Version 2.01beta1

Bug fixes:
- When using a mixing extruder, the feed rate for extruder-only moves was incorrect
- If additional axes were not created in the order UVWABC then incorrect homing files might be run (thanks chrishamm)
- On the Duet Maestro, the 7th stepper step/dir pin numbers were swapped
- If you paused a print during a G2/G3 arc move, on resuming it the arc centre was at the wrong place. This release defers the pause until the arc move is completed.
- If a command that interrogated the network (e.g. M122 on the Duet WiFi) was sent from USB, PanelDue or another non-network channel, the network subsystem could be accessed by multiple tasks concurrently, causing network disconnections or other errors
- When using a bltouch, between probe points the pin retracted, deployed and retracted again
- M206 with no parameters didn't report the current axis offsets
- During heating, the firmware returned M408 S0 responses to the PanelDue port even if the last request was M408 S2
- Fixed VBUS detection (thanks chrishamm)
- If the resume threshold in the M911 command was set higher than the supply voltage then the save-on-power-off mechanism never got primed. It will now prime at thwe auto-save threshold plus 0.5V or the resume threshold, whichever is lower.
- Fixed "2dtstc2diva=u" in debug printout
- Where a G- or M-code command parameter was supposed to accept unsigned values only, if a negative value was supplied then it was accepted and converted to a large unsigned value

New features and changed behaviour:
- If the firmware gets stuck in a spin loop, the RTOS builds now discard LR and 16 stack dwords in order to get more useful information from the stack trace
- Increased M999 delay to 1 second
- The report generated by M122 now includes a list of mutexes and their owners
- Added SW_ENC pin on CONN_SD to available GPIO ports (thanks chrishamm)

4 files changed, 70 insertions, 21 deletions

diff --git a/src/Libraries/General/SafeStrtod.cpp b/src/Libraries/General/SafeStrtod.cpp
index 0701bc72..1c27a01f 100644
--- a/src/Libraries/General/SafeStrtod.cpp
+++ b/src/Libraries/General/SafeStrtod.cpp
@@ -4,18 +4,22 @@
  *  Created on: 4 Apr 2018
  *      Author: David
  *
- * This is a replacement for strtof() in the C standard library. That version has two problems:
+ * This is a replacement for strtod() and strtof() in the C standard library. Those versions have two problems:
  * 1. It is not reentrant. We can make it so by defining configUSE_NEWLIB_REENTRANT in FreeRTOS, but that makes the tasks much bigger.
  * 2. It allocates and releases heap memory, which is not nice.
  *
  * Limitations of this version
  * 1. Rounding to nearest double may not always be correct.
- * 2. May not handle overflow for stupidly large numbers correctly.
+ * 2. Does not handle overflow for stupidly large numbers correctly.
  */
 
 #include <cctype>
 #include <cmath>
 #include <climits>
+#include <cstdlib>
+
+#include "SafeStrtod.h"
+#undef strtoul		// Undo the macro definition of strtoul in SafeStrtod.h so that we can call it in this file
 
 double SafeStrtod(const char *s, const char **p)
 {
@@ -131,4 +135,40 @@ float SafeStrtof(const char *s, const char **p)
 	return (float)SafeStrtod(s, p);
 }
 
+unsigned long SafeStrtoul(const char *s, const char **endptr, int base)
+{
+	// strtoul() accepts a leading minus-sign, which we don't want to allow
+	while (*s == ' ' || *s == '\t')
+	{
+		++s;
+	}
+	if (*s == '-')
+	{
+		if (endptr != nullptr)
+		{
+			*endptr = s;
+		}
+		return 0;
+	}
+	return strtoul(s, const_cast<char**>(endptr), base);
+}
+
+unsigned long SafeStrtoul(char *s, char **endptr, int base)
+{
+	// strtoul() accepts a leading minus-sign, which we don't want to allow
+	while (*s == ' ' || *s == '\t')
+	{
+		++s;
+	}
+	if (*s == '-')
+	{
+		if (endptr != nullptr)
+		{
+			*endptr = s;
+		}
+		return 0;
+	}
+	return strtoul(s, endptr, base);
+}
+
 // End
diff --git a/src/Libraries/General/SafeStrtod.h b/src/Libraries/General/SafeStrtod.h
index ae83228c..d1dc1d5c 100644
--- a/src/Libraries/General/SafeStrtod.h
+++ b/src/Libraries/General/SafeStrtod.h
@@ -16,15 +16,8 @@ inline long SafeStrtol(const char *s, const char **endptr = nullptr, int base =
 	return strtol(s, const_cast<char**>(endptr), base);
 }
 
-inline unsigned long SafeStrtoul(const char *s, const char **endptr = nullptr, int base = 10)
-{
-	return strtoul(s, const_cast<char**>(endptr), base);
-}
-
-inline unsigned long SafeStrtoul(char *s, char **endptr = nullptr, int base = 10)
-{
-	return strtoul(s, endptr, base);
-}
+unsigned long SafeStrtoul(const char *s, const char **endptr = nullptr, int base = 10);
+unsigned long SafeStrtoul(char *s, char **endptr = nullptr, int base = 10);
 
 #define strtod(s, p) Do_not_use_strtod_use_SafeStrtod_instead
 #define strtof(s, p) Do_not_use_strtof_use_SafeStrtof_instead
diff --git a/src/Libraries/General/SafeVsnprintf.cpp b/src/Libraries/General/SafeVsnprintf.cpp
index 0952c243..9b171ce0 100644
--- a/src/Libraries/General/SafeVsnprintf.cpp
+++ b/src/Libraries/General/SafeVsnprintf.cpp
@@ -15,7 +15,7 @@
 	Changes for the FreeRTOS ports:
 
 	- The dot in "%-8.8s"
-	- The specifiers 'l' (long) and 'L' (long long)
+	- The specifiers 'l' (long) and 'll' (long long)
 	- The specifier 'u' for unsigned
 	- Dot notation for IP addresses:
 	  sprintf("IP = %xip\n", 0xC0A80164);
@@ -546,14 +546,15 @@ static void tiny_print(SStringBuf& apBuf, const char *format, va_list args)
 		if (ch == 'l')
 		{
 			ch = *format++;
-			apBuf.flags.long32 = 1;
-			// Makes no difference as u32 == long
-		}
-		if (ch == 'L')
-		{
-			ch = *format++;
-			apBuf.flags.long64 = 1;
-			// Does make a difference
+			if (ch == 'l')
+			{
+				ch = *format++;
+				apBuf.flags.long64 = 1;
+			}
+			else
+			{
+				apBuf.flags.long32 = 1;
+			}
 		}
 
 		if (ch == 'f' || ch == 'e' || ch == 'F' || ch == 'E')
diff --git a/src/Libraries/General/StringRef.h b/src/Libraries/General/StringRef.h
index d6d84a31..74a52ddd 100644
--- a/src/Libraries/General/StringRef.h
+++ b/src/Libraries/General/StringRef.h
@@ -54,7 +54,7 @@ public:
 	const char *c_str() const { return storage; }
 	size_t strlen() const { return Strnlen(storage, Len); }
 	bool IsEmpty() const { return storage[0] == 0; }
-//	char *Pointer() { return storage; }
+	bool IsFull() const { return strlen() == Len; }
 	char& operator[](size_t index) { return storage[index]; }
 	char operator[](size_t index) const { return storage[index]; }
 	constexpr size_t Capacity() const { return Len; }
@@ -74,6 +74,7 @@ public:
 	bool ConstantTimeEquals(String<Len> other) const;
 
 	void Truncate(size_t len);
+	void Erase(size_t pos, size_t count = 1);
 
 private:
 	char storage[Len + 1];
@@ -133,6 +134,20 @@ template<size_t Len> void String<Len>::Truncate(size_t len)
 	}
 }
 
+template<size_t Len> void String<Len>::Erase(size_t pos, size_t count)
+{
+	const size_t len = strlen();
+	if (pos < len)
+	{
+		while (pos + count < len)
+		{
+			storage[pos] = storage[pos + count];
+			++pos;
+		}
+		storage[pos] = 0;
+	}
+}
+
 template<size_t Len> bool String<Len>::EndsWith(char c) const
 {
 	const size_t len = strlen();