3.0RC1 provisional

Implemented extruder stall detection for G1 H1 E moves
Fixed M119 crash when an axis had no endstop
Duet 3 build now loads IAP into RAM

18 files changed, 162 insertions, 111 deletions

diff --git a/.cproject b/.cproject
index abdeb1c6..2b277355 100644
--- a/.cproject
+++ b/.cproject
@@ -241,7 +241,7 @@
 								<option id="gnu.cpp.compiler.option.optimization.level.1835678360" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.more" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.debugging.level.737051102" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.none" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.other.verbose.1225557122" name="Verbose (-v)" superClass="gnu.cpp.compiler.option.other.verbose" useByScannerDiscovery="false" value="false" valueType="boolean"/>
-								<option id="gnu.cpp.compiler.option.other.other.1423466590" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="-c -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fexceptions -nostdlib -Wundef -Wdouble-promotion -fsingle-precision-constant &quot;-Wa,-ahl=$*.s&quot;" valueType="string"/>
+								<option id="gnu.cpp.compiler.option.other.other.1423466590" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="-c -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fno-exceptions -nostdlib -Wundef -Wdouble-promotion -fsingle-precision-constant &quot;-Wa,-ahl=$*.s&quot;" valueType="string"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.1505018967" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/cores/arduino}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/libraries/Flash}&quot;"/>
@@ -397,7 +397,7 @@
 								<option id="gnu.cpp.compiler.option.optimization.level.1017091230" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.more" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.debugging.level.326047343" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.none" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.other.verbose.1316817271" name="Verbose (-v)" superClass="gnu.cpp.compiler.option.other.verbose" useByScannerDiscovery="false" value="false" valueType="boolean"/>
-								<option id="gnu.cpp.compiler.option.other.other.434744183" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="-c -mcpu=cortex-m4 -mthumb -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fexceptions -nostdlib -Wundef -Wdouble-promotion -fsingle-precision-constant &quot;-Wa,-ahl=$*.s&quot;" valueType="string"/>
+								<option id="gnu.cpp.compiler.option.other.other.434744183" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="-c -mcpu=cortex-m4 -mthumb -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fno-exceptions -nostdlib -Wundef -Wdouble-promotion -fsingle-precision-constant &quot;-Wa,-ahl=$*.s&quot;" valueType="string"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.1102345734" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/cores/arduino}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/libraries/Flash}&quot;"/>
@@ -1018,7 +1018,7 @@
 									<listOptionValue builtIn="false" value="__SAME70Q20B__"/>
 									<listOptionValue builtIn="false" value="RTOS"/>
 									<listOptionValue builtIn="false" value="DUET3_V05"/>
-									<listOptionValue builtIn="false" value="LWIP_GMAC_TASK=0"/>
+									<listOptionValue builtIn="false" value="LWIP_GMAC_TASK=1"/>
 								</option>
 								<option id="gnu.c.compiler.option.dialect.std.1184547155" name="Language standard" superClass="gnu.c.compiler.option.dialect.std" useByScannerDiscovery="true" value="gnu.c.compiler.dialect.default" valueType="enumerated"/>
 								<option id="gnu.c.compiler.option.dialect.flags.1834251763" name="Other dialect flags" superClass="gnu.c.compiler.option.dialect.flags" useByScannerDiscovery="true" value="-std=gnu99" valueType="string"/>
@@ -1085,7 +1085,7 @@
 									<listOptionValue builtIn="false" value="__SAME70Q20B__"/>
 									<listOptionValue builtIn="false" value="RTOS"/>
 									<listOptionValue builtIn="false" value="DUET3_V05"/>
-									<listOptionValue builtIn="false" value="LWIP_GMAC_TASK=0"/>
+									<listOptionValue builtIn="false" value="LWIP_GMAC_TASK=1"/>
 									<listOptionValue builtIn="false" value="_XOPEN_SOURCE"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.dialect.std.264694574" name="Language standard" superClass="gnu.cpp.compiler.option.dialect.std" useByScannerDiscovery="true" value="gnu.cpp.compiler.dialect.default" valueType="enumerated"/>
diff --git a/src/Duet3_V05/Pins_Duet3_V05.h b/src/Duet3_V05/Pins_Duet3_V05.h
index 276394d3..4240767e 100644
--- a/src/Duet3_V05/Pins_Duet3_V05.h
+++ b/src/Duet3_V05/Pins_Duet3_V05.h
@@ -7,7 +7,21 @@
 const size_t NumFirmwareUpdateModules = 1;
 
 #define IAP_FIRMWARE_FILE		"Duet3Firmware_" BOARD_SHORT_NAME ".bin"
-#define IAP_UPDATE_FILE			"Duet3iap_sd_" BOARD_SHORT_NAME ".bin"
+
+#define IAP_IN_RAM				1
+
+#if IAP_IN_RAM
+# define IAP_UPDATE_FILE			"Duet3_SDiap_" BOARD_SHORT_NAME ".bin"
+constexpr uint32_t IAP_IMAGE_START = 0x20450000;		// last 64kb of RAM
+#else
+# define IAP_UPDATE_FILE			"Duet3iap_sd_" BOARD_SHORT_NAME ".bin"
+
+// SAME70 Flash locations
+// These are designed to work with 1Mbyte flash processors as well as 2Mbyte
+// We can only erase complete 128kb sectors on the SAME70, so we allow 128Kb for IAP
+constexpr uint32_t IAP_IMAGE_START = 0x004E0000;
+constexpr uint32_t IAP_IMAGE_END = 0x004FFFFF;
+#endif
 
 // Features definition
 #define HAS_LWIP_NETWORKING		1
@@ -41,8 +55,6 @@ const size_t NumFirmwareUpdateModules = 1;
 #define USE_CACHE				0					// Cache controller disabled for now
 #define USE_MPU					1
 
-#define NO_EXTRUDER_ENDSTOPS	1	// Temporary!!!
-
 // The physical capabilities of the machine
 
 constexpr size_t NumDirectDrivers = 6;				// The maximum number of drives supported by the electronics inc. direct expansion
@@ -52,8 +64,7 @@ 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 MaxSensorsInSystem = 64;
-typedef uint64_t SensorsBitmap;
+constexpr size_t MaxSensors = 64;
 
 constexpr size_t MaxHeaters = 12;
 constexpr size_t MaxExtraHeaterProtections = 8;		// The number of extra heater protection instances
@@ -248,12 +259,6 @@ constexpr unsigned int NumNamedPins = ARRAY_SIZE(PinTable);
 // Function to look up a pin name pass back the corresponding index into the pin table
 bool LookupPinName(const char *pn, LogicalPin& lpin, bool& hardwareInverted);
 
-// SAME70 Flash locations
-// These are designed to work with 1Mbyte flash processors as well as 2Mbyte
-// We can only erase complete 128kb sectors on the SAME70, so we allow 128Kb for IAP
-constexpr uint32_t IAP_FLASH_START = 0x004E0000;
-constexpr uint32_t IAP_FLASH_END = 0x004FFFFF;
-
 // Duet pin numbers for the Linux interface
 constexpr Pin LinuxTfrReadyPin = PortEPin(2);
 Spi * const LinuxSpi = SPI1;
diff --git a/src/Duet3_V06/Pins_Duet3_V06.h b/src/Duet3_V06/Pins_Duet3_V06.h
index 414d06a0..af228213 100644
--- a/src/Duet3_V06/Pins_Duet3_V06.h
+++ b/src/Duet3_V06/Pins_Duet3_V06.h
@@ -8,10 +8,10 @@ const size_t NumFirmwareUpdateModules = 1;
 
 #define IAP_FIRMWARE_FILE		"Duet3Firmware_" BOARD_SHORT_NAME ".bin"
 
-#define IAP_IN_RAM				0
+#define IAP_IN_RAM				1
 
 #if IAP_IN_RAM
-# define IAP_UPDATE_FILE			"Duet3iap_sd_ram_" BOARD_SHORT_NAME ".bin"
+# define IAP_UPDATE_FILE			"Duet3_SDiap_" BOARD_SHORT_NAME ".bin"
 constexpr uint32_t IAP_IMAGE_START = 0x20450000;		// last 64kb of RAM
 #else
 # define IAP_UPDATE_FILE			"Duet3iap_sd_" BOARD_SHORT_NAME ".bin"
@@ -23,7 +23,6 @@ constexpr uint32_t IAP_IMAGE_START = 0x004E0000;
 constexpr uint32_t IAP_IMAGE_END = 0x004FFFFF;
 #endif
 
-
 // Features definition
 #define HAS_LWIP_NETWORKING		1
 #define HAS_WIFI_NETWORKING		0
@@ -60,8 +59,6 @@ constexpr uint32_t IAP_IMAGE_END = 0x004FFFFF;
 #define USE_MPU					1					// Needed if USE_CACHE is set, so that we can have non-cacheable memory regions
 #define USE_CACHE				1
 
-#define NO_EXTRUDER_ENDSTOPS	1	// Temporary!!!
-
 // The physical capabilities of the machine
 
 constexpr size_t NumDirectDrivers = 6;				// The maximum number of drives supported by the electronics inc. direct expansion
@@ -71,8 +68,7 @@ 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 MaxSensorsInSystem = 64;
-typedef uint64_t SensorsBitmap;
+constexpr size_t MaxSensors = 64;
 
 constexpr size_t MaxHeaters = 12;
 constexpr size_t MaxExtraHeaterProtections = 8;		// The number of extra heater protection instances
diff --git a/src/DuetM/Pins_DuetM.h b/src/DuetM/Pins_DuetM.h
index 232c3c81..e6bd13ea 100644
--- a/src/DuetM/Pins_DuetM.h
+++ b/src/DuetM/Pins_DuetM.h
@@ -56,15 +56,12 @@ constexpr uint32_t IAP_IMAGE_END = 0x0047FFFF;								// we allow a full 64K on
 #define SUPPORT_ASYNC_MOVES		1
 #define ALLOCATE_DEFAULT_PORTS	1
 
-#define NO_EXTRUDER_ENDSTOPS	1	// Temporary!!!
-
 // The physical capabilities of the machine
 
 constexpr size_t NumDirectDrivers = 7;				// The maximum number of drives supported by the electronics
 constexpr size_t MaxSmartDrivers = 7;				// The maximum number of smart drivers
 
-constexpr size_t MaxSensorsInSystem = 32;
-typedef uint32_t SensorsBitmap;
+constexpr size_t MaxSensors = 32;
 
 constexpr size_t MaxHeaters = 4;					// The maximum number of heaters in the machine
 constexpr size_t MaxExtraHeaterProtections = 4;		// The number of extra heater protection instances
diff --git a/src/DuetNG/Pins_DuetNG.h b/src/DuetNG/Pins_DuetNG.h
index 6b90a9f4..310b7696 100644
--- a/src/DuetNG/Pins_DuetNG.h
+++ b/src/DuetNG/Pins_DuetNG.h
@@ -54,15 +54,12 @@ constexpr size_t NumFirmwareUpdateModules = 4;		// 3 modules, plus one for manua
 #define USE_CACHE				1					// set nonzero to enable the cache
 #define USE_MPU					0					// set nonzero to enable the memory protection unit
 
-#define NO_EXTRUDER_ENDSTOPS	1	// Temporary!!!
-
 // The physical capabilities of the machine
 
 constexpr size_t NumDirectDrivers = 12;				// The maximum number of drives supported directly by the electronics
 constexpr size_t MaxSmartDrivers = 10;				// The maximum number of smart drivers
 
-constexpr size_t MaxSensorsInSystem = 32;
-typedef uint32_t SensorsBitmap;
+constexpr size_t MaxSensors = 32;
 
 constexpr size_t MaxHeaters = 10;					// The maximum number of heaters in the machine
 constexpr size_t MaxExtraHeaterProtections = 8;		// The number of extra heater protection instances
diff --git a/src/Endstops/EndstopDefs.h b/src/Endstops/EndstopDefs.h
index b0797961..7ccdc1ef 100644
--- a/src/Endstops/EndstopDefs.h
+++ b/src/Endstops/EndstopDefs.h
@@ -26,7 +26,7 @@ enum class EndstopHitAction : uint8_t
 // Struct to return info about what endstop has been triggered and what to do about it
 struct EndstopHitDetails
 {
-	EndstopHitDetails() : action((uint32_t)EndstopHitAction::none), internalUse(0), axis(0), setAxisLow(false), setAxisHigh(false), isZProbe(false)
+	EndstopHitDetails() : action((uint32_t)EndstopHitAction::none), internalUse(0), axis(NO_AXIS), setAxisLow(false), setAxisHigh(false), isZProbe(false)
 	{
 		driver.Clear();
 	}
diff --git a/src/Endstops/EndstopsManager.cpp b/src/Endstops/EndstopsManager.cpp
index b525eba1..787c94b0 100644
--- a/src/Endstops/EndstopsManager.cpp
+++ b/src/Endstops/EndstopsManager.cpp
@@ -27,7 +27,7 @@
 
 ReadWriteLock EndstopsManager::endstopsLock;					// used to lock both endstops and Z probes
 
-EndstopsManager::EndstopsManager() : activeEndstops(nullptr), isHomingMove(false)
+EndstopsManager::EndstopsManager() : activeEndstops(nullptr), extrudersEndstop(nullptr), isHomingMove(false)
 {
 	for (Endstop *& es : axisEndstops)
 	{
@@ -78,21 +78,20 @@ void EndstopsManager::AddToActive(EndstopOrZProbe& e)
 bool EndstopsManager::EnableAxisEndstops(AxesBitmap axes, bool forHoming)
 {
 	activeEndstops = nullptr;
-	isHomingMove = forHoming;
+	isHomingMove = forHoming && axes != 0;
 	const Kinematics& kin = reprap.GetMove().GetKinematics();
-	for (size_t axis = 0; axis < reprap.GetGCodes().GetVisibleAxes(); ++axis)
+	while (axes != 0)
 	{
-		if (IsBitSet(axes, axis))
+		const unsigned int axis = LowestSetBit(axes);
+		ClearBit(axes, axis);
+		if (axisEndstops[axis] != nullptr && axisEndstops[axis]->Prime(kin, reprap.GetPlatform().GetAxisDriversConfig(axis)))
 		{
-			if (axisEndstops[axis] != nullptr && axisEndstops[axis]->Prime(kin, reprap.GetPlatform().GetAxisDriversConfig(axis)))
-			{
-				AddToActive(*axisEndstops[axis]);
-			}
-			else
-			{
-				activeEndstops = nullptr;
-				return false;
-			}
+			AddToActive(*axisEndstops[axis]);
+		}
+		else
+		{
+			activeEndstops = nullptr;
+			return false;
 		}
 	}
 	return true;
@@ -111,19 +110,44 @@ bool EndstopsManager::EnableZProbe(size_t probeNumber, bool probingAway)
 	return true;
 }
 
-// Enable extruder endstops
-bool EndstopsManager::EnableExtruderEndstop(size_t extruder)
+// Enable extruder endstops. This adds to any existing axis endstops, so you must call EnableAxisEndstops before calling this.
+bool EndstopsManager::EnableExtruderEndstops(ExtrudersBitmap extruders)
 {
-#ifdef NO_EXTRUDER_ENDSTOPS
-	// not supported for now
-	return false;
+	if (extruders != 0)
+	{
+		if (extrudersEndstop == nullptr)
+		{
+			extrudersEndstop = new StallDetectionEndstop;
+		}
+		DriversBitmap drivers = 0;
+		while (extruders != 0)
+		{
+			const unsigned int extruder = LowestSetBit(extruders);
+			ClearBit(extruders, extruder);
+			const DriverId driver = reprap.GetPlatform().GetExtruderDriver(extruder);
+#if SUPPORT_CAN_EXPANSION
+			if (driver.IsLocal())
+			{
+				SetBit(drivers, driver.localDriver);
+			}
+			else
+			{
+				//TODO remote stall detect endstop
+				return false;
+			}
 #else
-	qq;		//TODO
+			SetBit(drivers, driver.localDriver);
 #endif
+		}
+
+		extrudersEndstop->SetDrivers(drivers);
+		AddToActive(*extrudersEndstop);
+	}
+	return true;
 }
 
 // Check the endstops.
-// If an endstop has triggered, remove it from the active list, return its action, and return a pointer to it via 'es'.
+// If an endstop has triggered, remove it from the active list and return its details
 EndstopHitDetails EndstopsManager::CheckEndstops(bool goingSlow)
 {
 	EndstopHitDetails ret;									// the default constructor will clear all fields
@@ -345,7 +369,7 @@ void EndstopsManager::GetM119report(const StringRef& reply)
 	reply.copy("Endstops - ");
 	for (size_t axis = 0; axis < reprap.GetGCodes().GetTotalAxes(); ++axis)
 	{
-		const char * const status = (axisEndstops == nullptr)
+		const char * const status = (axisEndstops[axis] == nullptr)
 										? "no endstop"
 											: TranslateEndStopResult(axisEndstops[axis]->Stopped(), axisEndstops[axis]->GetAtHighEnd());
 		reply.catf("%c: %s, ", reprap.GetGCodes().GetAxisLetters()[axis], status);
@@ -371,7 +395,7 @@ const char *EndstopsManager::TranslateEndStopResult(EndStopHit es, bool atHighEn
 
 ZProbe& EndstopsManager::GetCurrentZProbe() const
 {
-	ZProbe * const zp = zProbes[currentZProbeNumber];
+	ZProbe * const zp = (currentZProbeNumber < MaxZProbes) ? zProbes[currentZProbeNumber] : nullptr;
 	return (zp == nullptr) ? *defaultZProbe : *zp;
 }
 
diff --git a/src/Endstops/EndstopsManager.h b/src/Endstops/EndstopsManager.h
index 859ac8f2..1defb7fc 100644
--- a/src/Endstops/EndstopsManager.h
+++ b/src/Endstops/EndstopsManager.h
@@ -18,6 +18,8 @@
 class CanMessageBuffer;
 #endif
 
+class StallDetectionEndstop;
+
 // Endstop manager class
 class EndstopsManager
 {
@@ -36,7 +38,7 @@ public:
 	bool EnableCurrentZProbe(bool probingAway = false) __attribute__ ((warn_unused_result)) { return EnableZProbe(currentZProbeNumber, probingAway); }
 
 	// Enable extruder endstops
-	bool EnableExtruderEndstop(size_t extruder);
+	bool EnableExtruderEndstops(ExtrudersBitmap extruders);
 
 	// Get the first endstop that has triggered and remove it from the active list if appropriate
 	EndstopHitDetails CheckEndstops(bool goingSlow);
@@ -87,6 +89,7 @@ private:
 	size_t currentZProbeNumber;							// which Z probe we are using
 
 	Endstop *axisEndstops[MaxAxes];						// the endstops assigned to each axis (each one may have several switches), each may be null
+	StallDetectionEndstop *extrudersEndstop;				// the endstop used for extruder stall detection, one will do for all extruders
 	ZProbe *zProbes[MaxZProbes];						// the Z probes used. The first one is always non-null.
 	ZProbe *defaultZProbe;
 
diff --git a/src/Endstops/StallDetectionEndstop.cpp b/src/Endstops/StallDetectionEndstop.cpp
index 6a566572..f47b5b8d 100644
--- a/src/Endstops/StallDetectionEndstop.cpp
+++ b/src/Endstops/StallDetectionEndstop.cpp
@@ -16,6 +16,11 @@ StallDetectionEndstop::StallDetectionEndstop(uint8_t axis, EndStopPosition pos,
 {
 }
 
+StallDetectionEndstop::StallDetectionEndstop()
+	: Endstop(NO_AXIS, EndStopPosition::noEndStop), driversMonitored(0), individualMotors(false), stopAll(true)
+{
+}
+
 // Test whether we are at or near the stop
 EndStopHit StallDetectionEndstop::Stopped() const
 {
@@ -46,7 +51,11 @@ EndstopHitDetails StallDetectionEndstop::CheckTriggered(bool goingSlow)
 	if (relevantStalledDrivers != 0)
 	{
 		rslt.axis = GetAxis();
-		if (stopAll)
+		if (rslt.axis == NO_AXIS)
+		{
+			rslt.SetAction(EndstopHitAction::stopAll);
+		}
+		else if (stopAll)
 		{
 			rslt.SetAction(EndstopHitAction::stopAll);
 			if (GetAtHighEnd())
@@ -109,4 +118,10 @@ void StallDetectionEndstop::AppendDetails(const StringRef& str)
 	str.cat((individualMotors) ? "motor stall (individual motors)" : "motor stall (any motor)");
 }
 
+void StallDetectionEndstop::SetDrivers(DriversBitmap extruderDrivers)
+{
+	driversMonitored = extruderDrivers;
+	stopAll = true;
+}
+
 // End
diff --git a/src/Endstops/StallDetectionEndstop.h b/src/Endstops/StallDetectionEndstop.h
index 56095772..08ea7f3b 100644
--- a/src/Endstops/StallDetectionEndstop.h
+++ b/src/Endstops/StallDetectionEndstop.h
@@ -17,7 +17,8 @@ public:
 	void* operator new(size_t sz) { return Allocate<StallDetectionEndstop>(); }
 	void operator delete(void* p) { Release<StallDetectionEndstop>(p); }
 
-	StallDetectionEndstop(uint8_t axis, EndStopPosition pos, bool p_individualMotors);
+	StallDetectionEndstop(uint8_t axis, EndStopPosition pos, bool p_individualMotors);		// for creating axis endstops
+	StallDetectionEndstop();							// for creating the single extruders endstop
 
 	EndStopInputType GetEndstopType() const override { return (individualMotors) ? EndStopInputType::motorStallIndividual : EndStopInputType::motorStallAny; }
 	EndStopHit Stopped() const override;
@@ -25,6 +26,7 @@ public:
 	EndstopHitDetails CheckTriggered(bool goingSlow) override;
 	bool Acknowledge(EndstopHitDetails what) override;
 	void AppendDetails(const StringRef& str) override;
+	void SetDrivers(DriversBitmap extruderDrivers);		// for setting which local extruder drives are active extruder endstops
 
 private:
 	DriversBitmap driversMonitored;
diff --git a/src/Fans/Fan.cpp b/src/Fans/Fan.cpp
index 47fd5e9b..cec04f8b 100644
--- a/src/Fans/Fan.cpp
+++ b/src/Fans/Fan.cpp
@@ -79,7 +79,7 @@ bool Fan::Configure(unsigned int mcode, size_t fanNum, GCodeBuffer& gb, const St
 		if (gb.Seen('H'))		// Set thermostatically-controlled sensors
 		{
 			seen = true;
-			int32_t sensors[MaxSensorsInSystem];		// signed because we use H-1 to disable thermostatic mode
+			int32_t sensors[MaxSensors];			// signed because we use H-1 to disable thermostatic mode
 			size_t numH = ARRAY_SIZE(sensors);
 			gb.GetIntArray(sensors, numH, false);
 
@@ -90,7 +90,7 @@ bool Fan::Configure(unsigned int mcode, size_t fanNum, GCodeBuffer& gb, const St
 				const int hnum = sensors[h];
 				if (hnum >= 0)
 				{
-					if (hnum < (int)MaxSensorsInSystem)
+					if (hnum < (int)MaxSensors)
 					{
 						SetBit(sensorsMonitored, (unsigned int)hnum);
 					}
@@ -144,7 +144,7 @@ bool Fan::Configure(unsigned int mcode, size_t fanNum, GCodeBuffer& gb, const St
 			if (sensorsMonitored != 0)
 			{
 				reply.catf(", temperature: %.1f:%.1fC, sensors:", (double)triggerTemperatures[0], (double)triggerTemperatures[1]);
-				for (unsigned int i = 0; i < MaxSensorsInSystem; ++i)
+				for (unsigned int i = 0; i < MaxSensors; ++i)
 				{
 					if (IsBitSet(sensorsMonitored, i))
 					{
diff --git a/src/Fans/LocalFan.cpp b/src/Fans/LocalFan.cpp
index 77fb05e9..dab83bd9 100644
--- a/src/Fans/LocalFan.cpp
+++ b/src/Fans/LocalFan.cpp
@@ -81,39 +81,38 @@ void LocalFan::InternalRefresh()
 	{
 		reqVal = 0.0;
 		const bool bangBangMode = (triggerTemperatures[1] <= triggerTemperatures[0]);
-		for (size_t sensorNum = 0; sensorNum < MaxSensorsInSystem; ++sensorNum)
+		SensorsBitmap copySensorsMonitored = sensorsMonitored;
+		while (copySensorsMonitored != 0)
 		{
-			// Check if this sensor is both monitored by this fan and in use
-			if (IsBitSet(sensorsMonitored, sensorNum))
+			unsigned int sensorNum = LowestSetBit(copySensorsMonitored);
+			ClearBit(copySensorsMonitored, sensorNum);
+			const auto sensor = reprap.GetHeat().FindSensor(sensorNum);
+			if (sensor.IsNotNull())
 			{
-				const auto sensor = reprap.GetHeat().FindSensor(sensorNum);
-				if (sensor.IsNotNull())
+				//TODO we used to turn the fan on if the associated heater was being tuned
+				float ht;
+				const TemperatureError err = sensor->GetLatestTemperature(ht);
+				if (err != TemperatureError::success || ht < BadLowTemperature || ht >= triggerTemperatures[1])
 				{
-					//TODO we used to turn the fan on if the associated heater was being tuned
-					float ht;
-					const TemperatureError err = sensor->GetLatestTemperature(ht);
-					if (err != TemperatureError::success || ht < BadLowTemperature || ht >= triggerTemperatures[1])
-					{
-						reqVal = max<float>(reqVal, (bangBangMode) ? max<float>(0.5, val) : 1.0);
-					}
-					else if (!bangBangMode && ht > triggerTemperatures[0])
-					{
-						// We already know that ht < triggerTemperatures[1], therefore unless we have NaNs it is safe to divide by (triggerTemperatures[1] - triggerTemperatures[0])
-						reqVal = max<float>(reqVal, (ht - triggerTemperatures[0])/(triggerTemperatures[1] - triggerTemperatures[0]));
-					}
-					else if (lastVal != 0.0 && ht + ThermostatHysteresis > triggerTemperatures[0])		// if the fan is on, add a hysteresis before turning it off
-					{
-						const float minFanSpeed = (bangBangMode) ? max<float>(0.5, val) : minVal;
-						reqVal = constrain<float>(reqVal, minFanSpeed, maxVal);
-					}
+					reqVal = max<float>(reqVal, (bangBangMode) ? max<float>(0.5, val) : 1.0);
+				}
+				else if (!bangBangMode && ht > triggerTemperatures[0])
+				{
+					// We already know that ht < triggerTemperatures[1], therefore unless we have NaNs it is safe to divide by (triggerTemperatures[1] - triggerTemperatures[0])
+					reqVal = max<float>(reqVal, (ht - triggerTemperatures[0])/(triggerTemperatures[1] - triggerTemperatures[0]));
+				}
+				else if (lastVal != 0.0 && ht + ThermostatHysteresis > triggerTemperatures[0])		// if the fan is on, add a hysteresis before turning it off
+				{
+					const float minFanSpeed = (bangBangMode) ? max<float>(0.5, val) : minVal;
+					reqVal = constrain<float>(reqVal, minFanSpeed, maxVal);
+				}
 #if HAS_SMART_DRIVERS
-					const int channel = sensor->GetSmartDriversChannel();
-					if (channel >= 0)
-					{
-						driverChannelsMonitored |= 1 << (unsigned int)channel;
-					}
-#endif
+				const int channel = sensor->GetSmartDriversChannel();
+				if (channel >= 0)
+				{
+					driverChannelsMonitored |= 1 << (unsigned int)channel;
 				}
+#endif
 			}
 		}
 	}
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 6a1ffbaf..93732629 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -1433,6 +1433,8 @@ void GCodes::Pop(GCodeBuffer& gb, bool preserveLineNumber)
 // Returns true if this gcode is valid so far, false if it should be discarded
 bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb, bool isPrintingMove)
 {
+	bool ok = true;
+
 	// Deal with feed rate
 	if (moveBuffer.isCoordinated || machineType == MachineType::fff)
 	{
@@ -1459,6 +1461,7 @@ bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb, bool isPrintingM
 	}
 	moveBuffer.hasExtrusion = false;
 	moveBuffer.virtualExtruderPosition = virtualExtruderPosition;	// save this before we update it
+	ExtrudersBitmap extrudersMoving = 0;
 
 	// Check if we are extruding
 	if (gb.Seen(extrudeLetter))							// DC 2018-08-07: at E3D's request, extrusion is now recognised even on uncoordinated moves
@@ -1521,10 +1524,7 @@ bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb, bool isPrintingM
 						}
 
 						moveBuffer.coords[ExtruderToLogicalDrive(extruder)] = extrusionAmount * extrusionFactors[extruder];
-						if (moveBuffer.moveType == 1)
-						{
-							platform.GetEndstops().EnableExtruderEndstop(extruder);
-						}
+						SetBit(extrudersMoving, extruder);
 					}
 				}
 				if (!isPrintingMove && moveBuffer.usingStandardFeedrate)
@@ -1556,21 +1556,29 @@ bool GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb, bool isPrintingM
 								rawExtruderTotal += extrusionAmount;
 							}
 							moveBuffer.coords[ExtruderToLogicalDrive(extruder)] = extrusionAmount * extrusionFactors[extruder] * volumetricExtrusionFactors[extruder];
-							if (moveBuffer.moveType == 1)
-							{
-								platform.GetEndstops().EnableExtruderEndstop(extruder);
-							}
+							SetBit(extrudersMoving, extruder);
 						}
 					}
 				}
 				else
 				{
 					platform.Message(ErrorMessage, "Multiple E parameters in G1 commands are not supported in absolute extrusion mode\n");
+					ok = false;
 				}
 			}
 		}
 	}
-	return true;
+
+	if (moveBuffer.moveType == 1)
+	{
+		if (!platform.GetEndstops().EnableExtruderEndstops(extrudersMoving))
+		{
+			platform.Message(ErrorMessage, "Failed to enable extruder endstops");
+			ok = false;
+		}
+	}
+
+	return ok;
 }
 
 // Check that enough axes have been homed, returning true if insufficient axes homed
@@ -1775,7 +1783,7 @@ const char* GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated)
 		break;
 	}
 
-	LoadExtrusionAndFeedrateFromGCode(gb, axesMentioned != 0);
+	LoadExtrusionAndFeedrateFromGCode(gb, axesMentioned != 0);		// for type 1 moves, this must be called after calling EnableAxisEndstops, because EnableExtruderEndstop assumes that
 
 	// Set up the move. We must assign segmentsLeft last, so that when Move runs as a separate task the move won't be picked up by the Move process before it is complete.
 	// Note that if this is an extruder-only move, we don't do axis movements to allow for tool offset changes, we defer those until an axis moves.
diff --git a/src/Heating/Heat.cpp b/src/Heating/Heat.cpp
index ef148a5e..5fcbf771 100644
--- a/src/Heating/Heat.cpp
+++ b/src/Heating/Heat.cpp
@@ -950,7 +950,7 @@ GCodeResult Heat::ConfigureSensor(GCodeBuffer& gb, const StringRef& reply)
 	if (gb.Seen('S'))
 	{
 		const unsigned sensorNum = gb.GetUIValue();
-		if (sensorNum >= MaxSensorsInSystem)
+		if (sensorNum >= MaxSensors)
 		{
 			reply.copy("Sensor number out of range");
 			return GCodeResult::error;
diff --git a/src/Movement/StepTimer.cpp b/src/Movement/StepTimer.cpp
index 5c0fd23d..fc2b662b 100644
--- a/src/Movement/StepTimer.cpp
+++ b/src/Movement/StepTimer.cpp
@@ -138,9 +138,6 @@ bool StepTimer::ScheduleTimerInterrupt(uint32_t tim) noexcept
 	STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_IER = TC_IER_CPBS;			// enable the interrupt
 #endif
 
-#ifdef SOFT_TIMER_DEBUG
-	lastSoftTimerInterruptScheduledAt = GetTimerTicksInterruptsDisabled();
-#endif
 	cpu_irq_restore(flags);
 	return false;
 }
diff --git a/src/Platform.cpp b/src/Platform.cpp
index 6a0791b2..c0ad9c56 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -134,13 +134,6 @@ constexpr uint16_t driverV12OffAdcReading = V12VoltageToAdcReading(9.5);				// v
 
 const float MinStepPulseTiming = 0.2;				// we assume that we always generate step high and low times at least this wide without special action
 
-//#define SOFT_TIMER_DEBUG
-
-#ifdef SOFT_TIMER_DEBUG
-unsigned int numSoftTimerInterruptsExecuted = 0;
-uint32_t lastSoftTimerInterruptScheduledAt = 0;
-#endif
-
 // Global variable for debugging in tricky situations e.g. within ISRs
 int debugLine = 0;
 
diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h
index ef6c0f59..e0b40680 100644
--- a/src/RepRapFirmware.h
+++ b/src/RepRapFirmware.h
@@ -243,11 +243,25 @@ typedef float floatc_t;						// type of matrix element used for calibration
 #endif
 
 typedef uint16_t AxesBitmap;				// Type of a bitmap representing a set of axes
-typedef uint32_t DriversBitmap;				// Type of a bitmap representing a set of driver numbers
+typedef uint32_t ExtrudersBitmap;			// Type of a bitmap representing a set of extruder drive numbers
+typedef uint32_t DriversBitmap;				// Type of a bitmap representing a set of local driver numbers
 typedef uint32_t FansBitmap;				// Type of a bitmap representing a set of fan numbers
 typedef uint32_t HeatersBitmap;				// Type of a bitmap representing a set of heater numbers
 typedef uint16_t Pwm_t;						// Type of a PWM value when we don't want to use floats
 
+#if SUPPORT_CAN_EXPANSION
+typedef uint64_t SensorsBitmap;
+#else
+typedef uint32_t SensorsBitmap;
+#endif
+
+static_assert(MaxAxes <= sizeof(AxesBitmap) * CHAR_BIT);
+static_assert(MaxExtruders <= sizeof(ExtrudersBitmap) * CHAR_BIT);
+static_assert(MaxFans <= sizeof(FansBitmap) * CHAR_BIT);
+static_assert(MaxHeaters <= sizeof(HeatersBitmap) * CHAR_BIT);
+static_assert(NumDirectDrivers <= sizeof(DriversBitmap) * CHAR_BIT);
+static_assert(MaxSensors <= sizeof(SensorsBitmap) * CHAR_BIT);
+
 #if SUPPORT_IOBITS
 typedef uint16_t IoBits_t;					// Type of the port control bitmap (G1 P parameter)
 #endif
@@ -363,6 +377,7 @@ constexpr size_t ShortScratchStringLength = 50;
 constexpr size_t XYZ_AXES = 3;										// The number of Cartesian axes
 constexpr size_t X_AXIS = 0, Y_AXIS = 1, Z_AXIS = 2;				// The indices of the Cartesian axes in drive arrays
 constexpr size_t U_AXIS = 3;										// The assumed index of the U axis when executing M673
+constexpr size_t NO_AXIS = 0x0F;									// A value to represent no axis, must fit in 4 bits (see Endstops) and not be a valid axis number
 
 static_assert(MaxAxesPlusExtruders <= MaxAxes + MaxExtruders);
 static_assert(MaxAxesPlusExtruders >= MinAxes + NumDefaultExtruders);
diff --git a/src/Version.h b/src/Version.h
index 39612462..9f6450ee 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -10,7 +10,7 @@
 
 
 #ifndef VERSION
-# define MAIN_VERSION	"3.0beta12+1"
+# define MAIN_VERSION	"3.0RC1"
 # ifdef USE_CAN0
 #  define VERSION_SUFFIX	" (CAN0)"
 # else
@@ -20,7 +20,7 @@
 #endif
 
 #ifndef DATE
-# define DATE "2019-12-10b2"
+# define DATE "2019-12-12b2"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"