We no longer allow axis letters greater than lowercase 'f'

12 files changed, 101 insertions, 68 deletions

diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp
index 7e2f6a33..d692c7c7 100644
--- a/src/CAN/CanInterface.cpp
+++ b/src/CAN/CanInterface.cpp
@@ -919,7 +919,7 @@ extern "C" [[noreturn]] void CanReceiverLoop(void *) noexcept
 // This one is used by ATE
 GCodeResult CanInterface::EnableRemoteDrivers(const CanDriversList& drivers, const StringRef& reply) noexcept
 {
-	return SetRemoteDriverStates(drivers, reply, DriverStateControl(DriverStateControl::driverActive));
+	return SetRemoteDriverStates(drivers, reply, DriverStateControl(DriverStateControl::driverActive, reprap.GetGCodes().GetMotorBrakeOffDelay()));
 }
 
 // This one is used by Prepare and by M17
@@ -932,7 +932,7 @@ void CanInterface::EnableRemoteDrivers(const CanDriversList& drivers) noexcept
 // This one is used by ATE
 GCodeResult CanInterface::DisableRemoteDrivers(const CanDriversList& drivers, const StringRef& reply) noexcept
 {
-	return SetRemoteDriverStates(drivers, reply, DriverStateControl(DriverStateControl::driverDisabled));
+	return SetRemoteDriverStates(drivers, reply, DriverStateControl(DriverStateControl::driverDisabled, reprap.GetGCodes().GetMotorBrakeOnDelay()));
 }
 
 // This one is used by Prepare
@@ -945,7 +945,7 @@ void CanInterface::DisableRemoteDrivers(const CanDriversList& drivers) noexcept
 void CanInterface::SetRemoteDriversIdle(const CanDriversList& drivers, float idleCurrentFactor) noexcept
 {
 	String<1> dummy;
-	(void)SetRemoteDriverStates(drivers, dummy.GetRef(), DriverStateControl(DriverStateControl::driverIdle, lrintf(idleCurrentFactor * 100)));
+	(void)SetRemoteDriverStates(drivers, dummy.GetRef(), DriverStateControl(DriverStateControl::driverIdle, (uint16_t)lrintf(idleCurrentFactor * 100) << 4));
 }
 
 GCodeResult CanInterface::SetRemoteStandstillCurrentPercent(const CanDriversData<float>& data, const StringRef& reply) noexcept
diff --git a/src/GCodes/GCodeBuffer/BinaryParser.cpp b/src/GCodes/GCodeBuffer/BinaryParser.cpp
index b4508158..fbe0ec4c 100644
--- a/src/GCodes/GCodeBuffer/BinaryParser.cpp
+++ b/src/GCodes/GCodeBuffer/BinaryParser.cpp
@@ -26,6 +26,24 @@ void BinaryParser::Init() noexcept
 	gb.bufferState = GCodeBufferState::parseNotStarted;
 	seenParameter = nullptr;
 	seenParameterValue = nullptr;
+	parametersPresent.Clear();
+	if (bufferLength != 0 && header->numParameters != 0)
+	{
+		const char *parameterStart = reinterpret_cast<const char*>(gb.buffer) + sizeof(CodeHeader);
+		for (size_t i = 0; i < header->numParameters; i++)
+		{
+			const CodeParameter *param = reinterpret_cast<const CodeParameter*>(parameterStart + i * sizeof(CodeParameter));
+			const char paramLetter = param->letter;
+			if (paramLetter >= 'A' && paramLetter <= 'Z')
+			{
+				parametersPresent.SetBit(paramLetter - 'A');
+			}
+			else if (paramLetter >= 'a' && paramLetter <= 'f')
+			{
+				parametersPresent.SetBit(paramLetter - ('a' - 26));
+			}
+		}
+	}
 }
 
 // Add an entire binary G-Code, overwriting any existing content
@@ -88,32 +106,6 @@ bool BinaryParser::Seen(char c) noexcept
 	return false;
 }
 
-// Return true if any of the parameter letters in the bitmap were seen
-bool BinaryParser::SeenAny(Bitmap<uint32_t> bm) const noexcept
-{
-	if (bufferLength != 0 && header->numParameters != 0)
-	{
-		const char *parameterStart = reinterpret_cast<const char*>(gb.buffer) + sizeof(CodeHeader);
-		for (size_t i = 0; i < header->numParameters; i++)
-		{
-			const CodeParameter *param = reinterpret_cast<const CodeParameter*>(parameterStart + i * sizeof(CodeParameter));
-			const char paramLetter = param->letter;
-			if (paramLetter >= 'A' && paramLetter <= 'Z')
-			{
-				if (bm.IsBitSet(paramLetter - 'A'))
-				{
-					return true;
-				}
-			}
-			else if (paramLetter >= 'a' && paramLetter <= 'f' && bm.IsBitSet(paramLetter - ('a' - 26)))
-			{
-				return true;
-			}
-		}
-	}
-	return false;
-}
-
 char BinaryParser::GetCommandLetter() const noexcept
 {
 	return (bufferLength != 0) ? header->letter : 'Q';
diff --git a/src/GCodes/GCodeBuffer/BinaryParser.h b/src/GCodes/GCodeBuffer/BinaryParser.h
index 199d1901..76ab98cf 100644
--- a/src/GCodes/GCodeBuffer/BinaryParser.h
+++ b/src/GCodes/GCodeBuffer/BinaryParser.h
@@ -28,7 +28,7 @@ public:
 	void Put(const uint32_t *data, size_t len) noexcept;						// Add an entire binary code, overwriting any existing content
 	void DecodeCommand() noexcept;												// Print the buffer content in debug mode and prepare for execution
 	bool Seen(char c) noexcept SPEED_CRITICAL;									// Is a character present?
-	bool SeenAny(Bitmap<uint32_t> bm) const noexcept;							// Return true if any of the parameter letters in the bitmap were seen
+	ParameterLettersBitmap AllParameters() const noexcept { return parametersPresent; }	// Return the bitmap of all parameters seen
 
 	char GetCommandLetter() const noexcept;
 	bool HasCommandNumber() const noexcept;
@@ -81,6 +81,7 @@ private:
 	const CodeHeader *header;
 
 	int reducedBytesRead;
+	ParameterLettersBitmap parametersPresent;
 	const CodeParameter *seenParameter;
 	const char *seenParameterValue;
 };
diff --git a/src/GCodes/GCodeBuffer/GCodeBuffer.cpp b/src/GCodes/GCodeBuffer/GCodeBuffer.cpp
index 91a7369c..62b64e19 100644
--- a/src/GCodes/GCodeBuffer/GCodeBuffer.cpp
+++ b/src/GCodes/GCodeBuffer/GCodeBuffer.cpp
@@ -381,7 +381,7 @@ bool GCodeBuffer::IsLaterThan(const GCodeBuffer& other) const noexcept
 // If the command was or called a macro then there will be no command in the buffer, so we must return true for this case also.
 bool GCodeBuffer::IsLastCommand() const noexcept
 {
-	return 	IS_BINARY_OR((bufferState != GCodeBufferState::ready && bufferState != GCodeBufferState::executing) || stringParser.IsLastCommand());
+	return IS_BINARY_OR((bufferState != GCodeBufferState::ready && bufferState != GCodeBufferState::executing) || stringParser.IsLastCommand());
 }
 
 bool GCodeBuffer::ContainsExpression() const noexcept
@@ -395,10 +395,9 @@ bool GCodeBuffer::Seen(char c) noexcept
 	return PARSER_OPERATION(Seen(c));
 }
 
-// Return true if any of the parameter letters in the bitmap were seen
-bool GCodeBuffer::SeenAny(Bitmap<uint32_t> bm) const noexcept
+ParameterLettersBitmap GCodeBuffer::AllParameters() const noexcept
 {
-	return PARSER_OPERATION(SeenAny(bm));
+	return PARSER_OPERATION(AllParameters());
 }
 
 // Test for character present, throw error if not
diff --git a/src/GCodes/GCodeBuffer/GCodeBuffer.h b/src/GCodes/GCodeBuffer/GCodeBuffer.h
index 4fc40cbc..1d653a63 100644
--- a/src/GCodes/GCodeBuffer/GCodeBuffer.h
+++ b/src/GCodes/GCodeBuffer/GCodeBuffer.h
@@ -76,7 +76,11 @@ public:
 	bool Seen(char c) noexcept SPEED_CRITICAL;										// Is a character present?
 	void MustSee(char c) THROWS(GCodeException);									// Test for character present, throw error if not
 	char MustSee(char c1, char c2) THROWS(GCodeException);							// Test for one of two characters present, throw error if not
-	inline bool SeenAny(const char *s) const noexcept { return SeenAny(Bitmap<uint32_t>(ParametersToBitmap(s))); }
+	ParameterLettersBitmap AllParameters() const noexcept;							// Return a bitmap of all parameters in the command
+	bool SeenAny(ParameterLettersBitmap bm) const noexcept							// Return true if any of the parameter letters in the bitmap were seen
+		{ return AllParameters().Intersects(bm); }
+	bool SeenAny(const char *s) const noexcept										// Return true if any of the parameter letters in the string were seen
+		{ return SeenAny(ParameterLettersBitmap(ParametersToBitmap(s))); }
 
 	float GetFValue() THROWS(GCodeException) SPEED_CRITICAL;						// Get a float after a key letter
 	float GetPositiveFValue() THROWS(GCodeException) SPEED_CRITICAL;				// Get a float after a key letter and check that it is greater than zero
@@ -298,8 +302,6 @@ protected:
 	DECLARE_OBJECT_MODEL
 
 private:
-	bool SeenAny(Bitmap<uint32_t> bm) const noexcept;								// Return true if any of the parameter letters in the bitmap were seen
-
 	// Convert a string of uppercase parameter letters to a bit map
 	static inline constexpr uint32_t ParametersToBitmap(const char *s) noexcept
 	{
diff --git a/src/GCodes/GCodeBuffer/StringParser.cpp b/src/GCodes/GCodeBuffer/StringParser.cpp
index f51ae716..35f555fa 100644
--- a/src/GCodes/GCodeBuffer/StringParser.cpp
+++ b/src/GCodes/GCodeBuffer/StringParser.cpp
@@ -1140,7 +1140,7 @@ bool StringParser::Seen(char c) noexcept
 	{
 		bit = c - 'A';
 	}
-	if (bit > 31 || !parametersPresent.IsBitSet(c - 'A'))
+	if (bit >= ParameterLettersBitmap::MaxBits() || !parametersPresent.IsBitSet(c - 'A'))
 	{
 		return false;
 	}
@@ -1188,12 +1188,6 @@ bool StringParser::Seen(char c) noexcept
 	return false;
 }
 
-// Return true if any of the parameter letters in the bitmap were seen
-bool StringParser::SeenAny(Bitmap<uint32_t> bm) const noexcept
-{
-	return parametersPresent.Intersects(bm);
-}
-
 // Get a float after a G Code letter found by a call to Seen()
 float StringParser::GetFValue() THROWS(GCodeException)
 {
diff --git a/src/GCodes/GCodeBuffer/StringParser.h b/src/GCodes/GCodeBuffer/StringParser.h
index 5c9953f8..e3686506 100644
--- a/src/GCodes/GCodeBuffer/StringParser.h
+++ b/src/GCodes/GCodeBuffer/StringParser.h
@@ -44,15 +44,15 @@ public:
 	bool IsLastCommand() const noexcept;
 	bool ContainsExpression() const noexcept { return seenExpression; }
 
-	bool Seen(char c) noexcept SPEED_CRITICAL;									// Is a character present?
-	bool SeenAny(Bitmap<uint32_t> bm) const noexcept;							// Return true if any of the parameter letters in the bitmap were seen
-	float GetFValue() THROWS(GCodeException) SPEED_CRITICAL;					// Get a float after a key letter
-	float GetDistance() THROWS(GCodeException) SPEED_CRITICAL;					// Get a distance or coordinate and convert it from inches to mm if necessary
-	int32_t GetIValue() THROWS(GCodeException) SPEED_CRITICAL;					// Get an integer after a key letter
-	uint32_t GetUIValue() THROWS(GCodeException);								// Get an unsigned integer value
-	DriverId GetDriverId() THROWS(GCodeException);								// Get a driver ID
-	void GetIPAddress(IPAddress& returnedIp) THROWS(GCodeException);			// Get an IP address quad after a key letter
-	void GetMacAddress(MacAddress& mac) THROWS(GCodeException);					// Get a MAC address sextet after a key letter
+	bool Seen(char c) noexcept SPEED_CRITICAL;													// Is a character present?
+	ParameterLettersBitmap AllParameters() const noexcept { return parametersPresent; }			// Return the bitmap of all parameters seen
+	float GetFValue() THROWS(GCodeException) SPEED_CRITICAL;									// Get a float after a key letter
+	float GetDistance() THROWS(GCodeException) SPEED_CRITICAL;									// Get a distance or coordinate and convert it from inches to mm if necessary
+	int32_t GetIValue() THROWS(GCodeException) SPEED_CRITICAL;									// Get an integer after a key letter
+	uint32_t GetUIValue() THROWS(GCodeException);												// Get an unsigned integer value
+	DriverId GetDriverId() THROWS(GCodeException);												// Get a driver ID
+	void GetIPAddress(IPAddress& returnedIp) THROWS(GCodeException);							// Get an IP address quad after a key letter
+	void GetMacAddress(MacAddress& mac) THROWS(GCodeException);									// Get a MAC address sextet after a key letter
 	void GetUnprecedentedString(const StringRef& str, bool allowEmpty) THROWS(GCodeException);	// Get a string with no preceding key letter
 	void GetCompleteParameters(const StringRef& str) const noexcept;							// Get the complete parameter string
 	void GetQuotedString(const StringRef& str, bool allowEmpty) THROWS(GCodeException);			// Get and copy a quoted string
@@ -135,7 +135,7 @@ private:
 	unsigned int commandLength;							// Number of characters we read to build this command including the final \r or \n
 	unsigned int braceCount;							// how many nested { } we are inside
 	unsigned int gcodeLineEnd;							// Number of characters in the entire line of gcode
-	Bitmap<uint32_t> parametersPresent;					// which parameters are present in this command
+	ParameterLettersBitmap parametersPresent;			// which parameters are present in this command
 	int readPointer;									// Where in the buffer to read next, or -1
 
 	FileStore *fileBeingWritten;						// If we are copying GCodes to a file, which file it is
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index e3902540..6d5d58e0 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -174,6 +174,9 @@ void GCodes::Init() noexcept
 	axisLetters[0] = 'X';
 	axisLetters[1] = 'Y';
 	axisLetters[2] = 'Z';
+#if SUPPORT_ASYNC_MOVES
+	allAxisLetters = ParameterLettersBitmap((1u << ('X'-'A')) | (1u << ('Y'-'A')) | (1u << ('Z'-'A')));
+#endif
 
 	numExtruders = 0;
 
@@ -1603,6 +1606,7 @@ bool GCodes::LockMovementSystemAndWaitForStandstill(GCodeBuffer& gb, unsigned in
 		// Release the axes and extruders that this movement system owns
 		axesAndExtrudersMoved.ClearBits(ownedAxes);
 		moveStates[msNumber].axesAndExtrudersOwned.Clear();
+		ms.ownedAxisLetters.Clear();
 #else
 		UpdateCurrentUserPosition(gb);
 #endif
@@ -1833,6 +1837,18 @@ bool GCodes::CheckEnoughAxesHomed(AxesBitmap axesToMove) noexcept
 bool GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated) THROWS(GCodeException)
 {
 	MovementState& ms = GetMovementState(gb);
+
+#if SUPPORT_ASYNC_MOVES
+	// We need to check for moving unowned axes right at the start in case we need to fetch axis positions before processing the command
+	ParameterLettersBitmap axisLettersMentioned = gb.AllParameters() & allAxisLetters;
+	axisLettersMentioned.ClearBits(ms.ownedAxisLetters);
+	if (axisLettersMentioned.IsNonEmpty())
+	{
+		//TODO problem! this ignores axis mapping and coordinate rotation!!!
+		AllocateAxisLetters(gb, ms, axisLettersMentioned);
+	}
+#endif
+
 	if (ms.moveFractionToSkip > 0.0)
 	{
 		ms.initialUserC0 = ms.restartInitialUserC0;
@@ -4910,7 +4926,7 @@ const MovementState& GCodes::GetCurrentMovementState(const ObjectExplorationCont
 	return GetConstMovementState(*gb);
 }
 
-// Allocate an axis to a movement state returning true if successful, false if another movement state owns it already
+// Allocate additional axes and/or extruders to a movement state returning true if successful, false if another movement state owns it already
 // This relies on cooperative scheduling between different GCodeBuffer objects
 void GCodes::AllocateAxes(const GCodeBuffer& gb, MovementState& ms, AxesBitmap axes) THROWS(GCodeException)
 {
@@ -4922,6 +4938,23 @@ void GCodes::AllocateAxes(const GCodeBuffer& gb, MovementState& ms, AxesBitmap a
 	ms.axesAndExtrudersOwned |= axes;
 }
 
+// Allocate additional axes by letter
+void GCodes::AllocateAxisLetters(const GCodeBuffer& gb, MovementState& ms, ParameterLettersBitmap axLetters) THROWS(GCodeException)
+{
+	AxesBitmap newAxes;
+	for (size_t axis = 0; axis < numVisibleAxes; ++axis)
+	{
+		const char c = axisLetters[axis];
+		const unsigned int axisLetterBit = (c >= 'a') ? c - ('a' - 26) : c - 'A';
+		if (axLetters.IsBitSet(axisLetterBit))
+		{
+			newAxes.SetBit(axis);
+		}
+	}
+	AllocateAxes(gb, ms, newAxes);
+	ms.ownedAxisLetters |= axLetters;
+}
+
 // Synchronise motion systems and update user coordinates.
 // Return true if synced, false if we need to wait longer.
 bool GCodes::SyncWith(GCodeBuffer& thisGb, const GCodeBuffer& otherGb) noexcept
diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h
index 1b37f38c..c5118440 100644
--- a/src/GCodes/GCodes.h
+++ b/src/GCodes/GCodes.h
@@ -190,6 +190,8 @@ public:
 	bool LockMovementSystemAndWaitForStandstill(GCodeBuffer& gb, unsigned int msNumber) noexcept;	// Lock a movement system and wait for pending moves to finish
 	bool LockCurrentMovementSystemAndWaitForStandstill(GCodeBuffer& gb) noexcept;	// Lock movement and wait for pending moves to finish
 	bool LockAllMovementSystemsAndWaitForStandstill(GCodeBuffer& gb) noexcept;	// Lock movement and wait for all motion systems to reach standstill
+	uint16_t GetMotorBrakeOnDelay() const noexcept { return 200; }				// Get the delay between brake on and motors off, in milliseconds TODO make this configurable
+	uint16_t GetMotorBrakeOffDelay() const noexcept { return 25; }				// Get the delay between motors on and brake off, in milliseconds
 
 #if SUPPORT_DIRECT_LCD
 	void SetPrimarySpeedFactor(float factor) noexcept;							// Set the speed factor
@@ -553,6 +555,8 @@ private:
 	GCodeResult SyncMovementSystems(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);		// Handle M598
 	GCodeResult ExecuteM400(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);				// Handle M400
 	void AllocateAxes(const GCodeBuffer& gb, MovementState& ms, AxesBitmap axes) THROWS(GCodeException);	// allocate axes to a movement state
+	void AllocateAxisLetters(const GCodeBuffer& gb, MovementState& ms, ParameterLettersBitmap axLetters) THROWS(GCodeException);
+																											// allocate axes by letter
 	bool DoSync(GCodeBuffer& gb) noexcept;																	// sync with the other stream returning true if done, false if we need to wait for it
 	bool SyncWith(GCodeBuffer& thisGb, const GCodeBuffer& otherGb) noexcept;								// synchronise motion systems
 	void UpdateAllCoordinates(GCodeBuffer& gb) noexcept;
@@ -647,6 +651,9 @@ private:
 	FileData fileToPrint;						// The next file to print
 #endif
 
+#if SUPPORT_ASYNC_MOVES
+	ParameterLettersBitmap allAxisLetters;		// Which axis letters are in use
+#endif
 	char axisLetters[MaxAxes + 1];				// The names of the axes, with a null terminator
 	bool limitAxes;								// Don't think outside the box
 	bool noMovesBeforeHoming;					// Don't allow movement prior to homing the associates axes
diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp
index d91df708..779043fb 100644
--- a/src/GCodes/GCodes3.cpp
+++ b/src/GCodes/GCodes3.cpp
@@ -477,6 +477,9 @@ GCodeResult GCodes::DoDriveMapping(GCodeBuffer& gb, const StringRef& reply) THRO
 				{
 					// We are creating a new axis
 					axisLetters[drive] = c;								// assign the drive to this drive letter
+#if SUPPORT_ASYNC_MOVES
+					allAxisLetters.SetBit((c >= 'a') ? c - ('a' - 26) : c - 'A');	// update the map of all parameters that can be axis letters
+#endif
 					const AxisWrapType wrapType = (newAxesType != AxisWrapType::undefined) ? newAxesType
 													: (c >= 'A' && c <= 'D') ? AxisWrapType::wrapAt360			// default A thru D to rotational but not continuous
 														: AxisWrapType::noWrap;									// default other axes to linear
diff --git a/src/Movement/RawMove.h b/src/Movement/RawMove.h
index adec7b08..99b11d1b 100644
--- a/src/Movement/RawMove.h
+++ b/src/Movement/RawMove.h
@@ -80,6 +80,7 @@ struct MovementState : public RawMove
 {
 	Tool *currentTool;												// the current tool of this movement system
 	AxesBitmap axesAndExtrudersOwned;								// axes and extruders that this movement system has moved since the last sync
+	ParameterLettersBitmap ownedAxisLetters;						// letters denoting axes that this movement system owns
 
 	// The current user position now holds the requested user position after applying workplace coordinate offsets.
 	// So we must subtract the workplace coordinate offsets when we want to display them.
diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h
index c2845247..a994f734 100644
--- a/src/RepRapFirmware.h
+++ b/src/RepRapFirmware.h
@@ -318,25 +318,26 @@ class ExpansionManager;
 
 // Define floating point type to use for calculations where we would like high precision in matrix calculations
 #if SAME70
-typedef double floatc_t;						// type of matrix element used for calibration
+typedef double floatc_t;							// type of matrix element used for calibration
 #else
-// We are more memory-constrained on the other processors and they don't support double precision
-typedef float floatc_t;							// type of matrix element used for calibration
+// We are more memory-constrained on the other processors and they don't support double precision in hardware
+typedef float floatc_t;								// type of matrix element used for calibration
 #endif
 
 #if defined(DUET3) || defined(DUET3MINI)
-typedef Bitmap<uint32_t> AxesBitmap;			// Type of a bitmap representing a set of axes, and sometimes extruders too
+typedef Bitmap<uint32_t> AxesBitmap;				// Type of a bitmap representing a set of axes, and sometimes extruders too
 #else
-typedef Bitmap<uint16_t> AxesBitmap;			// Type of a bitmap representing a set of axes, and sometimes extruders too
+typedef Bitmap<uint16_t> AxesBitmap;				// Type of a bitmap representing a set of axes, and sometimes extruders too
 #endif
-typedef Bitmap<uint32_t> ExtrudersBitmap;		// Type of a bitmap representing a set of extruder drive numbers
-typedef Bitmap<uint32_t> DriversBitmap;			// Type of a bitmap representing a set of local driver numbers
-typedef Bitmap<uint32_t> FansBitmap;			// Type of a bitmap representing a set of fan numbers
-typedef Bitmap<uint32_t> HeatersBitmap;			// Type of a bitmap representing a set of heater numbers
-typedef Bitmap<uint16_t> DriverChannelsBitmap;	// Type of a bitmap representing a set of drivers that typically have a common cooling fan
-typedef Bitmap<uint32_t> InputPortsBitmap;		// Type of a bitmap representing a set of input ports
-typedef Bitmap<uint32_t> TriggerNumbersBitmap;	// Type of a bitmap representing a set of trigger numbers
-typedef Bitmap<uint64_t> ToolNumbersBitmap;		// Type of a bitmap representing a set of tool numbers
+typedef Bitmap<uint32_t> ExtrudersBitmap;			// Type of a bitmap representing a set of extruder drive numbers
+typedef Bitmap<uint32_t> DriversBitmap;				// Type of a bitmap representing a set of local driver numbers
+typedef Bitmap<uint32_t> FansBitmap;				// Type of a bitmap representing a set of fan numbers
+typedef Bitmap<uint32_t> HeatersBitmap;				// Type of a bitmap representing a set of heater numbers
+typedef Bitmap<uint16_t> DriverChannelsBitmap;		// Type of a bitmap representing a set of drivers that typically have a common cooling fan
+typedef Bitmap<uint32_t> InputPortsBitmap;			// Type of a bitmap representing a set of input ports
+typedef Bitmap<uint32_t> TriggerNumbersBitmap;		// Type of a bitmap representing a set of trigger numbers
+typedef Bitmap<uint64_t> ToolNumbersBitmap;			// Type of a bitmap representing a set of tool numbers
+typedef Bitmap<uint32_t> ParameterLettersBitmap;	// Type of a bitmap representing a set of parameter letters in A..Z and a..f
 
 #if defined(DUET3) || defined(DUET3MINI)
 typedef Bitmap<uint64_t> SensorsBitmap;