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, 78 insertions, 0 deletions

diff --git a/src/Endstops/EndstopsManager.h b/src/Endstops/EndstopsManager.h
new file mode 100644
index 00000000..3eecc28a
--- /dev/null
+++ b/src/Endstops/EndstopsManager.h
@@ -0,0 +1,78 @@
+/*
+ * Endstop.h
+ *
+ *  Created on: 3 Apr 2019
+ *      Author: David
+ */
+
+#ifndef SRC_ENDSTOPS_ENDSTOPMANAGER_H_
+#define SRC_ENDSTOPS_ENDSTOPMANAGER_H_
+
+#include "RepRapFirmware.h"
+#include "EndstopDefs.h"
+#include "ZProbeProgrammer.h"
+#include "GCodes/GCodeResult.h"
+
+// Endstop manager class
+class EndstopsManager
+{
+public:
+	EndstopsManager();
+
+	void Init();
+
+	// Set up the active endstop list according to the axes commanded to move in a G0/G1 S1/S3 command
+	void EnableAxisEndstops(AxesBitmap axes);
+
+	// Set up the active endstops for Z probing
+	void EnableZProbe(size_t probeNumber);
+
+	// Set up the active endstops for Z probing with the current probe
+	void EnableCurrentZProbe() { EnableZProbe(currentZProbeNumber); }
+
+#ifndef NO_EXTRUDER_ENDSTOPS
+	// Enable extruder endstops
+	void EnableExtruderEndstop(size_t extruder);
+#endif
+
+	// Get the first endstop that has triggered and remove it from the active list if appropriate
+	EndstopHitDetails CheckEndstops(bool goingSlow);
+
+	// Configure the endstops in response to M574
+	GCodeResult HandleM574(GCodeBuffer& gb, const StringRef& reply);
+
+	EndStopPosition GetEndStopPosition(size_t axis) const pre(axis < MaxAxes);
+	bool HomingZWithProbe() const;
+
+	EndStopHit Stopped(size_t axis) const;
+
+	void GetM119report(const StringRef& reply);
+
+	// Z probe
+	GCodeResult HandleM558(GCodeBuffer& gb, const StringRef &reply);		// M558
+	GCodeResult HandleG31(GCodeBuffer& gb, const StringRef& reply);			// G31
+
+	bool AssignZProbePorts(GCodeBuffer& gb, const StringRef& reply, size_t probeNumber);
+	ZProbe& GetCurrentZProbe() const { return *zProbes[currentZProbeNumber]; }
+	ZProbe *GetZProbe(size_t num) const;
+	void SetZProbeDefaults();
+	GCodeResult ProgramZProbe(GCodeBuffer& gb, const StringRef& reply);
+	bool WriteZProbeParameters(FileStore *f, bool includingG31) const;
+
+private:
+	// Add an endstop to the active list
+	void AddToActive(EndstopOrZProbe& e);
+
+	// Translate end stop result to text
+	static const char *TranslateEndStopResult(EndStopHit es, bool atHighEnd);
+
+	EndstopOrZProbe * volatile activeEndstops;					// linked list of endstops and Z probes that are active for the current move
+	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
+	ZProbe *zProbes[MaxZProbes];						// the Z probes used. The first one is always non-null.
+
+	ZProbeProgrammer zProbeProg;
+};
+
+#endif /* SRC_ENDSTOPS_ENDSTOPMANAGER_H_ */