Duet 3 initial working build

Only the Duet_NG configuration builds at present.
New features:
- Pins are named instead of numbered
- Support multiple endstops per axis
- Support multiple Z probes
- Support M950 for heater and fan mapping
- GPIO pins now need to be allocated before they can be used by M42 or M280
- Laser power velocity ramping
- New codes for 12864 display
- Added LinearAnalogSensor
- Height following mode is mostly implemented
Bug fixes:
- M109 didn't run the tool change files if no tool was selected initially
- The M290 command written to resurrect.g didn't use absolute babystepping
- The M32 command written to resurrect.g didn't quote the filename
- M291 no longer locks the movement system, it stopped the jog buttons working
- M302 now waits for standstill

1 files changed, 146 insertions, 0 deletions

diff --git a/src/Endstops/Endstop.h b/src/Endstops/Endstop.h
new file mode 100644
index 00000000..11cc7456
--- /dev/null
+++ b/src/Endstops/Endstop.h
@@ -0,0 +1,146 @@
+/*
+ * Endstop.h
+ *
+ *  Created on: 4 Apr 2019
+ *      Author: David
+ */
+
+#ifndef SRC_ENDSTOPS_ENDSTOP_H_
+#define SRC_ENDSTOPS_ENDSTOP_H_
+
+#include "RepRapFirmware.h"
+#include "EndstopDefs.h"
+#include "IoPorts.h"
+#include <General/FreelistManager.h>
+
+class AxisDriversConfig;
+
+// This is the base class for all types of endstops and for ZProbe.
+class EndstopOrZProbe
+{
+public:
+	EndstopOrZProbe() : next(nullptr) {}
+	virtual ~EndstopOrZProbe() {}
+
+	virtual EndStopHit Stopped() const = 0;
+	virtual EndstopHitDetails CheckTriggered(bool goingSlow) = 0;
+	virtual bool Acknowledge(EndstopHitDetails what) = 0;
+
+	EndstopOrZProbe *GetNext() const { return next; }
+	void SetNext(EndstopOrZProbe *e) { next = e; }
+
+	static void UpdateStalledDrivers(uint32_t driverMask, bool isStalled);
+
+protected:
+	static DriversBitmap GetStalledDrivers() { return stalledDrivers; }
+
+private:
+	EndstopOrZProbe *next;								// next endstop in linked list
+
+	static DriversBitmap stalledDrivers;				// used to track which drivers are reported as stalled, for stall detect endstops and stall detect Z probes
+};
+
+inline void EndstopOrZProbe::UpdateStalledDrivers(uint32_t driverMask, bool isStalled)
+{
+	if (isStalled)
+	{
+		stalledDrivers |= driverMask;
+	}
+	else
+	{
+		stalledDrivers &= ~driverMask;
+	}
+}
+
+class Endstop : public EndstopOrZProbe
+{
+public:
+	virtual EndStopInputType GetEndstopType() const = 0;
+	virtual void Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) = 0;
+	virtual void AppendPinNames(const StringRef& str) { }
+
+	unsigned int GetAxis() const { return axis; }
+	bool GetAtHighEnd() const { return atHighEnd; }
+
+protected:
+	Endstop(uint8_t axis, EndStopPosition pos);
+
+	void SetAtHighEnd(bool b) { atHighEnd = b; }
+
+private:
+	uint8_t axis;										// which axis this endstop is on
+	bool atHighEnd;										// whether this endstop is at the max (true) or the min (false)
+};
+
+// Switch-type endstop
+class SwitchEndstop final : public Endstop
+{
+public:
+	void* operator new(size_t sz) { return Allocate<SwitchEndstop>(); }
+	void operator delete(void* p) { Release<SwitchEndstop>(p); }
+	~SwitchEndstop() override;
+
+	SwitchEndstop(uint8_t axis, EndStopPosition pos);
+
+	bool Configure(GCodeBuffer& gb, const StringRef& reply, EndStopInputType inputType);
+	bool Configure(const char *pinNames, const StringRef& reply, EndStopInputType inputType);
+	void Reconfigure(EndStopPosition pos, EndStopInputType inputType);
+
+	EndStopInputType GetEndstopType() const override;
+	EndStopHit Stopped() const override;
+	void Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) override;
+	EndstopHitDetails CheckTriggered(bool goingSlow) override;
+	bool Acknowledge(EndstopHitDetails what) override;
+	void AppendPinNames(const StringRef& str) override;
+
+private:
+	typedef uint16_t PortsBitmap;
+
+	IoPort ports[MaxDriversPerAxis];
+	size_t numPortsUsed;
+	PortsBitmap portsLeftToTrigger;
+	size_t numPortsLeftToTrigger;
+	bool stopAll;
+};
+
+// Motor stall detection endstop
+class StallDetectionEndstop final : public Endstop
+{
+public:
+	void* operator new(size_t sz) { return Allocate<StallDetectionEndstop>(); }
+	void operator delete(void* p) { Release<StallDetectionEndstop>(p); }
+
+	StallDetectionEndstop(uint8_t axis, EndStopPosition pos);
+
+	EndStopInputType GetEndstopType() const override { return EndStopInputType::motorStall; }
+	EndStopHit Stopped() const override;
+	void Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) override;
+	EndstopHitDetails CheckTriggered(bool goingSlow) override;
+	bool Acknowledge(EndstopHitDetails what) override;
+
+private:
+	DriversBitmap driversMonitored;
+	unsigned int numDriversLeft;
+	bool stopAll;
+};
+
+class ZProbeEndstop final : public Endstop
+{
+public:
+	void* operator new(size_t sz) { return Allocate<ZProbeEndstop>(); }
+	void operator delete(void* p) { Release<ZProbeEndstop>(p); }
+
+	ZProbeEndstop(uint8_t axis, EndStopPosition pos);
+
+	EndStopInputType GetEndstopType() const override { return EndStopInputType::zProbeAsEndstop; }
+	EndStopHit Stopped() const override;
+	void Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) override;
+	EndstopHitDetails CheckTriggered(bool goingSlow) override;
+	bool Acknowledge(EndstopHitDetails what) override;
+
+private:
+	size_t zProbeNumber;					// which Z probe to use, always 0 for now
+	bool stopAll;
+};
+
+#endif /* SRC_ENDSTOPS_ENDSTOP_H_ */