Fix Duet2_SBC configuration

Add SAM4S hardware directory (just a copy of SAM4E for now)
Move contents of AppUrgentInit() into AppInit()

10 files changed, 239 insertions, 77 deletions

diff --git a/.cproject b/.cproject
index e36353ae..1e0da1d7 100644
--- a/.cproject
+++ b/.cproject
@@ -122,7 +122,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="src/Duet3Mini|src/Linux|src/Hardware/SAME70|src/Hardware/SAME5x|src/Networking/LwipEthernet|src/Duet3_V06|src/Hardware/ksz8081rna|src/Pccb|src/DuetM" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="src/Duet3Mini|src/Linux|src/Hardware/SAME70|src/Hardware/SAME5x|src/Networking/LwipEthernet|src/Duet3_V06|src/Hardware/ksz8081rna|src/Pccb|src/DuetM|src/Hardware/SAM4S" flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -565,7 +565,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="src/Hardware/SAM4E|src/Duet3Mini|/src/Networking/LwipEthernet/Lwip/test|src/DuetNG|src/Networking/W5500Ethernet|src/Display|src/Pccb|/src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/Networking/LwipEthernet/Lwip/doc|src/Networking/LwipEthernet/Lwip/src/apps/smtp|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Networking/LwipEthernet/Lwip/src/apps/httpd|src/Hardware/SAME5x|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/altcp_tls|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Networking/LwipEthernet/Lwip/src/apps/http|src/Networking/ESP8266WiFi|src/DuetM" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="src/Hardware/SAM4E|src/Duet3Mini|/src/Networking/LwipEthernet/Lwip/test|src/DuetNG|src/Networking/W5500Ethernet|src/Display|src/Pccb|/src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/Networking/LwipEthernet/Lwip/doc|src/Networking/LwipEthernet/Lwip/src/apps/smtp|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Networking/LwipEthernet/Lwip/src/apps/httpd|src/Hardware/SAME5x|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/altcp_tls|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Networking/LwipEthernet/Lwip/src/apps/http|src/Networking/ESP8266WiFi|src/DuetM|src/Hardware/SAM4S" flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -786,7 +786,10 @@
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.targetPlatform.gnu.cross.509820949" isAbstract="false" osList="all" superClass="cdt.managedbuild.targetPlatform.gnu.cross"/>
 							<builder buildPath="${workspace_loc:/RepRapFirmware}/Duet2_RTOS" id="cdt.managedbuild.builder.gnu.cross.1472489771" keepEnvironmentInBuildfile="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
 							<tool id="cdt.managedbuild.tool.gnu.cross.assembler.1251056819" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler">
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="true" id="gnu.both.asm.option.include.paths.748950315" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" useByScannerDiscovery="false" valueType="includePath"/>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.both.asm.option.include.paths.748950315" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src}&quot;"/>
+								</option>
 								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1778931460" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
 							</tool>
 							<tool commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" id="cdt.managedbuild.tool.gnu.cross.c.compiler.364237023" name="Cross GCC Compiler" superClass="cdt.managedbuild.tool.gnu.cross.c.compiler">
@@ -795,17 +798,17 @@
 								<option id="gnu.c.compiler.option.misc.verbose.2100533250" name="Verbose (-v)" superClass="gnu.c.compiler.option.misc.verbose" useByScannerDiscovery="false" value="false" valueType="boolean"/>
 								<option id="gnu.c.compiler.option.misc.other.51237387" name="Other flags" superClass="gnu.c.compiler.option.misc.other" useByScannerDiscovery="false" value="-c -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections -nostdlib -Wundef -Wdouble-promotion -Werror=return-type -Werror=implicit -fsingle-precision-constant &quot;-Wa,-ahl=$*.s&quot;" valueType="string"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.c.compiler.option.include.paths.259472338" name="Include paths (-I)" superClass="gnu.c.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}/asf}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/common/utils}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/common/services/ioport}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/drivers}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/cmsis/sam4e/include}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/header_files}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/preprocessor}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/thirdparty/CMSIS/Include}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/variants/duetNG}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/SAM4E}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf/common/utils}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf/sam/drivers}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf/sam/utils}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf/sam/utils/preprocessor}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf/sam/utils/header_files}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf/sam/utils/cmsis/sam4e/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/arm/CMSIS/5.4.0/CMSIS/Core/Include}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.c.compiler.option.preprocessor.def.symbols.1590962224" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="__SAM4E8E__"/>
@@ -823,14 +826,14 @@
 							<tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.190661941" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
 								<option id="gnu.cpp.link.option.nostdlibs.954144272" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.1936491033" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/FreeRTOS/SAM4E}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreNG/SAM4E8E}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/SAM4E_SDHC_USB_RTOS}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/RRFLibraries/SAM4E_RTOS}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/FreeRTOS/SAM4E}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.libs.407110505" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" useByScannerDiscovery="false" valueType="libs">
+									<listOptionValue builtIn="false" srcPrefixMapping="" srcRootPath="" value="CoreN2G"/>
 									<listOptionValue builtIn="false" srcPrefixMapping="" srcRootPath="" value="RRFLibraries"/>
 									<listOptionValue builtIn="false" srcPrefixMapping="" srcRootPath="" value="FreeRTOS"/>
-									<listOptionValue builtIn="false" srcPrefixMapping="" srcRootPath="" value="CoreNG"/>
 									<listOptionValue builtIn="false" value="supc++"/>
 								</option>
 								<option id="gnu.cpp.link.option.flags.55786831" name="Linker flags" superClass="gnu.cpp.link.option.flags" useByScannerDiscovery="false" value="--specs=nosys.specs -Os -Wl,--gc-sections -Wl,--fatal-warnings -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -T&quot;${workspace_loc:/${CoreName}/variants/duetNG/linker_scripts/gcc/flash.ld}&quot; -Wl,-Map,&quot;${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.map&quot;" valueType="string"/>
@@ -845,21 +848,20 @@
 								<option id="gnu.cpp.compiler.option.other.verbose.516508660" name="Verbose (-v)" superClass="gnu.cpp.compiler.option.other.verbose" useByScannerDiscovery="false" value="false" valueType="boolean"/>
 								<option id="gnu.cpp.compiler.option.other.other.2058032643" 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 -Werror=return-type -fsingle-precision-constant &quot;-Wa,-ahl=$*.s&quot; -fstack-usage" valueType="string"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.2008633041" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/cores/arduino}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/libraries/Flash}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/libraries/Wire}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/common/utils}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/common/services/clock}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/common/services/ioport}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/drivers}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/cmsis/sam4e/include}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/header_files}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/preprocessor}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/thirdparty/CMSIS/Include}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/variants/duetNG}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/SAM4E}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf/common/utils}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/arm/CMSIS/5.4.0/CMSIS/Core/Include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf/sam/utils/cmsis/sam4e/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf/sam/utils}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf/sam/utils/preprocessor}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf/sam/utils/header_files}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CoreN2G/src/SAM4S_4E_E70/asf/sam/drivers}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Hardware/SAM4E}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/DuetNG}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/DuetWiFiSocketServer/src/include}&quot;"/>
@@ -881,17 +883,11 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="src/Duet3Mini|src/Hardware/SAME70|src/Hardware/SAME5x|src/Networking/LwipEthernet|src/Networking/W5500Ethernet/|src/Duet3_V06|src/Hardware/ksz8081rna|src/Networking/ESP8266WiFi/|src/Pccb|src/DuetM" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="src/Duet3Mini|src/Hardware/SAME70|src/Hardware/SAME5x|src/Networking/LwipEthernet|src/Networking/W5500Ethernet/|src/Duet3_V06|src/Hardware/ksz8081rna|src/Networking/ESP8266WiFi/|src/Pccb|src/DuetM|src/Hardware/SAM4S" flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings">
-				<externalSettings containerId="CoreNG;cdt.managedbuild.config.gnu.cross.lib.release.897729483.161018050" factoryId="org.eclipse.cdt.core.cfg.export.settings.sipplier">
-					<externalSetting>
-						<entry flags="VALUE_WORKSPACE_PATH" kind="libraryPath" name="/CoreNG/SAM4E8E"/>
-						<entry flags="RESOLVED" kind="libraryFile" name="CoreNG" srcPrefixMapping="" srcRootPath=""/>
-					</externalSetting>
-				</externalSettings>
 				<externalSettings containerId="FreeRTOS;cdt.managedbuild.config.gnu.cross.exe.release.487753828" factoryId="org.eclipse.cdt.core.cfg.export.settings.sipplier">
 					<externalSetting>
 						<entry flags="VALUE_WORKSPACE_PATH" kind="libraryPath" name="/FreeRTOS/SAM4E"/>
@@ -904,6 +900,13 @@
 						<entry flags="RESOLVED" kind="libraryFile" name="RRFLibraries" srcPrefixMapping="" srcRootPath=""/>
 					</externalSetting>
 				</externalSettings>
+				<externalSettings containerId="CoreN2G;cdt.managedbuild.config.gnu.cross.lib.release.675522878.1031364120.863690523.1238055174" factoryId="org.eclipse.cdt.core.cfg.export.settings.sipplier">
+					<externalSetting>
+						<entry flags="VALUE_WORKSPACE_PATH" kind="includePath" name="/CoreN2G"/>
+						<entry flags="VALUE_WORKSPACE_PATH" kind="libraryPath" name="/CoreN2G/SAM4E_SDHC_USB_RTOS"/>
+						<entry flags="RESOLVED" kind="libraryFile" name="CoreN2G" srcPrefixMapping="" srcRootPath=""/>
+					</externalSetting>
+				</externalSettings>
 			</storageModule>
 		</cconfiguration>
 		<cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622.649587786.957471317.554098917">
@@ -1319,7 +1322,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="src/Hardware/SAM4E|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Networking/LwipEthernet/Lwip/src/apps/smtp|src/Hardware/SAME70|src/DuetNG|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/W5500Ethernet|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/altcp_tls|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Networking/LwipEthernet/Lwip/src/apps/http|src/Duet3_V06|src/Pccb|src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/DuetM|src/Networking/LwipEthernet/Lwip/doc" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="src/Hardware/SAM4E|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Networking/LwipEthernet/Lwip/src/apps/smtp|src/Hardware/SAME70|src/DuetNG|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/W5500Ethernet|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/altcp_tls|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Networking/LwipEthernet/Lwip/src/apps/http|src/Duet3_V06|src/Pccb|src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/DuetM|src/Networking/LwipEthernet/Lwip/doc|src/Hardware/SAM4S" flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -1973,7 +1976,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="src/Hardware/SAM4E|src/Duet3Mini|/src/Networking/LwipEthernet/Lwip/test|src/DuetNG|src/Networking/W5500Ethernet|src/Display|src/Pccb|/src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/Networking/LwipEthernet/Lwip/doc|src/Networking/LwipEthernet/Lwip/src/apps/smtp|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Networking/LwipEthernet/Lwip/src/apps/httpd|src/Hardware/SAME5x|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/altcp_tls|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Networking/LwipEthernet/Lwip/src/apps/http|src/Networking/ESP8266WiFi|src/DuetM" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="src/Hardware/SAM4E|src/Duet3Mini|/src/Networking/LwipEthernet/Lwip/test|src/DuetNG|src/Networking/W5500Ethernet|src/Display|src/Pccb|/src/Networking/LwipEthernet/Lwip/src/apps/mqtt|src/Networking/LwipEthernet/Lwip/doc|src/Networking/LwipEthernet/Lwip/src/apps/smtp|src/Networking/LwipEthernet/Lwip/src/apps/snmp|src/Networking/LwipEthernet/Lwip/src/apps/httpd|src/Hardware/SAME5x|src/Networking/LwipEthernet/Lwip/src/apps/tftp|src/Networking/LwipEthernet/Lwip/src/netif/ppp|src/Networking/LwipEthernet/Lwip/src/apps/lwiperf|src/Networking/LwipEthernet/Lwip/src/apps/altcp_tls|src/Networking/LwipEthernet/Lwip/src/apps/sntp|src/Networking/LwipEthernet/Lwip/src/apps/http|src/Networking/ESP8266WiFi|src/DuetM|src/Hardware/SAM4S" flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/src/DuetNG/Pins_DuetNG.h b/src/DuetNG/Pins_DuetNG.h
index 464c14dd..78e10e09 100644
--- a/src/DuetNG/Pins_DuetNG.h
+++ b/src/DuetNG/Pins_DuetNG.h
@@ -552,6 +552,7 @@ constexpr Pin APIN_SBC_SPI_MOSI = SPI_MOSI;
 constexpr Pin APIN_SBC_SPI_MISO = SPI_MISO;
 constexpr Pin APIN_SBC_SPI_SCK  = SPI_SCK;
 constexpr Pin APIN_SBC_SPI_SS0  = SPI_SS0;
+constexpr GpioPinFunction SBCPinPeriphMode = SPIPeriphMode;
 
 constexpr Pin SbcTfrReadyPin = PortDPin(31);
 
diff --git a/src/Hardware/SAM4E/Main.cpp b/src/Hardware/SAM4E/Main.cpp
index 4d26da64..355443b4 100644
--- a/src/Hardware/SAM4E/Main.cpp
+++ b/src/Hardware/SAM4E/Main.cpp
@@ -7,10 +7,20 @@
  */
 
 #include <CoreIO.h>
+#include <RepRapFirmware.h>
 
 // Program initialisation
 void AppInit() noexcept
 {
+	// When the reset button is pressed on pre-production Duet WiFi boards, if the TMC2660 drivers were previously enabled then we get
+	// uncommanded motor movements if the STEP lines pick up any noise. Try to reduce that by initialising the pins that control the drivers early here.
+	// On the production boards the ENN line is pulled high by an external pullup resistor and that prevents motor movements.
+	for (size_t drive = 0; drive < MaxSmartDrivers; ++drive)
+	{
+		pinMode(STEP_PINS[drive], OUTPUT_LOW);
+		pinMode(DIRECTION_PINS[drive], OUTPUT_LOW);
+		pinMode(ENABLE_PINS[drive], OUTPUT_HIGH);
+	}
 }
 
 // End
diff --git a/src/Hardware/SAM4E/PinDescription.h b/src/Hardware/SAM4E/PinDescription.h
index c39b56ef..d08e16de 100644
--- a/src/Hardware/SAM4E/PinDescription.h
+++ b/src/Hardware/SAM4E/PinDescription.h
@@ -46,4 +46,4 @@ struct PinDescription : public PinDescriptionBase
 	const char* GetNames() const noexcept { return pinNames; }
 };
 
-#endif /* SRC_HARDWARE_SAME70_PINDESCRIPTION_H_ */
+#endif /* SRC_HARDWARE_SAM4E_PINDESCRIPTION_H_ */
diff --git a/src/Hardware/SAM4S/Devices.cpp b/src/Hardware/SAM4S/Devices.cpp
new file mode 100644
index 00000000..11d01398
--- /dev/null
+++ b/src/Hardware/SAM4S/Devices.cpp
@@ -0,0 +1,74 @@
+/*
+ * Devices.cpp
+ *
+ *  Created on: 11 Aug 2020
+ *      Author: David
+ */
+
+#include "Devices.h"
+#include <RepRapFirmware.h>
+#include <AnalogIn.h>
+#include <AnalogOut.h>
+#include <pmc/pmc.h>
+
+AsyncSerial Serial (UART0, UART0_IRQn, ID_UART0, 512, 512, 	[](AsyncSerial*) noexcept { }, [](AsyncSerial*) noexcept { });
+AsyncSerial Serial1(UART1, UART1_IRQn, ID_UART1, 512, 512,	[](AsyncSerial*) noexcept { }, [](AsyncSerial*) noexcept { });
+SerialCDC SerialUSB;
+
+void UART0_Handler(void) noexcept
+{
+	Serial.IrqHandler();
+}
+
+void UART1_Handler(void) noexcept
+{
+	Serial1.IrqHandler();
+}
+
+void SerialInit() noexcept
+{
+	SetPinFunction(APIN_Serial0_RXD, Serial0PeriphMode);
+	SetPinFunction(APIN_Serial0_TXD, Serial0PeriphMode);
+	SetPullup(APIN_Serial0_RXD, true);
+
+	SetPinFunction(APIN_Serial1_RXD, Serial1PeriphMode);
+	SetPinFunction(APIN_Serial1_TXD, Serial1PeriphMode);
+	SetPullup(APIN_Serial1_RXD, true);
+}
+
+void SdhcInit() noexcept
+{
+	for (Pin p : HsmciPins)
+	{
+		SetPinFunction(p, HsmciPinsFunction);
+	}
+}
+
+void WireInit() noexcept
+{
+	pmc_enable_periph_clk(WIRE_INTERFACE_ID);
+	SetPinFunction(TWI_Data, TWIPeriphMode);
+	SetPinFunction(TWI_CK, TWIPeriphMode);
+
+	NVIC_DisableIRQ(WIRE_ISR_ID);
+	NVIC_ClearPendingIRQ(WIRE_ISR_ID);
+}
+
+TwoWire Wire(WIRE_INTERFACE, WireInit);
+
+
+// Device initialisation
+void DeviceInit() noexcept
+{
+	LegacyAnalogIn::AnalogInInit();
+	AnalogOut::Init();
+
+	SerialInit();
+	SdhcInit();
+}
+
+void StopAnalogTask() noexcept
+{
+}
+
+// End
diff --git a/src/Hardware/SAM4S/Devices.h b/src/Hardware/SAM4S/Devices.h
new file mode 100644
index 00000000..da8d3c08
--- /dev/null
+++ b/src/Hardware/SAM4S/Devices.h
@@ -0,0 +1,29 @@
+/*
+ * Devices.h
+ *
+ *  Created on: 11 Aug 2020
+ *      Author: David
+ */
+
+#ifndef SRC_HARDWARE_SAM4S_DEVICES_H_
+#define SRC_HARDWARE_SAM4S_DEVICES_H_
+
+#include <AsyncSerial.h>
+typedef AsyncSerial UARTClass;
+#include <USARTClass.h>
+
+extern AsyncSerial Serial;
+extern AsyncSerial Serial1;
+
+#define SUPPORT_USB		1		// needed by SerialCDC.h
+#include <SerialCDC.h>
+
+extern SerialCDC SerialUSB;
+
+#include <Wire.h>
+extern TwoWire Wire;
+
+void DeviceInit() noexcept;
+void StopAnalogTask() noexcept;
+
+#endif /* SRC_HARDWARE_SAM4S_DEVICES_H_ */
diff --git a/src/Hardware/SAM4S/Main.cpp b/src/Hardware/SAM4S/Main.cpp
new file mode 100644
index 00000000..13261267
--- /dev/null
+++ b/src/Hardware/SAM4S/Main.cpp
@@ -0,0 +1,26 @@
+/*
+ * Main.cpp
+ *  Program entry point
+ *  Created on: 11 Jul 2020
+ *      Author: David
+ *  License: GNU GPL version 3
+ */
+
+#include <CoreIO.h>
+#include <RepRapFirmware.h>
+
+// Program initialisation
+void AppInit() noexcept
+{
+	// The prototype boards don't have a pulldown on LCD_BEEP, which causes a hissing sound from the beeper on the 12864 display until the pin is initialised
+	pinMode(LcdBeepPin, OUTPUT_LOW);
+
+	// Set the 12864 display CS pin low to prevent it from receiving garbage due to other SPI traffic
+	pinMode(LcdCSPin, OUTPUT_LOW);
+
+	// On the prototype boards the stepper driver expansion ports don't have external pullup resistors on their enable pins
+	pinMode(ENABLE_PINS[5], OUTPUT_HIGH);
+	pinMode(ENABLE_PINS[6], OUTPUT_HIGH);
+}
+
+// End
diff --git a/src/Hardware/SAM4S/PinDescription.h b/src/Hardware/SAM4S/PinDescription.h
new file mode 100644
index 00000000..6f552cff
--- /dev/null
+++ b/src/Hardware/SAM4S/PinDescription.h
@@ -0,0 +1,49 @@
+/*
+ * PinDescription.h
+ *
+ *  Created on: 10 Jul 2020
+ *      Author: David
+ */
+
+#ifndef SRC_HARDWARE_SAM4S_PINDESCRIPTION_H_
+#define SRC_HARDWARE_SAM4S_PINDESCRIPTION_H_
+
+#include <CoreIO.h>
+
+// Enum to represent allowed types of pin access
+// We don't have a separate bit for servo, because Duet PWM-capable ports can be used for servos if they are on the Duet main board
+enum class PinCapability: uint8_t
+{
+	// Individual capabilities
+	none = 0,
+	read = 1,
+	ain = 2,
+	write = 4,
+	pwm = 8,
+
+	// Combinations
+	ainr = 1|2,
+	rw = 1|4,
+	wpwm = 4|8,
+	rwpwm = 1|4|8,
+	ainrw = 1|2|4,
+	ainrwpwm = 1|2|4|8
+};
+
+constexpr inline PinCapability operator|(PinCapability a, PinCapability b) noexcept
+{
+	return (PinCapability)((uint8_t)a | (uint8_t)b);
+}
+
+// The pin description says what functions are available on each pin, filtered to avoid allocating the same function to more than one pin..
+// It is a struct not a class so that it can be direct initialised in read-only memory.
+struct PinDescription : public PinDescriptionBase
+{
+	PinCapability cap;
+	const char* pinNames;
+
+	PinCapability GetCapability() const noexcept { return cap; }
+	const char* GetNames() const noexcept { return pinNames; }
+};
+
+#endif /* SRC_HARDWARE_SAM4S_PINDESCRIPTION_H_ */
diff --git a/src/Linux/DataTransfer.cpp b/src/Linux/DataTransfer.cpp
index 72fde11a..9fc485ac 100644
--- a/src/Linux/DataTransfer.cpp
+++ b/src/Linux/DataTransfer.cpp
@@ -39,12 +39,14 @@ constexpr IRQn SBC_SPI_IRQn = SbcSpiSercomIRQn;
 #endif
 
 #if USE_DMAC
-# include "dmac/dmac.h"
-# include "matrix/matrix.h"
+# include <dmac/dmac.h>
+# include <matrix/matrix.h>
+# include <pmc/pmc.h>
+# include <spi/spi.h>
 #endif
 
 #if USE_XDMAC
-# include "xdmac/xdmac.h"
+# include <xdmac/xdmac.h>
 #endif
 
 #if USE_DMAC_MANAGER || SAME70
diff --git a/src/Platform.cpp b/src/Platform.cpp
index f987d84b..a99e3051 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -163,36 +163,6 @@ int debugLine = 0;
 
 // Global functions
 
-// Urgent initialisation function
-// This is called before general init has been done, and before constructors for C++ static data have been called.
-// Therefore, be very careful what you do here!
-extern "C" void AppUrgentInit()
-{
-#if defined(DUET_NG)
-	// When the reset button is pressed on pre-production Duet WiFi boards, if the TMC2660 drivers were previously enabled then we get
-	// uncommanded motor movements if the STEP lines pick up any noise. Try to reduce that by initialising the pins that control the drivers early here.
-	// On the production boards the ENN line is pulled high by an external pullup resistor and that prevents motor movements.
-	for (size_t drive = 0; drive < MaxSmartDrivers; ++drive)
-	{
-		pinMode(STEP_PINS[drive], OUTPUT_LOW);
-		pinMode(DIRECTION_PINS[drive], OUTPUT_LOW);
-		pinMode(ENABLE_PINS[drive], OUTPUT_HIGH);
-	}
-#endif
-
-#if defined(DUET_M)
-	// The prototype boards don't have a pulldown on LCD_BEEP, which causes a hissing sound from the beeper on the 12864 display until the pin is initialised
-	pinMode(LcdBeepPin, OUTPUT_LOW);
-
-	// Set the 12864 display CS pin low to prevent it from receiving garbage due to other SPI traffic
-	pinMode(LcdCSPin, OUTPUT_LOW);
-
-	// On the prototype boards the stepper driver expansion ports don't have external pullup resistors on their enable pins
-	pinMode(ENABLE_PINS[5], OUTPUT_HIGH);
-	pinMode(ENABLE_PINS[6], OUTPUT_HIGH);
-#endif
-}
-
 DriversBitmap AxisDriversConfig::GetDriversBitmap() const noexcept
 {
 	DriversBitmap rslt;
@@ -5208,10 +5178,8 @@ void Platform::Tick() noexcept
 	// To reduce noise, we use x16 hardware averaging on AFEC0 and x256 on AFEC1. This is hard coded in file AnalogIn.cpp in project CoreNG.
 	// There is enough time to convert all AFEC0 channels in one tick, but only one AFEC1 channel because of the higher averaging.
 	LegacyAnalogIn::AnalogInStartConversion(0x0FFF | (1u << (uint8_t) filteredAdcChannels[currentFilterNumber]));
-#elif SAM4E || SAM4S
-	LegacyAnalogIn::AnalogInStartConversion();
 #elif !SAME5x
-	AnalogInStartConversion();
+	LegacyAnalogIn::AnalogInStartConversion();
 #endif
 }