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, 96 insertions, 0 deletions

diff --git a/src/Endstops/ZProbe.h b/src/Endstops/ZProbe.h
new file mode 100644
index 00000000..516e0c2c
--- /dev/null
+++ b/src/Endstops/ZProbe.h
@@ -0,0 +1,96 @@
+/*
+ * ZProbe.h
+ *
+ *  Created on: 13 Feb 2018
+ *      Author: David
+ */
+
+#ifndef SRC_ZPROBE_H_
+#define SRC_ZPROBE_H_
+
+#include "Endstop.h"
+#include "GCodes/GCodeResult.h"
+
+class ZProbe final : public EndstopOrZProbe
+{
+public:
+	void* operator new(size_t sz) { return Allocate<ZProbe>(); }
+	void operator delete(void* p) { Release<ZProbe>(p); }
+
+	ZProbe();
+	~ZProbe() override;
+
+	EndStopHit Stopped() const override;
+	EndstopHitDetails CheckTriggered(bool goingSlow) override;
+	bool Acknowledge(EndstopHitDetails what) override;
+
+	void SetDefaults();
+	bool AssignPorts(GCodeBuffer& gb, const StringRef& reply);
+	bool AssignPorts(const char *pinNames, const StringRef& reply);
+
+	ZProbeType GetProbeType() const { return type; }
+	float GetXOffset() const { return xOffset; }
+	float GetYOffset() const { return yOffset; }
+	float GetConfiguredTriggerHeight() const { return triggerHeight; }
+	float GetActualTriggerHeight() const;
+	float GetDiveHeight() const { return diveHeight; }
+	float GetProbingSpeed() const { return probeSpeed; }
+	float GetTravelSpeed() const { return travelSpeed; }
+	float GetRecoveryTime() const { return recoveryTime; }
+	float GetTolerance() const { return tolerance; }
+	bool GetTurnHeatersOff() const { return turnHeatersOff; }
+	bool GetSaveToConfigOverride() const { return saveToConfigOverride; }
+	int GetAdcValue() const { return adcValue; }
+	unsigned int GetMaxTaps() const { return maxTaps; }
+
+	int GetReading() const;
+	int GetSecondaryValues(int& v1, int& v2);
+	uint16_t GetRawReading() const;
+	void SetProbing(bool isProbing) const;
+	void SetProgramOutput(bool b) const;
+	void SetIREmitter(bool on) const;
+
+	GCodeResult HandleG31(GCodeBuffer& gb, const StringRef& reply, bool printDetails);
+	GCodeResult HandleM558(GCodeBuffer& gb, const StringRef& reply, unsigned int probeNumber);
+	void SetTriggerHeight(float height) { triggerHeight = height; }
+	void SetSaveToConfigOverride() { saveToConfigOverride = true; }
+	bool WriteParameters(FileStore *f, unsigned int probeType) const;
+
+	static constexpr unsigned int MaxTapsLimit = 31;	// must be low enough to fit in the maxTaps field
+
+private:
+	float xOffset, yOffset;			// the offset of the probe relative to the print head
+	float triggerHeight;			// the nozzle height at which the target ADC value is returned
+	float calibTemperature;			// the temperature at which we did the calibration
+	float temperatureCoefficient;	// the variation of height with bed temperature
+	float diveHeight;				// the dive height we use when probing
+	float probeSpeed;				// the initial speed of probing
+	float travelSpeed;				// the speed at which we travel to the probe point
+	float recoveryTime;				// Z probe recovery time
+	float tolerance;				// maximum difference between probe heights when doing >1 taps
+	IoPort inputPort;
+	IoPort modulationPort;			// the modulation port we are using
+	int16_t adcValue;				// the target ADC value, after inversion if enabled
+	uint16_t maxTaps : 5,			// maximum probes at each point
+			invertReading : 1,		// true if we need to invert the reading
+			turnHeatersOff : 1,		// true to turn heaters off while probing
+			saveToConfigOverride : 1; // true if the trigger height should be saved to config-override.g
+	ZProbeType type;
+	int8_t heater;					// the heater number used for temperature calibration
+};
+
+// If this is a dumb modulated IR probe, set the IR LED on or off. Called from the tick ISR, so inlined for speed.
+inline void ZProbe::SetIREmitter(bool on) const
+{
+	if (type == ZProbeType::dumbModulated)
+	{
+		modulationPort.WriteDigital(on);
+	}
+}
+
+inline void ZProbe::SetProgramOutput(bool b) const
+{
+	modulationPort.WriteDigital(b);
+}
+
+#endif /* SRC_ZPROBE_H_ */