ -61,6 +61,8 @@ constexpr uint32_t IAP_IMAGE_END = 0x004FFFFF;
 
 // The physical capabilities of the machine
 
+#include <Duet3Limits.h>							// this file is in the CANlib project because both main and expansion boards need it
+
 constexpr size_t NumDirectDrivers = 6;				// The maximum number of drives supported by the electronics inc. direct expansion
 constexpr size_t MaxSmartDrivers = 6;				// The maximum number of direct smart drivers
 constexpr size_t MaxCanDrivers = 18;
@@ -68,22 +70,13 @@ constexpr size_t MaxCanBoards = 18;
 
 constexpr float MaxTmc5160Current = 6300.0;			// The maximum current we allow the TMC5160/5161 drivers to be set to
 
-constexpr size_t MaxSensors = 64;
-
-constexpr size_t MaxHeaters = 12;
-constexpr size_t MaxExtraHeaterProtections = 8;		// The number of extra heater protection instances
-
 constexpr size_t MaxBedHeaters = 9;
 constexpr size_t MaxChamberHeaters = 4;
-constexpr int8_t DefaultBedHeater = 0;
 constexpr int8_t DefaultE0Heater = 1;				// Index of the default first extruder heater, used only for the legacy status response
 
 constexpr size_t NumThermistorInputs = 4;
 constexpr size_t NumTmcDriversSenseChannels = 1;
 
-constexpr size_t MaxZProbes = 4;
-constexpr size_t MaxGpioPorts = 16;
-
 constexpr size_t MinAxes = 3;						// The minimum and default number of axes
 constexpr size_t MaxAxes = 10;						// The maximum number of movement axes in the machine
 constexpr size_t MaxDriversPerAxis = 5;				// The maximum number of stepper drivers assigned to one axis
@@ -96,8 +89,6 @@ constexpr size_t MaxAxesPlusExtruders = 20;			// May be <= MaxAxes + MaxExtruder
 constexpr size_t MaxHeatersPerTool = 4;
 constexpr size_t MaxExtrudersPerTool = 6;
 
-constexpr size_t MaxFans = 16;
-
 constexpr unsigned int MaxTriggers = 32;			// Must be <= 32 because we store a bitmap of pending triggers in a uint32_t
 
 constexpr size_t NUM_SERIAL_CHANNELS = 2;			// The number of serial IO channels not counting the WiFi serial connection (USB and one auxiliary UART)
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index e175175d..280b4831 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -3432,13 +3432,13 @@ GCodeResult GCodes::RetractFilament(GCodeBuffer& gb, bool retract)
 		{
 			// Set up the retract move
 			const Tool * const tool = reprap.GetCurrentTool();
-			if (tool != nullptr)
+			if (tool != nullptr && tool->DriveCount() != 0)
 			{
 				for (size_t i = 0; i < tool->DriveCount(); ++i)
 				{
 					moveBuffer.coords[ExtruderToLogicalDrive(tool->Drive(i))] = -retractLength;
 				}
-				moveBuffer.feedRate = retractSpeed;
+				moveBuffer.feedRate = retractSpeed * tool->DriveCount();
 				moveBuffer.canPauseAfter = false;			// don't pause after a retraction because that could cause too much retraction
 				NewMoveAvailable(1);
 			}
@@ -3461,13 +3461,13 @@ GCodeResult GCodes::RetractFilament(GCodeBuffer& gb, bool retract)
 		{
 			// No retract hop, so just un-retract
 			const Tool * const tool = reprap.GetCurrentTool();
-			if (tool != nullptr)
+			if (tool != nullptr && tool->DriveCount() != 0)
 			{
 				for (size_t i = 0; i < tool->DriveCount(); ++i)
 				{
 					moveBuffer.coords[ExtruderToLogicalDrive(tool->Drive(i))] = retractLength + retractExtra;
 				}
-				moveBuffer.feedRate = unRetractSpeed;
+				moveBuffer.feedRate = unRetractSpeed * tool->DriveCount();
 				moveBuffer.canPauseAfter = true;
 				NewMoveAvailable(1);
 			}
@@ -4260,24 +4260,6 @@ void GCodes::GrabResource(const GCodeBuffer& gb, Resource r)
 	}
 }
 
-bool GCodes::LockHeater(const GCodeBuffer& gb, int heater)
-{
-	if (heater >= 0 && heater < (int)MaxHeaters)
-	{
-		return LockResource(gb, HeaterResourceBase + heater);
-	}
-	return true;
-}
-
-bool GCodes::LockFan(const GCodeBuffer& gb, int fan)
-{
-	if (fan >= 0 && fan < (int)MaxFans)
-	{
-		return LockResource(gb, FanResourceBase + fan);
-	}
-	return true;
-}
-
 // Lock the unshareable parts of the file system
 bool GCodes::LockFileSystem(const GCodeBuffer &gb)
 {
diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h
index 34dbdcb2..997ffd9e 100644
--- a/src/GCodes/GCodes.h
+++ b/src/GCodes/GCodes.h
@@ -202,24 +202,21 @@ protected:
 	DECLARE_OBJECT_MODEL
 
 private:
-	GCodes(const GCodes&);												// private copy constructor to prevent copying
+	GCodes(const GCodes&) = delete;
 
 	enum class HeaterFaultState : uint8_t { noFault, pausePending, timing, stopping, stopped };
 
 	// Resources that can be locked.
 	// To avoid deadlock, if you need multiple resources then you must lock them in increasing numerical order.
-	typedef unsigned int Resource;
+	typedef uint32_t Resource;
 	static const Resource MoveResource = 0;								// Movement system, including canned cycle variables
 	static const Resource FileSystemResource = 1;						// Non-sharable parts of the file system
 	static const Resource HeaterResourceBase = 2;
-	static const Resource FanResourceBase = HeaterResourceBase + MaxHeaters;
-	static const size_t NumResources = FanResourceBase + MaxFans;
+	static const size_t NumResources = HeaterResourceBase + 1;
 
-	static_assert(NumResources <= 32, "Too many resources to keep a bitmap of them in class GCodeMachineState");
+	static_assert(NumResources <= sizeof(Resource) * CHAR_BIT, "Too many resources to keep a bitmap of them in class GCodeMachineState");
 
 	bool LockResource(const GCodeBuffer& gb, Resource r);				// Lock the resource, returning true if success
-	bool LockHeater(const GCodeBuffer& gb, int heater);
-	bool LockFan(const GCodeBuffer& gb, int fan);
 	bool LockFileSystem(const GCodeBuffer& gb);							// Lock the unshareable parts of the file system
 	bool LockMovement(const GCodeBuffer& gb);							// Lock movement
 	void GrabResource(const GCodeBuffer& gb, Resource r);				// Grab a resource even if it is already owned
diff --git a/src/GCodes/GCodes4.cpp b/src/GCodes/GCodes4.cpp
index b257587d..cc9b7cd7 100644
--- a/src/GCodes/GCodes4.cpp
+++ b/src/GCodes/GCodes4.cpp
@@ -1214,7 +1214,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 		if (segmentsLeft == 0)
 		{
 			const Tool * const tool = reprap.GetCurrentTool();
-			if (tool != nullptr)
+			if (tool != nullptr && tool->DriveCount() != 0)
 			{
 				SetMoveBufferDefaults();
 				reprap.GetMove().GetCurrentUserPosition(moveBuffer.coords, 0, tool);
@@ -1222,7 +1222,7 @@ void GCodes::RunStateMachine(GCodeBuffer& gb, const StringRef& reply)
 				{
 					moveBuffer.coords[ExtruderToLogicalDrive(tool->Drive(i))] = retractLength + retractExtra;
 				}
-				moveBuffer.feedRate = unRetractSpeed;
+				moveBuffer.feedRate = unRetractSpeed * tool->DriveCount();
 				moveBuffer.tool = tool;
 				moveBuffer.isFirmwareRetraction = true;
 				moveBuffer.filePos = (&gb == fileGCode) ? gb.GetFilePosition() : noFilePosition;
diff --git a/src/Heating/Heat.cpp b/src/Heating/Heat.cpp
index 8d7fb36f..5844d94c 100644
--- a/src/Heating/Heat.cpp
+++ b/src/Heating/Heat.cpp
@@ -524,9 +524,12 @@ GCodeResult Heat::ConfigureHeater(size_t heater, GCodeBuffer& gb, const StringRe
 			return GCodeResult::error;
 		}
 
+#if SUPPORT_CAN_EXPANSION
+		const CanAddress board = IoPort::RemoveBoardAddress(pinName.GetRef());
+#endif
 		if (StringEqualsIgnoreCase(pinName.c_str(), NoPinName))
 		{
-			// Settin the pin name to "nil" deletes the heater
+			// Setting the pin name to "nil" deletes the heater
 			WriteLocker lock(heatersLock);
 			Heater *oldHeater = nullptr;
 			std::swap(oldHeater, heaters[heater]);
@@ -550,13 +553,12 @@ GCodeResult Heat::ConfigureHeater(size_t heater, GCodeBuffer& gb, const StringRe
 		const PwmFrequency freq = (gb.Seen('Q')) ? gb.GetPwmFrequency() : DefaultFanPwmFreq;
 
 #if SUPPORT_CAN_EXPANSION
-		const CanAddress board = IoPort::RemoveBoardAddress(pinName.GetRef());
-		Heater *newHeater = (board != CanId::MasterAddress) ? (Heater *)new RemoteHeater(heater, board) : new LocalHeater(heater);
+		Heater * const newHeater = (board != CanId::MasterAddress) ? (Heater *)new RemoteHeater(heater, board) : new LocalHeater(heater);
 #else
-		Heater *newHeater = new LocalHeater(heater);
+		Heater * const newHeater = new LocalHeater(heater);
 #endif
 		const GCodeResult rslt = newHeater->ConfigurePortAndSensor(pinName.c_str(), freq, sensorNumber, reply);
-		if (rslt == GCodeResult::ok)
+		if (rslt == GCodeResult::ok || rslt == GCodeResult::warning)
 		{
 			heaters[heater] = newHeater;
 		}
@@ -996,7 +998,7 @@ GCodeResult Heat::ConfigureSensor(GCodeBuffer& gb, const StringRef& reply) noexc
 			}
 
 			const GCodeResult rslt = newSensor->Configure(gb, reply);
-			if (rslt == GCodeResult::ok)
+			if (rslt == GCodeResult::ok || rslt == GCodeResult::warning)
 			{
 				InsertSensor(newSensor);
 			}
diff --git a/src/Heating/Sensors/RemoteSensor.cpp b/src/Heating/Sensors/RemoteSensor.cpp
index 0806f783..4ae68a3d 100644
--- a/src/Heating/Sensors/RemoteSensor.cpp
+++ b/src/Heating/Sensors/RemoteSensor.cpp
@@ -28,7 +28,19 @@ GCodeResult RemoteSensor::Configure(GCodeBuffer& gb, const StringRef& reply)
 	{
 		return GCodeResult::error;
 	}
-	return cons.SendAndGetResponse(CanMessageType::m308, boardAddress, reply);
+	const GCodeResult ret = cons.SendAndGetResponse(CanMessageType::m308, boardAddress, reply);
+	if ((ret == GCodeResult::ok || ret == GCodeResult::warning) && StringStartsWith(reply.c_str(), "type "))
+	{
+		// It's just a query for the sensor parameters, so prefix the sensor number and name
+		String<StringLength50> temp;
+		temp.printf("Sensor %u ", GetSensorNumber());
+		if (GetSensorName() != nullptr)
+		{
+			temp.catf("(%s) ", GetSensorName());
+		}
+		reply.Insert(0, temp.c_str());
+	}
+	return ret;
 }
 
 void RemoteSensor::UpdateRemoteTemperature(CanAddress src, const CanSensorReport& report) noexcept
diff --git a/src/Heating/Sensors/TemperatureSensor.cpp b/src/Heating/Sensors/TemperatureSensor.cpp
index 566e8747..a8d7a2cc 100644
--- a/src/Heating/Sensors/TemperatureSensor.cpp
+++ b/src/Heating/Sensors/TemperatureSensor.cpp
@@ -78,7 +78,7 @@ GCodeResult TemperatureSensor::Configure(GCodeBuffer& gb, const StringRef& reply
 
 void TemperatureSensor::CopyBasicDetails(const StringRef& reply) const noexcept
 {
-	reply.printf("Sensor %d", sensorNumber);
+	reply.printf("Sensor %u", sensorNumber);
 	if (sensorName != nullptr)
 	{
 		reply.catf(" (%s)", sensorName);
diff --git a/src/Platform.cpp b/src/Platform.cpp
index 8b1dba6a..77703e68 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -543,10 +543,13 @@ void Platform::Init() noexcept
 
 	// Initialise the configured heaters to just the default bed heater (there are no default chamber heaters)
 	configuredHeaters = 0;
+
+#ifndef DUET3
 	if (DefaultBedHeater >= 0)
 	{
 		SetBit(configuredHeaters, DefaultBedHeater);
 	}
+#endif
 
 	// 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.
diff --git a/src/Version.h b/src/Version.h
index 687d550c..931efdd3 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -20,7 +20,7 @@
 #endif
 
 #ifndef DATE
-# define DATE "2019-12-22b4"
+# define DATE "2019-12-27b2"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"