Merge remote-tracking branch 'origin/3.4-dev' into v3-chrishamm

30 files changed, 522 insertions, 346 deletions

diff --git a/src/Configuration.h b/src/Config/Configuration.h
index 08f43752..08f43752 100644
--- a/src/Configuration.h
+++ b/src/Config/Configuration.h
diff --git a/src/Pccb/Pins_Pccb.cpp b/src/Config/Pins.cpp
index 5fa45a32..d37dc569 100644
--- a/src/Pccb/Pins_Pccb.cpp
+++ b/src/Config/Pins.cpp
@@ -1,5 +1,5 @@
 /*
- * Pins_DuetNG.cpp
+ * Pins.cpp
  *
  *  Created on: 31 Mar 2019
  *      Author: David
@@ -7,9 +7,9 @@
 
 #include "RepRapFirmware.h"
 
-// Hardware-dependent pins functions
+// Pins lookup functions, possibly hardware-dependent
 
-// Return a pointer to the pin description entry. Declared in and called from CoreN2G.
+// Return a pointer to the pin description entry. Declared in and called from CoreN2G. Return nullptr if the pin number is out of range.
 const PinDescriptionBase *AppGetPinDescription(Pin p) noexcept
 {
 	return (p < ARRAY_SIZE(PinTable)) ? &PinTable[p] : nullptr;
diff --git a/src/Pins.h b/src/Config/Pins.h
index d52cf223..3646403b 100644
--- a/src/Pins.h
+++ b/src/Config/Pins.h
@@ -6,9 +6,12 @@
 #if !defined(PLATFORM)
 # if defined(__SAM4E8E__)
 #  define PLATFORM DuetNG
-# elif defined(__SAME70Q20B__) || defined(__SAME70Q21B__)
-#  if defined(DUET3_V06)
-#   define PLATFORM Duet3_V06
+# elif defined(__SAME70Q20B__) || defined(__SAME70Q21B__) || defined(__SAMV71Q20B__)
+#  if defined(DUET3_MB6HC)
+#   define PLATFORM Duet3_MB6HC
+#   define DUET3		1
+#  elif defined(DUET3_MB6XD)
+#   define PLATFORM Duet3_MB6XD
 #   define DUET3		1
 #  else
 #   error Unknown platform
@@ -32,7 +35,7 @@
 # define P_CONCAT(x,y) P_EXPAND(x)y
 # define P_STR(x) #x
 # define P_XSTR(x) P_STR(x)
-# define P_INCLUDE_FILE P_XSTR(P_CONCAT(PLATFORM,P_CONCAT(/Pins_,P_CONCAT(PLATFORM,.h))))
+# define P_INCLUDE_FILE P_XSTR(P_CONCAT(Pins_,P_CONCAT(PLATFORM,.h)))
 #endif
 
 #include P_INCLUDE_FILE
diff --git a/src/Duet3Mini/Pins_Duet3Mini.h b/src/Config/Pins_Duet3Mini.h
index 32f4aa38..32f4aa38 100644
--- a/src/Duet3Mini/Pins_Duet3Mini.h
+++ b/src/Config/Pins_Duet3Mini.h
diff --git a/src/Duet3_V06/Pins_Duet3_V06.h b/src/Config/Pins_Duet3_MB6HC.h
index 741df19e..7ca8a7ba 100644
--- a/src/Duet3_V06/Pins_Duet3_V06.h
+++ b/src/Config/Pins_Duet3_MB6HC.h
@@ -1,5 +1,5 @@
-#ifndef PINS_DUET3_V06_H__
-#define PINS_DUET3_V06_H__
+#ifndef PINS_DUET3_MB6HC_H__
+#define PINS_DUET3_MB6HC_H__
 
 #include <PinDescription.h>
 
@@ -436,4 +436,4 @@ namespace StepPins
 	}
 }
 
-#endif
+#endif	//ifndef PINS_DUET3_MB6HC_H__
diff --git a/src/Config/Pins_Duet3_MB6XD.h b/src/Config/Pins_Duet3_MB6XD.h
new file mode 100644
index 00000000..933ad492
--- /dev/null
+++ b/src/Config/Pins_Duet3_MB6XD.h
@@ -0,0 +1,439 @@
+#ifndef PINS_DUET3_MB6XD_H__
+#define PINS_DUET3_MB6XD_H__
+
+#include <PinDescription.h>
+
+#define BOARD_SHORT_NAME		"MB6HC"
+#define BOARD_NAME				"Duet 3 MB6HC"
+#define DEFAULT_BOARD_TYPE		BoardType::Auto
+#define FIRMWARE_NAME			"RepRapFirmware for Duet 3 MB6HC"
+#define IAP_FIRMWARE_FILE		"Duet3Firmware_" BOARD_SHORT_NAME ".bin"
+
+#define IAP_UPDATE_FILE			"Duet3_SDiap32_" BOARD_SHORT_NAME ".bin"
+#define IAP_UPDATE_FILE_SBC		"Duet3_SBCiap32_" BOARD_SHORT_NAME ".bin"
+constexpr uint32_t IAP_IMAGE_START = 0x20458000;		// last 32kb of RAM
+
+// Features definition
+#define HAS_LWIP_NETWORKING		1
+#define HAS_WIFI_NETWORKING		0
+#define HAS_SBC_INTERFACE		1
+
+#define HAS_MASS_STORAGE		1
+#define HAS_HIGH_SPEED_SD		1
+#define HAS_CPU_TEMP_SENSOR		1
+
+#define SUPPORT_TMC51xx			1
+#define TMC51xx_USES_USART		1
+
+#define HAS_VOLTAGE_MONITOR		1
+#define ENFORCE_MAX_VIN			0
+#define HAS_12V_MONITOR			1
+#define ENFORCE_MIN_V12			1
+#define HAS_VREF_MONITOR		1
+
+#define SUPPORT_CAN_EXPANSION	1
+#define DUAL_CAN				1					// support the second CAN interface as simple CAN (not FD)
+#define SUPPORT_LED_STRIPS		1
+#define SUPPORT_INKJET			0					// set nonzero to support inkjet control
+#define SUPPORT_ROLAND			0					// set nonzero to support Roland mill
+#define SUPPORT_SCANNER			0					// set zero to disable support for FreeLSS scanners
+#define SUPPORT_LASER			1					// support laser cutters and engravers using G1 S parameter
+#define SUPPORT_IOBITS			1					// set to support P parameter in G0/G1 commands
+#define SUPPORT_DHT_SENSOR		1					// set nonzero to support DHT temperature/humidity sensors
+#define SUPPORT_ACCELEROMETERS	1
+#define SUPPORT_WORKPLACE_COORDINATES	1			// set nonzero to support G10 L2 and G53..59
+#define SUPPORT_OBJECT_MODEL	1
+#define SUPPORT_FTP				1
+#define SUPPORT_TELNET			1
+#define SUPPORT_ASYNC_MOVES		1
+#define ALLOCATE_DEFAULT_PORTS	0
+#define TRACK_OBJECT_NAMES		1
+
+#define USE_MPU					1					// Needed if USE_CACHE is set, so that we can have non-cacheable memory regions
+#define USE_CACHE				1
+
+// The physical capabilities of the machine
+
+#include <Duet3Common.h>							// this file is in the CANlib project because both main and expansion boards need it
+
+constexpr size_t NumDirectDrivers = 6;				// The maximum number of drives supported by the electronics inc. direct expansion
+constexpr size_t MaxSmartDrivers = 6;				// The maximum number of direct smart drivers
+constexpr size_t MaxCanDrivers = 20;
+constexpr size_t MaxCanBoards = 20;
+
+constexpr float MaxTmc5160Current = 6300.0;			// The maximum current we allow the TMC5160/5161 drivers to be set to
+constexpr float Tmc5160SenseResistor = 0.050;
+
+constexpr size_t MaxPortsPerHeater = 3;
+
+constexpr size_t MaxBedHeaters = 12;
+constexpr size_t MaxChamberHeaters = 4;
+constexpr int8_t DefaultE0Heater = 1;				// Index of the default first extruder heater, used only for the legacy status response
+
+constexpr size_t NumThermistorInputs = 4;
+constexpr size_t NumTmcDriversSenseChannels = 1;
+
+constexpr size_t MinAxes = 3;						// The minimum and default number of axes
+constexpr size_t MaxAxes = 15;						// The maximum number of movement axes in the machine
+constexpr size_t MaxDriversPerAxis = 8;				// The maximum number of stepper drivers assigned to one axis
+
+constexpr size_t MaxExtruders = 16;					// The maximum number of extruders
+constexpr size_t MaxAxesPlusExtruders = 25;			// May be <= MaxAxes + MaxExtruders
+
+constexpr size_t MaxHeatersPerTool = 8;
+constexpr size_t MaxExtrudersPerTool = 8;
+
+constexpr unsigned int MaxTriggers = 32;			// Must be <= 32 because we store a bitmap of pending triggers in a uint32_t
+
+constexpr size_t NumSerialChannels = 3;				// The number of serial IO channels not counting the WiFi serial connection (USB and one auxiliary UART)
+#define SERIAL_MAIN_DEVICE SerialUSB
+#define SERIAL_AUX_DEVICE Serial
+#define SERIAL_AUX2_DEVICE Serial1
+
+// Shared SPI (USART 1)
+constexpr Pin APIN_USART_SSPI_SCK = PortBPin(13);
+constexpr GpioPinFunction USARTSPIMosiPeriphMode = GpioPinFunction::C;
+constexpr Pin APIN_USART_SSPI_MOSI = PortBPin(1);
+constexpr GpioPinFunction USARTSPIMisoPeriphMode = GpioPinFunction::C;
+constexpr Pin APIN_USART_SSPI_MISO = PortBPin(0);
+constexpr GpioPinFunction USARTSPISckPeriphMode = GpioPinFunction::C;
+
+constexpr Pin UsbVBusPin = PortCPin(21);			// Pin used to monitor VBUS on USB port
+
+// Drivers
+constexpr Pin STEP_PINS[NumDirectDrivers] =			{ PortCPin(18), PortCPin(16), PortCPin(28), PortCPin(01), PortCPin(04), PortCPin(9) };
+constexpr Pin DIRECTION_PINS[NumDirectDrivers] =	{ PortBPin(05), PortDPin(10), PortAPin(04), PortAPin(22), PortCPin(03), PortDPin(14) };
+constexpr Pin DIAG_PINS[NumDirectDrivers] =			{ PortDPin(29), PortCPin(17), PortDPin(13), PortCPin(02), PortDPin(31), PortCPin(10) };
+
+// Pin assignments etc. using USART1 in SPI mode
+constexpr Pin GlobalTmc51xxEnablePin = PortAPin(9);		// The pin that drives ENN of all TMC drivers
+constexpr Pin GlobalTmc51xxCSPin = PortDPin(17);			// The pin that drives CS of all TMC drivers
+Usart * const USART_TMC51xx = USART1;
+constexpr uint32_t  ID_TMC51xx_SPI = ID_USART1;
+constexpr IRQn TMC51xx_SPI_IRQn = USART1_IRQn;
+#define TMC51xx_SPI_Handler	USART1_Handler
+
+// These next two are #defines to avoid the need to #include DmacManager.h here
+#define TMC51xx_DmaTxPerid	((uint32_t)DmaTrigSource::usart1tx)
+#define TMC51xx_DmaRxPerid	((uint32_t)DmaTrigSource::usart1rx)
+
+constexpr Pin TMC51xxMosiPin = PortBPin(4);
+constexpr GpioPinFunction TMC51xxMosiPinPeriphMode = GpioPinFunction::D;
+constexpr Pin TMC51xxMisoPin = PortAPin(21);
+constexpr GpioPinFunction TMC51xxMisoPinPeriphMode = GpioPinFunction::A;
+constexpr Pin TMC51xxSclkPin = PortAPin(23);
+constexpr GpioPinFunction TMC51xxSclkPinPeriphMode = GpioPinFunction::A;
+
+constexpr uint32_t DefaultStandstillCurrentPercent = 71;
+
+// Thermistor/PT1000 inputs
+constexpr Pin TEMP_SENSE_PINS[NumThermistorInputs] = { PortCPin(15), PortCPin(29), PortCPin(30), PortCPin(31) };	// Thermistor/PT1000 pins
+constexpr Pin VssaSensePin = PortCPin(13);
+constexpr Pin VrefSensePin = PortCPin(0);
+
+// Thermistor series resistor value in Ohms
+constexpr float DefaultThermistorSeriesR = 2200.0;
+constexpr float MinVrefLoadR = (DefaultThermistorSeriesR / NumThermistorInputs) * 4700.0/((DefaultThermistorSeriesR / NumThermistorInputs) + 4700.0);
+																			// there are 4 temperature sensing channels and a 4K7 load resistor
+constexpr float VrefSeriesR = 15.0;
+
+// Digital pins the SPI temperature sensors have their select lines tied to
+constexpr Pin SpiTempSensorCsPins[] = { PortAPin(5), PortAPin(6), PortDPin(20), PortCPin(22) };
+
+// Analogue pin numbers
+constexpr Pin PowerMonitorVinDetectPin = PortAPin(20);
+constexpr Pin PowerMonitorV12DetectPin = PortEPin(4);
+constexpr float PowerMonitorVoltageRange = (60.4 + 4.7)/4.7 * 3.3;			// voltage divider ratio times the reference voltage
+constexpr float V12MonitorVoltageRange = (60.4 + 4.7)/4.7 * 3.3;			// voltage divider ratio times the reference voltage
+
+// Digital pin number to turn the IR LED on (high) or off (low), also controls the DIAG LED
+constexpr Pin DiagPin = PortCPin(20);
+constexpr bool DiagOnPolarity = true;
+
+// SD cards
+constexpr size_t NumSdCards = 2;											// we now allow one SPI-connected SD card to be configured at boot time
+constexpr Pin SdCardDetectPins[NumSdCards] = { PortAPin(29), NoPin };
+constexpr Pin SdWriteProtectPins[NumSdCards] = { NoPin, NoPin };
+constexpr Pin SdSpiCSPins[NumSdCards] = { NoPin, NoPin };
+constexpr uint32_t ExpectedSdCardSpeed = 25000000;
+constexpr IRQn SdhcIRQn = HSMCI_IRQn;
+
+// DotStar LED control
+#define LEDSTRIP_USES_USART	0
+
+constexpr Pin DotStarMosiPin = PortAPin(13);
+constexpr Pin DotStarSclkPin = PortAPin(14);
+constexpr GpioPinFunction DotStarPinMode = GpioPinFunction::A;
+constexpr uint32_t DotStarClockId = ID_QSPI;
+constexpr IRQn DotStarIRQn = QSPI_IRQn;
+
+// Ethernet
+constexpr Pin EthernetPhyInterruptPin = PortCPin(6);
+constexpr Pin EthernetPhyResetPin = PortDPin(11);
+constexpr Pin EthernetPhyOtherPins[] = {
+		PortDPin(0), PortDPin(1), PortDPin(2), PortDPin(3), PortDPin(4),
+		PortDPin(5), PortDPin(6), PortDPin(7), PortDPin(8), PortDPin(9)
+};
+constexpr auto EthernetPhyOtherPinsFunction = GpioPinFunction::A;
+
+// Shared SPI definitions
+#define USART_SPI		1
+#define USART_SSPI		USART0
+#define ID_SSPI			ID_USART0
+
+// List of assignable pins and their mapping from names to MPU ports. This is indexed by logical pin number.
+// The names must match user input that has been concerted to lowercase and had _ and - characters stripped out.
+// Aliases are separate by the , character.
+// If a pin name is prefixed by ! then this means the pin is hardware inverted. The same pin may have names for both the inverted and non-inverted cases,
+// for example the inverted heater pins on the expansion connector are available as non-inverted servo pins on a DueX.
+//TODO change the table below for the V0.6 board
+constexpr PinDescription PinTable[] =
+{
+	//	TC					PWM					ADC				Capability				PinNames
+	// Port A
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::rw,		"io6.out"			},	// PA00 IO6_OUT
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::read,	"out6.tach"			},	// PA01 OUT6_TACH
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA02 NC
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::rw,		"io3.out"			},	// PA03 IO3_OUT
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA04 driver 2 dir
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::rw,		"spi.cs0,serial3.rx"},	// PA05 SPI_CS0 and Serial3 RX
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::rw,		"spi.cs1,serial3.tx"},	// PA06 SPI_CS1 abd Serial3 TX
+	{ TcOutput::none,	PwmOutput::pwm0h3_b,AdcInput::none,		PinCapability::wpwm,	"out0"				},	// PA07 OUT0
+	{ TcOutput::none,	PwmOutput::pwm1h3_a,AdcInput::none,		PinCapability::wpwm,	"out6"				},	// PA08 OUT6
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA09 Tmc51xxEnablePin
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::write,	"pson"				},	// PA10 PS_ON
+	{ TcOutput::none,	PwmOutput::pwm0h0_b,AdcInput::none,		PinCapability::wpwm,	"out3"				},	// PA11 OUT3
+	{ TcOutput::none,	PwmOutput::pwm1h0_c,AdcInput::none,		PinCapability::wpwm,	"out9,laser,vfd"	},	// PA12 OUT9
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA13 DotStarMosi
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA14 DotStarSclk
+	{ TcOutput::tioa1,	PwmOutput::none,	AdcInput::none,		PinCapability::wpwm,	"out4"				},	// PA15 OUT4
+	{ TcOutput::none,	PwmOutput::pwm0l2_c,AdcInput::none,		PinCapability::wpwm,	"out2"				},	// PA16 OUT2
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::adc0_6,	PinCapability::ainr,	"io7.in"			},	// PA17 IO7_IN
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::adc0_7,	PinCapability::ainr,	"io6.in"			},	// PA18 IO6_IN
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::adc0_8,	PinCapability::ainr,	"io5.in"			},	// PA19 IO5_IN
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::adc0_9,	PinCapability::none,	nullptr				},	// PA20 VIN detect
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA21 TMC51xxMisoPin
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA22 driver 3 dir
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA23 TMC51xxSclkPin
+	{ TcOutput::none,	PwmOutput::pwm0h1_b,AdcInput::none,		PinCapability::wpwm,	"out1"				},	// PA24 OUT1
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA25 SDHC MCCK
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA26 SDHC MCDA2
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA27 SDHC MCDA3
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA28 SDHC MCCDA
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA29 SdCardDetectPin
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA30 SDHC MCDA0
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PA31 SDHC MCDA1
+
+	// Port B
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB00 USART_SSPI_MISO
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB01 USART_SSPI_MOSI
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB02 CAN0_TX
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB03 CAN0_RX
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB04 TMC51xxMosiPin
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB05 driver 0 dir
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB06 SWDIO
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB07 SWCLK
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB08	Crystal
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB09 Crystal
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB10 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB11 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB12 Erase
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB13 USART_SSPI_SCK
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB14 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB15 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB16 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB17 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB18 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB19 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB20 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB21 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB22 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB23 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB24 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB25 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB26 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB27 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB28 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB29 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB30 not on chip
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PB31 not on chip
+
+	// Port C
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::adc1_9,	PinCapability::none,	nullptr				},	// PC00 VrefSensePin
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC01 driver 3 step
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC02 driver 3 diag
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC03 driver 4 dir
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC04 driver 4 step
+	{ TcOutput::tioa6,	PwmOutput::none,	AdcInput::none,		PinCapability::wpwm,	"out5"				},	// PC05 OUT5
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC06 EthernetPhyInterrupt
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::read,	"out4.tach"			},	// PC07 OUT4_TACH
+	{ TcOutput::tioa7,	PwmOutput::none,	AdcInput::none,		PinCapability::wpwm,	"out8"				},	// PC08 OUT8
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC09 driver 5 step
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC10 driver 5 diag
+	{ TcOutput::tioa8,	PwmOutput::none,	AdcInput::none,		PinCapability::wpwm,	"out7"				},	// PC11 OUT7
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC12 CAN1_RX
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::adc1_1,	PinCapability::none,	nullptr				},	// PC13 VssaSensePin
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC14 NC
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::adc1_2,	PinCapability::ainr,	"temp0"				},	// PC15 thermistor 0
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC16 driver 1 step
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC17 driver 1 diag
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC18 driver 0 step
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC19 ETH_LED_Y
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC20 DiagPin
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC21 UsbVBusPin
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::rw,		"spi.cs3"			},	// PC22 SPI CS3
+	{ TcOutput::tioa3,	PwmOutput::none,	AdcInput::none,		PinCapability::rwpwm,	"io7.out"			},	// PC23 IO7_OUT
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC24 SBC_SPI_SCK
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC25 SBC_SPI_SS0
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC26 SBC_SPI_MISO
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC27 SBC_SPI_MOSI
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PC28 driver 2 step
+	{ TcOutput::tioa5,	PwmOutput::none,	AdcInput::adc1_4,	PinCapability::ainrwpwm,"temp1"				},	// PC29 thermistor 1
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::adc1_5,	PinCapability::ainr,	"temp2"				},	// PC30 thermistor 2
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::adc1_6,	PinCapability::ainr,	"temp3"				},	// PC31 thermistor 3
+
+	// PORT D
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD00 GTXCK
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD01 GTXEN
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD02 GTX0
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD03 GTX1
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD04 GRXDV
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD05 GRX0
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD06 GRX1
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD07 GRXER
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD08 GMDC
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD09 GMDIO
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD10 driver 1 dir
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD11 EthernetPhyReset
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD12 CAN1_TX
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD13 driver 2 diag
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD14 driver 5 dir
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::read,	"io1.in,serial1.rx"	},	// PD15 IO1_IN and Serial1 RX
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::rw,		"io1.out,serial1.tx"},	// PD16 IO1_OUT and Serial1 TX
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD17 Tmc51xxCSPin
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD18 NC
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD19 NC
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::rw,		"spi.cs2"			},	// PD20 SPI CS2
+	{ TcOutput::tioa11,	PwmOutput::none,	AdcInput::none,		PinCapability::rwpwm,	"io5.out"			},	// PD21 IO5_OUT
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD22 NC
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::read,	"out5.tach"			},	// PD23 OUT5_TACH
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD24 SWD_EXT_RST
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::read,	"io0.in,serial0.rx"	},	// PD25 IO0_IN  Serial0 RX
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::rw,		"io0.out,serial0.tx"},	// PD26 IO0_OUT Serial0 TX
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::rw,		"io2.out,i2c0.dat"	},	// PD27 IO2_OUT
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::read,	"io2.in,i2c0.clk"	},	// PD28 IO2_IN
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD29 driver 0 diag
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::adc0_0,	PinCapability::ainr,	"io4.in"			},	// PD30 IO4_IN
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PD31 driver 4 diag
+
+	// Port E
+	{ TcOutput::tioa9,	PwmOutput::none,	AdcInput::none,		PinCapability::rwpwm,	"io4.out"			},	// PE00 IO4_OUT
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::rw,		"io8.out"			},	// PE01 IO8_OUT
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::none,		PinCapability::none,	nullptr				},	// PE02 SbcTfrReady
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::adc1_10,	PinCapability::read,	"io8.in"			},	// PE03 IO8_IN analog in not usable because it is on the wrong ADC
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::adc0_4,	PinCapability::none,	nullptr				},	// PE04 V12 detect
+	{ TcOutput::none,	PwmOutput::none,	AdcInput::adc0_3,	PinCapability::ainr,	"io3.in"			},	// PE05 IO3_IN
+};
+
+constexpr unsigned int NumNamedPins = ARRAY_SIZE(PinTable);
+static_assert(NumNamedPins == 32+32+32+32+6);
+
+// Function to look up a pin name pass back the corresponding index into the pin table
+bool LookupPinName(const char *pn, LogicalPin& lpin, bool& hardwareInverted) noexcept;
+
+// Serial Interfaces
+constexpr Pin APIN_Serial0_RXD = PortDPin(25);
+constexpr Pin APIN_Serial0_TXD = PortDPin(26);
+constexpr auto Serial0PinFunction = GpioPinFunction::C;
+constexpr Pin APIN_Serial1_RXD = PortDPin(15);
+constexpr Pin APIN_Serial1_TXD = PortDPin(16);
+constexpr auto Serial1PinFunction = GpioPinFunction::B;
+
+// SD Card
+constexpr Pin HsmciMclkPin = PortAPin(25);
+constexpr auto HsmciMclkPinFunction = GpioPinFunction::D;
+constexpr Pin HsmciOtherPins[] = { PortAPin(26), PortAPin(27), PortAPin(28), PortAPin(30), PortAPin(31) };
+constexpr auto HsmciOtherPinsFunction = GpioPinFunction::C;
+
+// Duet pin numbers for the SBC interface
+#define SBC_SPI					SPI1
+#define SBC_SPI_INTERFACE_ID	ID_SPI1
+#define SBC_SPI_IRQn			SPI1_IRQn
+#define SBC_SPI_HANDLER			SPI1_Handler
+
+constexpr Pin APIN_SBC_SPI_MOSI = PortCPin(27);
+constexpr Pin APIN_SBC_SPI_MISO = PortCPin(26);
+constexpr Pin APIN_SBC_SPI_SCK = PortCPin(24);
+constexpr Pin APIN_SBC_SPI_SS0 = PortCPin(25);
+constexpr GpioPinFunction SBCPinPeriphMode = GpioPinFunction::C;
+
+// CAN
+constexpr Pin APIN_CAN0_RX = PortBPin(3);
+constexpr Pin APIN_CAN0_TX = PortBPin(2);
+constexpr GpioPinFunction CAN0PinPeriphMode = GpioPinFunction::A;
+
+constexpr Pin APIN_CAN1_RX = PortCPin(12);
+constexpr GpioPinFunction CAN1RXPinPeriphMode = GpioPinFunction::C;
+constexpr Pin APIN_CAN1_TX = PortDPin(12);
+constexpr GpioPinFunction CAN1TXPinPeriphMode = GpioPinFunction::B;
+
+constexpr unsigned int CanDeviceNumber = 1;				// CAN-FD device number
+
+#if defined(DUAL_CAN) && DUAL_CAN
+constexpr unsigned int SecondaryCanDeviceNumber = 0;	// plan CAN device number
+#endif
+
+constexpr Pin SbcTfrReadyPin = PortEPin(2);
+// Note, the DMAC peripheral IDs are hard-coded in DataTransfer
+
+// Timer allocation
+// Step timer is timer 0 aka TC0 channel 0. Also used as the CAN timestamp counter.
+#define STEP_TC				(TC0)
+#define STEP_TC_CHAN		(0)					// channel for lower 16 bits
+#define STEP_TC_CHAN_UPPER	(2)					// channel for upper 16 bits
+#define STEP_TC_IRQN		TC0_IRQn
+#define STEP_TC_HANDLER		TC0_Handler
+#define STEP_TC_ID			ID_TC0
+#define STEP_TC_ID_UPPER	ID_TC2
+
+// DMA channel allocation
+constexpr DmaChannel DmacChanHsmci = 0;			// this is hard coded in the ASF HSMCI driver
+//constexpr DmaChannel DmacChanWiFiTx = 1;		// only on v0.3 board
+//constexpr DmaChannel DmacChanWiFiRx = 2;		// only on v0.3 board
+constexpr DmaChannel DmacChanTmcTx = 3;
+constexpr DmaChannel DmacChanTmcRx = 4;
+constexpr DmaChannel DmacChanSbcTx = 5;
+constexpr DmaChannel DmacChanSbcRx = 6;
+constexpr DmaChannel DmacChanDotStarTx = 7;
+
+constexpr size_t NumDmaChannelsUsed = 8;
+
+namespace StepPins
+{
+	// *** These next three functions must use the same bit assignments in the drivers bitmap ***
+	// Each stepper driver must be assigned one bit in a 32-bit word, in such a way that multiple drivers can be stepped efficiently
+	// and more or less simultaneously by doing parallel writes to several bits in one or more output ports.
+	// All our step pins are on port C, so the bitmap is just the map of step bits in port C.
+
+	// Calculate the step bit for a driver. This doesn't need to be fast. It must return 0 if the driver is remote.
+	static inline uint32_t CalcDriverBitmap(size_t driver) noexcept
+	{
+		return (driver < NumDirectDrivers)
+				? 1u << (STEP_PINS[driver] & 0x1Fu)
+				: 0;
+	}
+
+	// Set the specified step pins high. This needs to be fast.
+	static inline __attribute__((always_inline)) void StepDriversHigh(uint32_t driverMap) noexcept
+	{
+		PIOC->PIO_SODR = driverMap;				// on Duet 3 all step pins are on port C
+	}
+
+	// Set the specified step pins low. This needs to be fast.
+	static inline __attribute__((always_inline)) void StepDriversLow(uint32_t driverMap) noexcept
+	{
+		PIOC->PIO_CODR = driverMap;				// on Duet 3 all step pins are on port C
+	}
+}
+
+#endif	//ifndef PINS_DUET3_MB6XD_H__
diff --git a/src/DuetM/Pins_DuetM.h b/src/Config/Pins_DuetM.h
index 3b6e402b..3b6e402b 100644
--- a/src/DuetM/Pins_DuetM.h
+++ b/src/Config/Pins_DuetM.h
diff --git a/src/DuetNG/Pins_DuetNG.h b/src/Config/Pins_DuetNG.h
index b62b4b5e..b62b4b5e 100644
--- a/src/DuetNG/Pins_DuetNG.h
+++ b/src/Config/Pins_DuetNG.h
diff --git a/src/Pccb/Pins_Pccb.h b/src/Config/Pins_Pccb.h
index a069e505..a069e505 100644
--- a/src/Pccb/Pins_Pccb.h
+++ b/src/Config/Pins_Pccb.h
diff --git a/src/Display/Display.cpp b/src/Display/Display.cpp
index da24f428..a69d0517 100644
--- a/src/Display/Display.cpp
+++ b/src/Display/Display.cpp
@@ -11,10 +11,9 @@
 
 #include "Lcd/ST7920/Lcd7920.h"
 #include "Lcd/ST7567/Lcd7567.h"
-#include "GCodes/GCodes.h"
-#include "GCodes/GCodeBuffer/GCodeBuffer.h"
-#include "Hardware/IoPorts.h"
-#include "Pins.h"
+#include <GCodes/GCodes.h>
+#include <GCodes/GCodeBuffer/GCodeBuffer.h>
+#include <Hardware/IoPorts.h>
 
 constexpr int DefaultPulsesPerClick = -4;			// values that work with displays I have are 2 and -4
 
diff --git a/src/Display/Lcd/Lcd.cpp b/src/Display/Lcd/Lcd.cpp
index 2946d742..ad8df632 100644
--- a/src/Display/Lcd/Lcd.cpp
+++ b/src/Display/Lcd/Lcd.cpp
@@ -5,7 +5,6 @@
 
 #if SUPPORT_12864_LCD
 
-#include "Pins.h"
 #include <Hardware/SharedSpi/SharedSpiDevice.h>
 
 Lcd::Lcd(PixelNumber nr, PixelNumber nc, const LcdFont * const fnts[], size_t nFonts, SpiMode mode) noexcept
diff --git a/src/Display/Lcd/ST7920/Lcd7920.cpp b/src/Display/Lcd/ST7920/Lcd7920.cpp
index c499708d..71111ac8 100644
--- a/src/Display/Lcd/ST7920/Lcd7920.cpp
+++ b/src/Display/Lcd/ST7920/Lcd7920.cpp
@@ -5,8 +5,6 @@
 
 #if SUPPORT_12864_LCD
 
-#include "Pins.h"
-
 // LCD basic instructions. These all take 72us to execute except LcdDisplayClear, which takes 1.6ms
 constexpr uint8_t LcdDisplayClear = 0x01;
 constexpr uint8_t LcdHome = 0x02;
diff --git a/src/Display/RotaryEncoder.cpp b/src/Display/RotaryEncoder.cpp
index 7a220e27..50558cb3 100644
--- a/src/Display/RotaryEncoder.cpp
+++ b/src/Display/RotaryEncoder.cpp
@@ -2,8 +2,7 @@
 
 #if SUPPORT_12864_LCD
 
-#include "Pins.h"
-#include "Hardware/IoPorts.h"
+#include <Hardware/IoPorts.h>
 
 RotaryEncoder::RotaryEncoder(Pin p0, Pin p1, Pin pb) noexcept
 	: pin0(p0), pin1(p1), pinButton(pb), ppc(1), encoderChange(0), encoderState(0), newPress(false), reverseDirection(false) {}
diff --git a/src/Duet3Mini/Pins_Duet3Mini.cpp b/src/Duet3Mini/Pins_Duet3Mini.cpp
deleted file mode 100644
index 500f8051..00000000
--- a/src/Duet3Mini/Pins_Duet3Mini.cpp
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
- * Pins_Duet5LC.cpp
- *
- *  Created on: 19 Jun 2020
- *      Author: David
- */
-
-
-#include "RepRapFirmware.h"
-
-// Hardware-dependent pins functions
-
-// Return a pointer to the pin description entry. Declared in and called from CoreN2G.
-const PinDescriptionBase *AppGetPinDescription(Pin p) noexcept
-{
-	return (p < ARRAY_SIZE(PinTable)) ? &PinTable[p] : nullptr;
-}
-
-// Function to look up a pin name and pass back the corresponding index into the pin table
-// On this platform, the mapping from pin names to pins is fixed, so this is a simple lookup
-bool LookupPinName(const char *pn, LogicalPin &lpin, bool &hardwareInverted) noexcept
-{
-	if (StringEqualsIgnoreCase(pn, NoPinName))
-	{
-		lpin = NoLogicalPin;
-		hardwareInverted = false;
-		return true;
-	}
-
-	for (size_t lp = 0; lp < ARRAY_SIZE(PinTable); ++lp)
-	{
-		const char *q = PinTable[lp].pinNames;
-		if (q == nullptr)
-		{
-			continue;
-		}
-		while (*q != 0)
-		{
-			// Try the next alias in the list of names for this pin
-			const char *p = pn;
-			bool hwInverted = (*q == '!');
-			if (hwInverted)
-			{
-				++q;
-			}
-			while (*q != ',' && *q != 0 && *p == *q)
-			{
-				++p;
-				++q;
-			}
-			if (*p == 0 && (*q == 0 || *q == ','))
-			{
-				// Found a match
-				lpin = (LogicalPin)lp;
-				hardwareInverted = hwInverted;
-				return true;
-			}
-
-			// Skip to the start of the next alias
-			while (*q != 0 && *q != ',')
-			{
-				++q;
-			}
-			if (*q == ',')
-			{
-				++q;
-			}
-		}
-	}
-	return false;
-}
-
-// End
diff --git a/src/Duet3_V06/Pins_Duet3_V06.cpp b/src/Duet3_V06/Pins_Duet3_V06.cpp
deleted file mode 100644
index 5fa45a32..00000000
--- a/src/Duet3_V06/Pins_Duet3_V06.cpp
+++ /dev/null
@@ -1,72 +0,0 @@
-/*
- * Pins_DuetNG.cpp
- *
- *  Created on: 31 Mar 2019
- *      Author: David
- */
-
-#include "RepRapFirmware.h"
-
-// Hardware-dependent pins functions
-
-// Return a pointer to the pin description entry. Declared in and called from CoreN2G.
-const PinDescriptionBase *AppGetPinDescription(Pin p) noexcept
-{
-	return (p < ARRAY_SIZE(PinTable)) ? &PinTable[p] : nullptr;
-}
-
-// Function to look up a pin name and pass back the corresponding index into the pin table
-// On this platform, the mapping from pin names to pins is fixed, so this is a simple lookup
-bool LookupPinName(const char *pn, LogicalPin &lpin, bool &hardwareInverted) noexcept
-{
-	if (StringEqualsIgnoreCase(pn, NoPinName))
-	{
-		lpin = NoLogicalPin;
-		hardwareInverted = false;
-		return true;
-	}
-
-	for (size_t lp = 0; lp < ARRAY_SIZE(PinTable); ++lp)
-	{
-		const char *q = PinTable[lp].pinNames;
-		if (q == nullptr)
-		{
-			continue;
-		}
-		while (*q != 0)
-		{
-			// Try the next alias in the list of names for this pin
-			const char *p = pn;
-			bool hwInverted = (*q == '!');
-			if (hwInverted)
-			{
-				++q;
-			}
-			while (*q != ',' && *q != 0 && *p == *q)
-			{
-				++p;
-				++q;
-			}
-			if (*p == 0 && (*q == 0 || *q == ','))
-			{
-				// Found a match
-				lpin = (LogicalPin)lp;
-				hardwareInverted = hwInverted;
-				return true;
-			}
-
-			// Skip to the start of the next alias
-			while (*q != 0 && *q != ',')
-			{
-				++q;
-			}
-			if (*q == ',')
-			{
-				++q;
-			}
-		}
-	}
-	return false;
-}
-
-// End
diff --git a/src/DuetM/Pins_DuetM.cpp b/src/DuetM/Pins_DuetM.cpp
deleted file mode 100644
index 8fcbda72..00000000
--- a/src/DuetM/Pins_DuetM.cpp
+++ /dev/null
@@ -1,72 +0,0 @@
-/*
- * Pins_DuetM.cpp
- *
- *  Created on: 15 Apr 2019
- *      Author: David
- */
-
-#include "RepRapFirmware.h"
-
-// Hardware-dependent pins functions
-
-// Return a pointer to the pin description entry. Declared in and called from CoreN2G.
-const PinDescriptionBase *AppGetPinDescription(Pin p) noexcept
-{
-	return (p < ARRAY_SIZE(PinTable)) ? &PinTable[p] : nullptr;
-}
-
-// Function to look up a pin name and pass back the corresponding index into the pin table
-// On this platform, the mapping from pin names to pins is fixed, so this is a simple lookup
-bool LookupPinName(const char *pn, LogicalPin &lpin, bool &hardwareInverted) noexcept
-{
-	if (StringEqualsIgnoreCase(pn, NoPinName))
-	{
-		lpin = NoLogicalPin;
-		hardwareInverted = false;
-		return true;
-	}
-
-	for (size_t lp = 0; lp < ARRAY_SIZE(PinTable); ++lp)
-	{
-		const char *q = PinTable[lp].pinNames;
-		if (q == nullptr)
-		{
-			continue;
-		}
-		while (*q != 0)
-		{
-			// Try the next alias in the list of names for this pin
-			const char *p = pn;
-			bool hwInverted = (*q == '!');
-			if (hwInverted)
-			{
-				++q;
-			}
-			while (*q != ',' && *q != 0 && *p == *q)
-			{
-				++p;
-				++q;
-			}
-			if (*p == 0 && (*q == 0 || *q == ','))
-			{
-				// Found a match
-				lpin = (LogicalPin)lp;
-				hardwareInverted = hwInverted;
-				return true;
-			}
-
-			// Skip to the start of the next alias
-			while (*q != 0 && *q != ',')
-			{
-				++q;
-			}
-			if (*q == ',')
-			{
-				++q;
-			}
-		}
-	}
-	return false;
-}
-
-// End
diff --git a/src/DuetNG/Pins_DuetNG.cpp b/src/DuetNG/Pins_DuetNG.cpp
deleted file mode 100644
index 5fa45a32..00000000
--- a/src/DuetNG/Pins_DuetNG.cpp
+++ /dev/null
@@ -1,72 +0,0 @@
-/*
- * Pins_DuetNG.cpp
- *
- *  Created on: 31 Mar 2019
- *      Author: David
- */
-
-#include "RepRapFirmware.h"
-
-// Hardware-dependent pins functions
-
-// Return a pointer to the pin description entry. Declared in and called from CoreN2G.
-const PinDescriptionBase *AppGetPinDescription(Pin p) noexcept
-{
-	return (p < ARRAY_SIZE(PinTable)) ? &PinTable[p] : nullptr;
-}
-
-// Function to look up a pin name and pass back the corresponding index into the pin table
-// On this platform, the mapping from pin names to pins is fixed, so this is a simple lookup
-bool LookupPinName(const char *pn, LogicalPin &lpin, bool &hardwareInverted) noexcept
-{
-	if (StringEqualsIgnoreCase(pn, NoPinName))
-	{
-		lpin = NoLogicalPin;
-		hardwareInverted = false;
-		return true;
-	}
-
-	for (size_t lp = 0; lp < ARRAY_SIZE(PinTable); ++lp)
-	{
-		const char *q = PinTable[lp].pinNames;
-		if (q == nullptr)
-		{
-			continue;
-		}
-		while (*q != 0)
-		{
-			// Try the next alias in the list of names for this pin
-			const char *p = pn;
-			bool hwInverted = (*q == '!');
-			if (hwInverted)
-			{
-				++q;
-			}
-			while (*q != ',' && *q != 0 && *p == *q)
-			{
-				++p;
-				++q;
-			}
-			if (*p == 0 && (*q == 0 || *q == ','))
-			{
-				// Found a match
-				lpin = (LogicalPin)lp;
-				hardwareInverted = hwInverted;
-				return true;
-			}
-
-			// Skip to the start of the next alias
-			while (*q != 0 && *q != ',')
-			{
-				++q;
-			}
-			if (*q == ',')
-			{
-				++q;
-			}
-		}
-	}
-	return false;
-}
-
-// End
diff --git a/src/Fans/LedStripDriver.cpp b/src/Fans/LedStripDriver.cpp
index f098e6eb..c42b20df 100644
--- a/src/Fans/LedStripDriver.cpp
+++ b/src/Fans/LedStripDriver.cpp
@@ -15,8 +15,8 @@
 #include <GCodes/GCodes.h>
 
 // Define which types of LED strip this hardware supports
-#define SUPPORT_DMA_NEOPIXEL		(defined(DUET3_V06) || defined(DUET3MINI) || defined(PCCB_10))
-#define SUPPORT_DMA_DOTSTAR			(defined(DUET3_V06) || defined(PCCB_10))
+#define SUPPORT_DMA_NEOPIXEL		(defined(DUET3_MB6HC) || defined(DUET3_MB6XD) || defined(DUET3MINI) || defined(PCCB_10))
+#define SUPPORT_DMA_DOTSTAR			(defined(DUET3_MB6HC) || defined(DUET3_MB6XD) || defined(PCCB_10))
 #define SUPPORT_BITBANG_NEOPIXEL	(defined(DUET3MINI) || defined(DUET_NG))
 
 #if SUPPORT_DMA_NEOPIXEL || SUPPORT_DMA_DOTSTAR
@@ -56,7 +56,7 @@ namespace LedStripDriver
 	constexpr uint32_t MinNeoPixelResetTicks = (250 * StepClockRate)/1000000;	// 250us minimum Neopixel reset time on later chips
 
 	// Define the size of the buffer used to accumulate a sequence of colours to send to the string
-#if defined(DUET3_V06)
+#if defined(DUET3_MB6HC) || defined(DUET3_MB6XD)
 	// We have plenty of non-cached RAM left on Duet 3
 	constexpr size_t ChunkBufferSize = 240 * 16;						// DotStar LEDs use 4 bytes/LED, NeoPixel RGBW use 16 bytes/LED
 #elif defined(DUET3MINI)
@@ -457,7 +457,7 @@ void LedStripDriver::Init() noexcept
 	hri_mclk_set_AHBMASK_QSPI_bit(MCLK);
 	hri_mclk_clear_AHBMASK_QSPI_2X_bit(MCLK);			// we don't need the 2x clock
 	hri_mclk_set_APBCMASK_QSPI_bit(MCLK);
-#elif defined(DUET3_V06) || defined(PCCB_10)
+#elif defined(DUET3_MB6HC) || defined(DUET3_MB6XD) || defined(PCCB_10)
 	SetPinFunction(DotStarMosiPin, DotStarPinMode);
 	SetPinFunction(DotStarSclkPin, DotStarPinMode);
 	pmc_enable_periph_clk(DotStarClockId);				// enable the clock to the USART or SPI peripheral
diff --git a/src/Hardware/IoPorts.cpp b/src/Hardware/IoPorts.cpp
index e5355791..5db13337 100644
--- a/src/Hardware/IoPorts.cpp
+++ b/src/Hardware/IoPorts.cpp
@@ -8,7 +8,6 @@
 #include "IoPorts.h"
 #include <Platform/RepRap.h>
 #include <Platform/Platform.h>
-#include <Configuration.h>
 #include <GCodes/GCodeBuffer/GCodeBuffer.h>
 
 #ifdef DUET_NG
diff --git a/src/Heating/Sensors/LinearAnalogSensor.cpp b/src/Heating/Sensors/LinearAnalogSensor.cpp
index 7f8bf0a8..2c1f3b7e 100644
--- a/src/Heating/Sensors/LinearAnalogSensor.cpp
+++ b/src/Heating/Sensors/LinearAnalogSensor.cpp
@@ -7,7 +7,6 @@
 
 #include "LinearAnalogSensor.h"
 #include <GCodes/GCodeBuffer/GCodeBuffer.h>
-#include <Pins.h>
 #include <Platform/RepRap.h>
 #include <Platform/Platform.h>
 
diff --git a/src/Movement/Kinematics/HangprinterKinematics.cpp b/src/Movement/Kinematics/HangprinterKinematics.cpp
index 54a035bf..a99e71ae 100644
--- a/src/Movement/Kinematics/HangprinterKinematics.cpp
+++ b/src/Movement/Kinematics/HangprinterKinematics.cpp
@@ -490,7 +490,9 @@ bool HangprinterKinematics::WriteResumeSettings(FileStore *f) const noexcept
  * Basic idea is to subtract squared line lengths to get linear equations,
  * and then to solve with variable substitution.
  *
- * If we assume anchor location norms are followed, then
+ * If we assume anchor location norms are followed
+ * Ax=0 Dx=0 Dy=0
+ * then
  * we get a fairly clean derivation by
  * subtracting d*d from a*a, b*b, and c*c:
  *
@@ -517,29 +519,59 @@ bool HangprinterKinematics::WriteResumeSettings(FileStore *f) const noexcept
  */
 void HangprinterKinematics::ForwardTransform(float const a, float const b, float const c, float const d, float machinePos[3]) const noexcept
 {
-	// Anchor location norms
-	if (fabsf(anchors[D_AXIS][X_AXIS]) > 0.1F ||
-		fabsf(anchors[D_AXIS][Y_AXIS]) > 0.1F ||
-		fabsf(anchors[A_AXIS][X_AXIS]) > 0.1F ||
-		fabsf(anchors[B_AXIS][X_AXIS]) < 0.1F ||
-		fabsf(anchors[C_AXIS][X_AXIS]) < 0.1F ||
-		fabsf(anchors[A_AXIS][Y_AXIS]) < 0.1F) {
-		return;
+	// Force the anchor location norms Ax=0, Dx=0, Dy=0
+	// through a series of rotations.
+	float const x_angle = atan(anchors[D_AXIS][Y_AXIS]/anchors[D_AXIS][Z_AXIS]);
+	float const rxt[3][3] = {{1, 0, 0}, {0, cosf(x_angle), sinf(x_angle)}, {0, -sinf(x_angle), cosf(x_angle)}};
+	float anchors_tmp0[4][3] = { 0 };
+	for (size_t row{0}; row < 4; ++row) {
+		for (size_t col{0}; col < 3; ++col) {
+			anchors_tmp0[row][col] = rxt[0][col]*anchors[row][0] + rxt[1][col]*anchors[row][1] + rxt[2][col]*anchors[row][2];
+		}
+	}
+	float const y_angle = atan(-anchors_tmp0[D_AXIS][X_AXIS]/anchors_tmp0[D_AXIS][Z_AXIS]);
+	float const ryt[3][3] = {{cosf(y_angle), 0, -sinf(y_angle)}, {0, 1, 0}, {sinf(y_angle), 0, cosf(y_angle)}};
+	float anchors_tmp1[4][3] = { 0 };
+	for (size_t row{0}; row < 4; ++row) {
+		for (size_t col{0}; col < 3; ++col) {
+			anchors_tmp1[row][col] = ryt[0][col]*anchors_tmp0[row][0] + ryt[1][col]*anchors_tmp0[row][1] + ryt[2][col]*anchors_tmp0[row][2];
+		}
+	}
+	float const z_angle = atan(anchors_tmp1[A_AXIS][X_AXIS]/anchors_tmp1[A_AXIS][Y_AXIS]);
+	float const rzt[3][3] = {{cosf(z_angle), sinf(z_angle), 0}, {-sinf(z_angle), cosf(z_angle), 0}, {0, 0, 1}};
+	for (size_t row{0}; row < 4; ++row) {
+		for (size_t col{0}; col < 3; ++col) {
+			anchors_tmp0[row][col] = rzt[0][col]*anchors_tmp1[row][0] + rzt[1][col]*anchors_tmp1[row][1] + rzt[2][col]*anchors_tmp1[row][2];
+		}
 	}
+
 	const float Asq = fsquare(lineLengthsOrigin[A_AXIS]);
 	const float Bsq = fsquare(lineLengthsOrigin[B_AXIS]);
 	const float Csq = fsquare(lineLengthsOrigin[C_AXIS]);
 	const float Dsq = fsquare(lineLengthsOrigin[D_AXIS]);
 	const float aa = fsquare(a);
 	const float dd = fsquare(d);
-	const float k0b = (-fsquare(b) + Bsq - Dsq + dd) / (2.0 * anchors[B_AXIS][X_AXIS]) + (anchors[B_AXIS][Y_AXIS] / (2.0 * anchors[A_AXIS][Y_AXIS] * anchors[B_AXIS][X_AXIS])) * (Dsq - Asq + aa - dd);
-	const float k0c = (-fsquare(c) + Csq - Dsq + dd) / (2.0 * anchors[C_AXIS][X_AXIS]) + (anchors[C_AXIS][Y_AXIS] / (2.0 * anchors[A_AXIS][Y_AXIS] * anchors[C_AXIS][X_AXIS])) * (Dsq - Asq + aa - dd);
-	const float k1b = (anchors[B_AXIS][Y_AXIS] * (anchors[A_AXIS][Z_AXIS] - anchors[D_AXIS][Z_AXIS])) / (anchors[A_AXIS][Y_AXIS] * anchors[B_AXIS][X_AXIS]) + (anchors[D_AXIS][Z_AXIS] - anchors[B_AXIS][Z_AXIS]) / anchors[B_AXIS][X_AXIS];
-	const float k1c = (anchors[C_AXIS][Y_AXIS] * (anchors[A_AXIS][Z_AXIS] - anchors[D_AXIS][Z_AXIS])) / (anchors[A_AXIS][Y_AXIS] * anchors[C_AXIS][X_AXIS]) + (anchors[D_AXIS][Z_AXIS] - anchors[C_AXIS][Z_AXIS]) / anchors[C_AXIS][X_AXIS];
-
-	machinePos[Z_AXIS] = (k0b - k0c) / (k1c - k1b);
-	machinePos[X_AXIS] = k0c + k1c * machinePos[Z_AXIS];
-	machinePos[Y_AXIS] = (Asq - Dsq - aa + dd) / (2.0 * anchors[A_AXIS][Y_AXIS]) + ((anchors[D_AXIS][Z_AXIS] - anchors[A_AXIS][Z_AXIS]) / anchors[A_AXIS][Y_AXIS]) * machinePos[Z_AXIS];
+	const float k0b = (-fsquare(b) + Bsq - Dsq + dd) / (2.0 * anchors_tmp0[B_AXIS][X_AXIS]) + (anchors_tmp0[B_AXIS][Y_AXIS] / (2.0 * anchors_tmp0[A_AXIS][Y_AXIS] * anchors_tmp0[B_AXIS][X_AXIS])) * (Dsq - Asq + aa - dd);
+	const float k0c = (-fsquare(c) + Csq - Dsq + dd) / (2.0 * anchors_tmp0[C_AXIS][X_AXIS]) + (anchors_tmp0[C_AXIS][Y_AXIS] / (2.0 * anchors_tmp0[A_AXIS][Y_AXIS] * anchors_tmp0[C_AXIS][X_AXIS])) * (Dsq - Asq + aa - dd);
+	const float k1b = (anchors_tmp0[B_AXIS][Y_AXIS] * (anchors_tmp0[A_AXIS][Z_AXIS] - anchors_tmp0[D_AXIS][Z_AXIS])) / (anchors_tmp0[A_AXIS][Y_AXIS] * anchors_tmp0[B_AXIS][X_AXIS]) + (anchors_tmp0[D_AXIS][Z_AXIS] - anchors_tmp0[B_AXIS][Z_AXIS]) / anchors_tmp0[B_AXIS][X_AXIS];
+	const float k1c = (anchors_tmp0[C_AXIS][Y_AXIS] * (anchors_tmp0[A_AXIS][Z_AXIS] - anchors_tmp0[D_AXIS][Z_AXIS])) / (anchors_tmp0[A_AXIS][Y_AXIS] * anchors_tmp0[C_AXIS][X_AXIS]) + (anchors_tmp0[D_AXIS][Z_AXIS] - anchors_tmp0[C_AXIS][Z_AXIS]) / anchors_tmp0[C_AXIS][X_AXIS];
+
+	float machinePos_tmp0[3];
+	machinePos_tmp0[Z_AXIS] = (k0b - k0c) / (k1c - k1b);
+	machinePos_tmp0[X_AXIS] = k0c + k1c * machinePos_tmp0[Z_AXIS];
+	machinePos_tmp0[Y_AXIS] = (Asq - Dsq - aa + dd) / (2.0 * anchors_tmp0[A_AXIS][Y_AXIS]) + ((anchors_tmp0[D_AXIS][Z_AXIS] - anchors_tmp0[A_AXIS][Z_AXIS]) / anchors_tmp0[A_AXIS][Y_AXIS]) * machinePos_tmp0[Z_AXIS];
+
+	//// Rotate machinePos_tmp back to original coordinate system
+	float machinePos_tmp1[3];
+	for (size_t row{0}; row < 3; ++row) {
+		machinePos_tmp1[row] = rzt[row][0]*machinePos_tmp0[0] + rzt[row][1]*machinePos_tmp0[1] + rzt[row][2]*machinePos_tmp0[2];
+	}
+	for (size_t row{0}; row < 3; ++row) {
+		machinePos_tmp0[row] = ryt[row][0]*machinePos_tmp1[0] + ryt[row][1]*machinePos_tmp1[1] + ryt[row][2]*machinePos_tmp1[2];
+	}
+	for (size_t row{0}; row < 3; ++row) {
+		machinePos[row] = rxt[row][0]*machinePos_tmp0[0] + rxt[row][1]*machinePos_tmp0[1] + rxt[row][2]*machinePos_tmp0[2];
+	}
 }
 
 // Print all the parameters for debugging
diff --git a/src/Movement/StepperDrivers/TMC2660.h b/src/Movement/StepperDrivers/TMC2660.h
index 7a38626a..438e6571 100644
--- a/src/Movement/StepperDrivers/TMC2660.h
+++ b/src/Movement/StepperDrivers/TMC2660.h
@@ -12,7 +12,6 @@
 
 #include <RepRapFirmware.h>
 #include "DriverMode.h"
-#include <Pins.h>
 
 namespace SmartDrivers
 {
diff --git a/src/Networking/Network.cpp b/src/Networking/Network.cpp
index 887b3f78..04ab7312 100644
--- a/src/Networking/Network.cpp
+++ b/src/Networking/Network.cpp
@@ -86,7 +86,7 @@ Network::Network(Platform& p) noexcept : platform(p)
 #if defined(DUET3_V03)
 	interfaces[0] = new LwipEthernetInterface(p);
 	interfaces[1] = new WiFiInterface(p);
-#elif defined(SAME70XPLD) || defined(DUET3_V05) || defined(DUET3_V06)
+#elif defined(DUET3_MB6HC) || defined(DUET3_MB6XD)
 	interfaces[0] = new LwipEthernetInterface(p);
 #elif defined(DUET_NG) || defined(DUET3MINI)
 	interfaces[0] = nullptr;			// we set this up in Init()
diff --git a/src/Networking/Network.h b/src/Networking/Network.h
index abe30a0d..c0ce6e73 100644
--- a/src/Networking/Network.h
+++ b/src/Networking/Network.h
@@ -16,7 +16,7 @@
 
 #if defined(DUET3_V03)
 const size_t NumNetworkInterfaces = 2;
-#elif defined(DUET3_V06) || defined(DUET_NG) || defined(DUET_M) || defined(__LPC17xx__) || defined(PCCB) || defined(DUET3MINI)
+#elif defined(DUET3_MB6HC) || defined(DUET3_MB6XD) || defined(DUET_NG) || defined(DUET_M) || defined(__LPC17xx__) || defined(PCCB) || defined(DUET3MINI)
 const size_t NumNetworkInterfaces = 1;
 #else
 # error Wrong Network.h file included
diff --git a/src/Networking/W5500Ethernet/MdnsResponder.h b/src/Networking/W5500Ethernet/MdnsResponder.h
index 6cea0d01..71421e80 100644
--- a/src/Networking/W5500Ethernet/MdnsResponder.h
+++ b/src/Networking/W5500Ethernet/MdnsResponder.h
@@ -14,7 +14,7 @@
 #include <General/IPAddress.h>
 #include <General/StringRef.h>
 
-#include "Configuration.h"
+#include <Config/Configuration.h>
 #include "NetworkDefs.h"
 
 class W5500Socket;
diff --git a/src/Networking/W5500Ethernet/Wiznet/Ethernet/WizSpi.cpp b/src/Networking/W5500Ethernet/Wiznet/Ethernet/WizSpi.cpp
index 13c62649..525767d5 100644
--- a/src/Networking/W5500Ethernet/Wiznet/Ethernet/WizSpi.cpp
+++ b/src/Networking/W5500Ethernet/Wiznet/Ethernet/WizSpi.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "WizSpi.h"
-#include "Pins.h"
+#include <Config/Pins.h>
 
 // Define exactly one of the following as 1, the other as zero
 #define USE_PDC		1		// use peripheral DMA controller
diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp
index 8451560a..702e11ca 100644
--- a/src/Platform/Platform.cpp
+++ b/src/Platform/Platform.cpp
@@ -4405,7 +4405,7 @@ GCodeResult Platform::ConfigurePort(GCodeBuffer& gb, const StringRef& reply) THR
 	// Exactly one of FHJPSR is allowed
 	unsigned int charsPresent = 0;
 	for (char c :
-#ifdef DUET3_V06
+#ifdef DUET3_MB6HC
 		(const char[]){'D', 'R', 'J', 'F', 'H', 'P', 'S'}
 #else
 		(const char[]){'R', 'J', 'F', 'H', 'P', 'S'}
@@ -4450,7 +4450,7 @@ GCodeResult Platform::ConfigurePort(GCodeBuffer& gb, const StringRef& reply) THR
 			return spindles[slot].Configure(gb, reply);
 		}
 
-#ifdef DUET3_V06
+#ifdef DUET3_MB6HC
 	case 64:	// D
 # if HAS_SBC_INTERFACE
 		if (!reprap.UsingSbcInterface())
diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h
index 2db51861..a6c743f4 100644
--- a/src/RepRapFirmware.h
+++ b/src/RepRapFirmware.h
@@ -105,8 +105,8 @@ enum class PinUsedBy : uint8_t
 	sdCard
 };
 
-#include "Pins.h"
-#include "Configuration.h"
+#include <Config/Pins.h>
+#include <Config/Configuration.h>
 
 static_assert(MinVisibleAxes <= MinAxes);
 static_assert(NumNamedPins <= 255 || sizeof(LogicalPin) > 1, "Need 16-bit logical pin numbers");
diff --git a/src/Storage/MassStorage.cpp b/src/Storage/MassStorage.cpp
index dcab61c2..8529c02d 100644
--- a/src/Storage/MassStorage.cpp
+++ b/src/Storage/MassStorage.cpp
@@ -19,7 +19,7 @@ static_assert(SD_MMC_MEM_CNT == NumSdCards);
 # include <SBC/SbcInterface.h>
 #endif
 
-#ifdef DUET3_V06
+#ifdef DUET3_MB6HC
 # include <GCodes/GCodeBuffer/GCodeBuffer.h>
 #endif
 
@@ -97,7 +97,7 @@ static uint64_t GetFreeSpace(size_t slot)
 static const char * const VolPathNames[] = { "0:/", "1:/" };
 static_assert(ARRAY_SIZE(VolPathNames) >= NumSdCards, "Incorrect VolPathNames array");
 
-#ifdef DUET3_V06
+#ifdef DUET3_MB6HC
 static IoPort sd1Ports[2];		// first element is CS port, second is CD port
 #endif
 
@@ -181,7 +181,7 @@ static FileStore files[MAX_FILES];
 
 #if HAS_MASS_STORAGE
 
-# ifdef DUET3_V06
+# ifdef DUET3_MB6HC
 
 // Return the number of volumes, which on the 6HC is normally 1 but can be increased to 2
 size_t MassStorage::GetNumVolumes() noexcept
diff --git a/src/Storage/MassStorage.h b/src/Storage/MassStorage.h
index 854d56b4..551bbe6a 100644
--- a/src/Storage/MassStorage.h
+++ b/src/Storage/MassStorage.h
@@ -2,7 +2,6 @@
 #define MASSSTORAGE_H
 
 #include <RepRapFirmware.h>
-#include <Pins.h>
 #include "FileWriteBuffer.h"
 #include <Libraries/Fatfs/ff.h>
 #include "FileStore.h"
@@ -49,7 +48,7 @@ namespace MassStorage
 	void CloseAllFiles() noexcept;
 	void Spin() noexcept;
 
-# ifdef DUET3_V06
+# ifdef DUET3_MB6HC
 	size_t GetNumVolumes() noexcept;														// The number of SD slots may be 1 or 2 on the 6HC
 # else
 	inline size_t GetNumVolumes() noexcept { return NumSdCards; }
@@ -105,7 +104,7 @@ namespace MassStorage
 
 	InfoResult GetCardInfo(size_t slot, uint64_t& capacity, uint64_t& freeSpace, uint32_t& speed, uint32_t& clSize) noexcept;
 
-# ifdef DUET3_V06
+# ifdef DUET3_MB6HC
 	GCodeResult ConfigureSdCard(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);		// Configure additional SD card slots
 # endif