Various changes for 3.01-RC11

Changes for new interface to Bitmap::Iterate
Duet3 expansion boards now report fan PWM
Increased SBC SPI connection timeout to 8 seconds
Pass G29 commands to SBC

8 files changed, 36 insertions, 34 deletions

diff --git a/src/Fans/Fan.cpp b/src/Fans/Fan.cpp
index 3f3c9320..31ab7c6d 100644
--- a/src/Fans/Fan.cpp
+++ b/src/Fans/Fan.cpp
@@ -23,7 +23,7 @@ constexpr ObjectModelTableEntry Fan::objectModelTable[] =
 {
 	// Within each group, these entries must be in alphabetical order
 	// 0. Fan members
-	{ "actualValue",		OBJECT_MODEL_FUNC(self->lastVal, 2), 															ObjectModelEntryFlags::live },
+	{ "actualValue",		OBJECT_MODEL_FUNC(self->GetPwm(), 2), 															ObjectModelEntryFlags::live },
 	{ "blip",				OBJECT_MODEL_FUNC(0.001f * (float)self->blipTime, 2), 											ObjectModelEntryFlags::none },
 	// TODO add frequency here
 	{ "max",				OBJECT_MODEL_FUNC(self->maxVal, 2), 															ObjectModelEntryFlags::none },
@@ -47,7 +47,7 @@ DEFINE_GET_OBJECT_MODEL_TABLE(Fan)
 
 Fan::Fan(unsigned int fanNum) noexcept
 	: fanNumber(fanNum),
-	  val(0.0), lastVal(-1.0),
+	  val(0.0),
 	  minVal(DefaultMinFanPwm),
 	  maxVal(1.0),										// 100% maximum fan speed
 	  blipTime(DefaultFanBlipTime)
@@ -169,8 +169,9 @@ bool Fan::Configure(unsigned int mcode, size_t fanNum, GCodeBuffer& gb, const St
 			if (sensorsMonitored.IsNonEmpty())
 			{
 				reply.catf(", temperature: %.1f:%.1fC, sensors:", (double)triggerTemperatures[0], (double)triggerTemperatures[1]);
-				sensorsMonitored.Iterate([&reply](unsigned int sensorNum, bool) noexcept { reply.catf(" %u", sensorNum); });
+				sensorsMonitored.Iterate([&reply](unsigned int sensorNum, unsigned int) noexcept { reply.catf(" %u", sensorNum); });
 				reply.cat(", current speed: ");
+				const float lastVal = GetPwm();
 				if (lastVal >= 0.0)
 				{
 					reply.catf("%d%%:", (int)(lastVal * 100.0));
diff --git a/src/Fans/Fan.h b/src/Fans/Fan.h
index 2539ed5a..1444aa0b 100644
--- a/src/Fans/Fan.h
+++ b/src/Fans/Fan.h
@@ -14,7 +14,7 @@
 #include "GCodes/GCodeResult.h"
 
 #if SUPPORT_CAN_EXPANSION
-# include "CanId.h"
+# include <CanMessageFormats.h>
 #endif
 
 class GCodeBuffer;
@@ -30,9 +30,10 @@ public:
 	virtual GCodeResult SetPwmFrequency(PwmFrequency freq, const StringRef& reply) noexcept = 0;
 	virtual bool IsEnabled() const noexcept = 0;
 	virtual int32_t GetRPM() const noexcept = 0;
+	virtual float GetPwm() const noexcept = 0;
 	virtual GCodeResult ReportPortDetails(const StringRef& str) const noexcept = 0;
 #if SUPPORT_CAN_EXPANSION
-	virtual void UpdateRpmFromRemote(CanAddress src, int32_t rpm) noexcept = 0;
+	virtual void UpdateFromRemote(CanAddress src, const FanReport& report) noexcept = 0;
 #endif
 
 	// Set or report the parameters for this fan
@@ -55,7 +56,7 @@ public:
 protected:
 	DECLARE_OBJECT_MODEL
 
-	static constexpr uint32_t RpmReadingTimeout = 2000;		// any reading older than this number of milliseconds is considered unreliable
+	static constexpr uint32_t FanReportTimeout = 2000;		// any reading older than this number of milliseconds is considered unreliable
 
 	virtual GCodeResult Refresh(const StringRef& reply) noexcept = 0;
 	virtual bool UpdateFanConfiguration(const StringRef& reply) noexcept = 0;
@@ -64,7 +65,6 @@ protected:
 
 	// Variables that control the fan
 	float val;												// the value requested in the M106 command
-	float lastVal;											// the last PWM value we sent to the fan, not allowing for blipping, or -1 if we don't know it
 	float minVal;
 	float maxVal;
 	float triggerTemperatures[2];
diff --git a/src/Fans/FansManager.cpp b/src/Fans/FansManager.cpp
index f2918909..e6752828 100644
--- a/src/Fans/FansManager.cpp
+++ b/src/Fans/FansManager.cpp
@@ -233,7 +233,7 @@ void FansManager::Init() noexcept
 
 #if SUPPORT_CAN_EXPANSION
 
-void FansManager::ProcessRemoteFanRpms(CanAddress src, const CanMessageFanRpms& msg) noexcept
+void FansManager::ProcessRemoteFanRpms(CanAddress src, const CanMessageFansReport& msg) noexcept
 {
 	size_t numFansProcessed = 0;
 	uint64_t whichFans = msg.whichFans;
@@ -243,7 +243,7 @@ void FansManager::ProcessRemoteFanRpms(CanAddress src, const CanMessageFanRpms&
 		auto fan = FindFan(fanNum);
 		if (fan.IsNotNull())
 		{
-			fan->UpdateRpmFromRemote(src, msg.fanRpms[numFansProcessed]);
+			fan->UpdateFromRemote(src, msg.fanReports[numFansProcessed]);
 		}
 		++numFansProcessed;
 		whichFans &= ~((uint64_t)1 << fanNum);
diff --git a/src/Fans/FansManager.h b/src/Fans/FansManager.h
index 850e24aa..b25ce186 100644
--- a/src/Fans/FansManager.h
+++ b/src/Fans/FansManager.h
@@ -15,7 +15,7 @@
 
 #if SUPPORT_CAN_EXPANSION
 # include <CanId.h>
-struct CanMessageFanRpms;
+struct CanMessageFansReport;
 #endif
 
 class GCodeBuffer;
@@ -38,7 +38,7 @@ public:
 	const char *GetFanName(size_t fanNum) const noexcept;
 	int32_t GetFanRPM(size_t fanNum) const noexcept;
 #if SUPPORT_CAN_EXPANSION
-	void ProcessRemoteFanRpms(CanAddress src, const CanMessageFanRpms& msg) noexcept;
+	void ProcessRemoteFanRpms(CanAddress src, const CanMessageFansReport& msg) noexcept;
 #endif
 #if HAS_MASS_STORAGE
 	bool WriteFanSettings(FileStore *f) const noexcept;
diff --git a/src/Fans/LocalFan.cpp b/src/Fans/LocalFan.cpp
index aa6ab24d..8d57c0a7 100644
--- a/src/Fans/LocalFan.cpp
+++ b/src/Fans/LocalFan.cpp
@@ -22,6 +22,7 @@ void FanInterrupt(CallbackParameter cb) noexcept
 LocalFan::LocalFan(unsigned int fanNum) noexcept
 	: Fan(fanNum),
 	  lastPwm(-1.0),									// force a refresh
+	  lastVal(-1.0),
 	  fanInterruptCount(0), fanLastResetTime(0), fanInterval(0),
 	  blipping(false)
 {
@@ -90,7 +91,7 @@ void LocalFan::InternalRefresh(bool checkSensors) noexcept
 #if HAS_SMART_DRIVERS
 		  , &driverChannelsMonitored
 #endif
-		 ](unsigned int sensorNum, bool) noexcept
+		 ](unsigned int sensorNum, unsigned int) noexcept
 			{
 				const auto sensor = reprap.GetHeat().FindSensor(sensorNum);
 				if (sensor.IsNotNull())
diff --git a/src/Fans/LocalFan.h b/src/Fans/LocalFan.h
index e1683a6a..469053a7 100644
--- a/src/Fans/LocalFan.h
+++ b/src/Fans/LocalFan.h
@@ -19,11 +19,12 @@ public:
 	bool Check(bool checkSensors) noexcept override;						// update the fan PWM returning true if it is a thermostatic fan that is on
 	bool IsEnabled() const noexcept override { return port.IsValid(); }
 	int32_t GetRPM() const noexcept override;
+	float GetPwm() const noexcept override { return lastVal; }
 	GCodeResult SetPwmFrequency(PwmFrequency freq, const StringRef& reply) noexcept override;
 	GCodeResult ReportPortDetails(const StringRef& str) const noexcept override;
 
 #if SUPPORT_CAN_EXPANSION
-	void UpdateRpmFromRemote(CanAddress src, int32_t rpm) noexcept override { }
+	void UpdateFromRemote(CanAddress src, const FanReport& report) noexcept override { }
 #endif
 
 	bool AssignPorts(const char *pinNames, const StringRef& reply) noexcept;
@@ -41,7 +42,8 @@ private:
 	PwmPort port;											// port used to control the fan
 	IoPort tachoPort;										// port used to read the tacho
 
-	float lastPwm;
+	float lastPwm;											// the last PWM value we wrote to the hardware
+	float lastVal;											// the last PWM value we sent to the fan, not allowing for blipping, or -1 if we don't know it
 
 	// Variables used to read the tacho
 	static constexpr uint32_t fanMaxInterruptCount = 32;	// number of fan interrupts that we average over
diff --git a/src/Fans/RemoteFan.cpp b/src/Fans/RemoteFan.cpp
index e2ba74aa..c2d860cc 100644
--- a/src/Fans/RemoteFan.cpp
+++ b/src/Fans/RemoteFan.cpp
@@ -15,8 +15,8 @@
 
 RemoteFan::RemoteFan(unsigned int fanNum, CanAddress boardNum) noexcept
 	: Fan(fanNum),
-	  lastRpm(-1), whenLastRpmReceived(0),
-	  boardNumber(boardNum), thermostaticFanRunning(false)
+	  lastRpm(-1), lastPwm(-1.0), whenLastReportReceived(0),
+	  boardNumber(boardNum)
 {
 }
 
@@ -37,7 +37,12 @@ RemoteFan::~RemoteFan() noexcept
 
 bool RemoteFan::Check(bool checkSensors) noexcept
 {
-	return thermostaticFanRunning;
+	if (millis() - whenLastReportReceived > FanReportTimeout)
+	{
+		lastRpm = -1;
+		lastPwm = -1.0;
+	}
+	return sensorsMonitored.IsNonEmpty() && lastPwm > 0.0;
 }
 
 bool RemoteFan::IsEnabled() const noexcept
@@ -53,21 +58,13 @@ GCodeResult RemoteFan::SetPwmFrequency(PwmFrequency freq, const StringRef& reply
 	return cons.SendAndGetResponse(CanMessageType::m950Fan, boardNumber, reply);
 }
 
-int32_t RemoteFan::GetRPM() const noexcept
-{
-	if (millis() - whenLastRpmReceived > RpmReadingTimeout)
-	{
-		lastRpm = -1;
-	}
-	return lastRpm;
-}
-
-void RemoteFan::UpdateRpmFromRemote(CanAddress src, int32_t rpm) noexcept
+void RemoteFan::UpdateFromRemote(CanAddress src, const FanReport& report) noexcept
 {
 	if (src == boardNumber)
 	{
-		lastRpm = rpm;
-		whenLastRpmReceived = millis();
+		lastPwm = (report.actualPwm < 0) ? -1.0 : (float)report.actualPwm * (1.0/65535);
+		lastRpm = report.rpm;
+		whenLastReportReceived = millis();
 	}
 }
 
diff --git a/src/Fans/RemoteFan.h b/src/Fans/RemoteFan.h
index 331c9460..165d7534 100644
--- a/src/Fans/RemoteFan.h
+++ b/src/Fans/RemoteFan.h
@@ -22,10 +22,11 @@ public:
 
 	bool Check(bool checkSensors) noexcept override;						// update the fan PWM returning true if it is a thermostatic fan that is on
 	bool IsEnabled() const noexcept override;
-	int32_t GetRPM() const noexcept override;
+	int32_t GetRPM() const noexcept override { return lastRpm; }
+	float GetPwm() const noexcept override { return lastPwm; }
 	GCodeResult SetPwmFrequency(PwmFrequency freq, const StringRef& reply) noexcept override;
 	GCodeResult ReportPortDetails(const StringRef& str) const noexcept override;
-	void UpdateRpmFromRemote(CanAddress src, int32_t rpm) noexcept override;
+	void UpdateFromRemote(CanAddress src, const FanReport& report) noexcept override;
 
 	GCodeResult ConfigurePort(const char *pinNames, PwmFrequency freq, const StringRef& reply) noexcept;
 
@@ -34,10 +35,10 @@ protected:
 	GCodeResult Refresh(const StringRef& reply) noexcept override;
 
 private:
-	mutable int32_t lastRpm;
-	uint32_t whenLastRpmReceived;
+	int32_t lastRpm;
+	float lastPwm;
+	uint32_t whenLastReportReceived;
 	CanAddress boardNumber;
-	bool thermostaticFanRunning;
 };
 
 #endif