Version 1.14 very early beta

Changes to use new pin modes in CoreNG
Initialise TMC2660 step/dir/CS pins as early as possible
Allow emergency stop in simulation mode
Disable drives and heaters when doing a software reset
Support 10th drive and 8th heater on Duet WiFi
TMC2660 driver support is now only in Duet WiFi firmware build

9 files changed, 181 insertions, 262 deletions

diff --git a/src/Configuration.h b/src/Configuration.h
index aadff29d..eb6f6cfa 100644
--- a/src/Configuration.h
+++ b/src/Configuration.h
@@ -26,11 +26,11 @@ Licence: GPL
 // Firmware name is now defined in the Pins file
 
 #ifndef VERSION
-# define VERSION "1.13b"
+# define VERSION "1.14 beta 1"
 #endif
 
 #ifndef DATE
-# define DATE "2016-06-24"
+# define DATE "2016-06-27"
 #endif
 
 #define AUTHORS "reprappro, dc42, zpl, t3p3, dnewman"
diff --git a/src/Duet/Pins_Duet.h b/src/Duet/Pins_Duet.h
index 75ef1853..6fdefe4e 100644
--- a/src/Duet/Pins_Duet.h
+++ b/src/Duet/Pins_Duet.h
@@ -16,14 +16,10 @@ const size_t NumFirmwareUpdateModules = 1;
 // The physical capabilities of the machine
 
 const size_t DRIVES = 9;						// The number of drives in the machine, including X, Y, and Z plus extruder drives
-#define DRIVES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f,g,h,i }
-
-// If enabled, the following control the use of the optional ExternalDrivers module
-//#define EXTERNAL_DRIVERS		(1)
-//#define FIRST_EXTERNAL_DRIVE	(5)
+#define DRIVES_(a,b,c,d,e,f,g,h,i,j) { a,b,c,d,e,f,g,h,i }
 
 const int8_t HEATERS = 7;						// The number of heaters in the machine; 0 is the heated bed even if there isn't one
-#define HEATERS_(a,b,c,d,e,f,g) { a,b,c,d,e,f,g }
+#define HEATERS_(a,b,c,d,e,f,g,h) { a,b,c,d,e,f,g }
 
 const size_t AXES = 3;							// The number of movement axes in the machine, usually just X, Y and Z. <= DRIVES
 const size_t NUM_SERIAL_CHANNELS = 3;			// The number of serial IO channels (USB and two auxiliary UARTs)
diff --git a/src/DuetNG/Network.cpp b/src/DuetNG/Network.cpp
index b0868afc..89f5baf8 100644
--- a/src/DuetNG/Network.cpp
+++ b/src/DuetNG/Network.cpp
@@ -53,8 +53,7 @@ Network::Network(Platform* p) : platform(p), responseCode(0), responseBody(nullp
 void Network::Init()
 {
 	// Make sure the ESP8266 is held in the reset state
-	pinMode(EspResetPin, OUTPUT);
-	digitalWrite(EspResetPin, LOW);
+	pinMode(EspResetPin, OUTPUT_LOW);
 	uploader = new WifiFirmwareUploader(Serial1);
 }
 
@@ -90,27 +89,22 @@ void Network::Start()
 {
 	// The ESP8266 is held in a reset state by a pulldown resistor until we enable it.
 	// Make sure the ESP8266 is in the reset state
-	pinMode(EspResetPin, OUTPUT);
-	digitalWrite(EspResetPin, LOW);
+	pinMode(EspResetPin, OUTPUT_LOW);
 
 	// Take the ESP8266 out of power down
-	pinMode(EspEnablePin, OUTPUT);
-	digitalWrite(EspEnablePin, HIGH);
+	pinMode(EspEnablePin, OUTPUT_HIGH);
 
 	// Set up our transfer request pin (GPIO4) as an output and set it low
-	pinMode(SamTfrReadyPin, OUTPUT);
-	digitalWrite(SamTfrReadyPin, LOW);
+	pinMode(SamTfrReadyPin, OUTPUT_LOW);
 
 	// Set up our data ready pin (ESP GPIO0) as an output and set it high ready to boot the ESP from flash
-	pinMode(EspTransferRequestPin, OUTPUT);
-	digitalWrite(EspTransferRequestPin, HIGH);
+	pinMode(EspTransferRequestPin, OUTPUT_HIGH);
 
 	// GPIO2 also needs to be high to boot. It's connected to MISO on the SAM, so set the pullup resistor on that pin
 	pinMode(APIN_SPI_MISO, INPUT_PULLUP);
 
 	// Set our CS input (ESP GPIO15) low ready for booting the ESP. This also clears the transfer ready latch.
-	pinMode(SamCsPin, OUTPUT);
-	digitalWrite(SamCsPin, LOW);
+	pinMode(SamCsPin, OUTPUT_LOW);
 
 	// Make sure it has time to reset - no idea how long it needs, but 20ms should be plenty
 	delay(50);
@@ -182,7 +176,7 @@ void Network::Spin()
 	{
 	case starting:
 		// See if the ESP8266 has set CS high yet
-		if (digitalRead(SamCsPin) == HIGH)
+		if (digitalRead(SamCsPin))
 		{
 			// Setup the SPI controller in slave mode and assign the CS pin to it
 			platform->Message(HOST_MESSAGE, "WiFi server starting up\n");
@@ -925,7 +919,7 @@ void Network::TryStartTransfer()
 		{
 			PrepareForTransfer(true, true);
 		}
-		else if (digitalRead(EspTransferRequestPin) == HIGH)
+		else if (digitalRead(EspTransferRequestPin))
 		{
 			PrepareForTransfer(false, true);
 		}
@@ -1030,8 +1024,7 @@ void Network::SpiInterrupt()
 // Reset the ESP8266 and leave held in reset
 void Network::ResetWiFi()
 {
-	pinMode(EspResetPin, OUTPUT);
-	digitalWrite(EspResetPin, LOW);
+	pinMode(EspResetPin, OUTPUT_LOW);
 }
 
 // Reset the ESP8266 to take commands from the UART. The caller must wait for the reset to complete after calling this.
@@ -1043,27 +1036,22 @@ void Network::ResetWiFi()
 void Network::ResetWiFiForUpload()
 {
 	// Make sure the ESP8266 is in the reset state
-	pinMode(EspResetPin, OUTPUT);
-	digitalWrite(EspResetPin, LOW);
+	pinMode(EspResetPin, OUTPUT_LOW);
 
 	// Take the ESP8266 out of power down
-	pinMode(EspEnablePin, OUTPUT);
-	digitalWrite(EspEnablePin, HIGH);
+	pinMode(EspEnablePin, OUTPUT_HIGH);
 
 	// Set up our transfer request pin (GPIO4) as an output and set it low
-	pinMode(SamTfrReadyPin, OUTPUT);
-	digitalWrite(SamTfrReadyPin, LOW);
+	pinMode(SamTfrReadyPin, OUTPUT_LOW);
 
 	// Set up our data ready pin (ESP GPIO0) as an output and set it low ready to boot the ESP from UART
-	pinMode(EspTransferRequestPin, OUTPUT);
-	digitalWrite(EspTransferRequestPin, LOW);
+	pinMode(EspTransferRequestPin, OUTPUT_LOW);
 
 	// GPIO2 also needs to be high to boot up. It's connected to MISO on the SAM, so set the pullup resistor on that pin
 	pinMode(APIN_SPI_MISO, INPUT_PULLUP);
 
 	// Set our CS input (ESP GPIO15) low ready for booting the ESP. This also clears the transfer ready latch.
-	pinMode(SamCsPin, OUTPUT);
-	digitalWrite(SamCsPin, LOW);
+	pinMode(SamCsPin, OUTPUT_LOW);
 
 	// Make sure it has time to reset - no idea how long it needs, but 50ms should be plenty
 	delay(50);
@@ -1078,8 +1066,7 @@ void Network::ResetWiFiForExternalUpload()
 	ResetWiFiForUpload();
 
 	// Set our TxD pin low to make things easier for the FTDI chip to drive the ESP RxD input
-	pinMode(APIN_UART1_TXD, OUTPUT);
-	digitalWrite(APIN_UART1_TXD, LOW);
+	pinMode(APIN_UART1_TXD, OUTPUT_LOW);
 }
 
 // End
diff --git a/src/DuetNG/Pins_DuetNG.h b/src/DuetNG/Pins_DuetNG.h
index 484b235c..138e3193 100644
--- a/src/DuetNG/Pins_DuetNG.h
+++ b/src/DuetNG/Pins_DuetNG.h
@@ -22,15 +22,11 @@ const size_t NumFirmwareUpdateModules = 4;			// 3 modules, plus one for manual u
 
 // The physical capabilities of the machine
 
-const size_t DRIVES = 9;						// The number of drives in the machine, including X, Y, and Z plus extruder drives
-#define DRIVES_(a,b,c,d,e,f,g,h,i) { a,b,c,d,e,f,g,h,i }
+const size_t DRIVES = 10;						// The number of drives in the machine, including X, Y, and Z plus extruder drives
+#define DRIVES_(a,b,c,d,e,f,g,h,i,j) { a,b,c,d,e,f,g,h,i,j }
 
-// If enabled, the following control the use of the optional ExternalDrivers module
-#define EXTERNAL_DRIVERS		(9)
-#define FIRST_EXTERNAL_DRIVE	(0)
-
-const int8_t HEATERS = 7;						// The number of heaters in the machine; 0 is the heated bed even if there isn't one
-#define HEATERS_(a,b,c,d,e,f,g) { a,b,c,d,e,f,g }
+const int8_t HEATERS = 8;						// The number of heaters in the machine; 0 is the heated bed even if there isn't one
+#define HEATERS_(a,b,c,d,e,f,g,h) { a,b,c,d,e,f,g,h }
 
 const size_t AXES = 3;							// The number of movement axes in the machine, usually just X, Y and Z. <= DRIVES
 const size_t NUM_SERIAL_CHANNELS = 2;			// The number of serial IO channels (USB and one auxiliary UART)
@@ -41,15 +37,15 @@ const size_t NUM_SERIAL_CHANNELS = 2;			// The number of serial IO channels (USB
 
 // DRIVES
 
-const Pin ENABLE_PINS[DRIVES] = { 78, 41, 42, 49, 57, 87, 88, 89, 90 };
-const bool ENABLE_VALUES[DRIVES] = { false, false, false, false, false, false, false, false, false };	// What to send to enable a drive
-const Pin STEP_PINS[DRIVES] = { 70, 71, 72, 69, 68, 66, 65, 64, 67 };
-const Pin DIRECTION_PINS[DRIVES] = { 75, 76, 77, 01, 73, 92, 86, 80, 81 };
-const bool DIRECTIONS[DRIVES] = { BACKWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS };	// What each axis needs to make it go forwards - defaults
+const Pin ENABLE_PINS[DRIVES] = { 78, 41, 42, 49, 57, 87, 88, 89, 90, 31 };
+const bool ENABLE_VALUES[DRIVES] = { false, false, false, false, false, false, false, false, false, false };	// What to send to enable a drive
+const Pin STEP_PINS[DRIVES] = { 70, 71, 72, 69, 68, 66, 65, 64, 67, 91 };
+const Pin DIRECTION_PINS[DRIVES] = { 75, 76, 77, 01, 73, 92, 86, 80, 81, 32 };
+const bool DIRECTIONS[DRIVES] = { FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS, FORWARDS };	// What each axis needs to make it go forwards - defaults
 
 // Endstops
 // RepRapFirmware only has a single endstop per axis. gcode defines if it is a max ("high end") or min ("low end") endstop. gcode also sets if it is active HIGH or LOW.
-const Pin END_STOP_PINS[DRIVES] = { 46, 02, 93, 74, 48, 96, 97, 98, 99 };
+const Pin END_STOP_PINS[DRIVES] = { 46, 02, 93, 74, 48, 96, 97, 98, 99, 17 };
 
 // Indices for motor current digipots (if any): first 4 are for digipot 1 (on duet), second 4 for digipot 2 (on expansion board)
 #ifdef PROTOTYPE_1
@@ -64,12 +60,12 @@ const float STEPPER_DAC_VOLTAGE_OFFSET = -0.11;							// Stepper motor current o
 
 const bool HEAT_ON = false;												// false for inverted heater (e.g. Duet v0.6), true for not (e.g. Duet v0.4)
 
-const Pin TEMP_SENSE_PINS[HEATERS] = { 45, 47, 44, 61, 62, 63, 59 };	// Thermistor pin numbers
+const Pin TEMP_SENSE_PINS[HEATERS] = { 45, 47, 44, 61, 62, 63, 59, 18 }; // Thermistor pin numbers
 
 #ifdef PROTOTYPE_1
-const Pin HEAT_ON_PINS[HEATERS] = { 19, 20, 16, 15, 37, 40, 43 };		// Heater pin numbers
+const Pin HEAT_ON_PINS[HEATERS] = { 19, 20, 16, 15, 37, 40, 43, 38 };	// Heater pin numbers
 #else
-const Pin HEAT_ON_PINS[HEATERS] = { 19, 20, 16, 35, 37, 40, 43 };		// Heater pin numbers
+const Pin HEAT_ON_PINS[HEATERS] = { 19, 20, 16, 35, 37, 40, 43, 38 };	// Heater pin numbers (heater 7 pin TBC)
 #endif
 
 // Default thermistor parameters
@@ -167,6 +163,7 @@ const size_t NUM_PINS_ALLOWED = 96;
 	/* pins 88-95 */	0b00001000	\
 }
 #endif
+
 // SAM4E Flash locations (may be expanded in the future)
 const uint32_t IAP_FLASH_START = 0x00470000;
 const uint32_t IAP_FLASH_END = 0x0047FBFF;
@@ -179,8 +176,8 @@ const Pin SamTfrReadyPin = 94;			// Output from the SAM to the WiFi module indic
 const Pin SamCsPin = 11;				// SPI NPCS pin, input from WiFi module
 
 // Timer allocation (no network timer on DuetNG)
-// TC0 channel 0 is used for FAM2
-// TC0 channel 1 is used for the TMC clock
+// TC0 channel 0 is used for FAN2
+// TC0 channel 1 is currently unused (may use ift for a heater or a fan)
 // TC0 channel 2 is available for us to use
 #define STEP_TC				(TC0)
 #define STEP_TC_CHAN		(2)
diff --git a/src/ExternalDrivers.cpp b/src/DuetNG/TMC2660.cpp
index ff8c5345..3161a59a 100644
--- a/src/ExternalDrivers.cpp
+++ b/src/DuetNG/TMC2660.cpp
@@ -1,5 +1,5 @@
 /*
- * ExternalDrivers.cpp
+ * TMC2660.cpp
  *
  *  Created on: 23 Jan 2016
  *      Author: David
@@ -7,9 +7,9 @@
 
 #include "RepRapFirmware.h"
 
-#ifdef EXTERNAL_DRIVERS
+#if !defined(PROTOTYPE_1)
 
-const size_t NumExternalDrivers = DRIVES - FIRST_EXTERNAL_DRIVE;
+const size_t NumTmc2660Drivers = DRIVES;
 
 static bool driversPowered = false;
 
@@ -41,47 +41,17 @@ static bool driversPowered = false;
 // CLK					23				connect to ground	2  (GND
 // 5V_USB				5				+3.3V				3  (+3.3V)
 
-#ifdef DUET_NG
-
-const Pin DriverSelectPins[NumExternalDrivers] = {78, 41, 42, 49, 57, 87, 88, 89, 90};
-
-# ifdef PROTOTYPE_1
-
-// Pin assignments for the first prototype, using USART0 SPI
-const Pin DriversMosiPin = 27;								// PB1
-const Pin DriversMisoPin = 26;								// PB0
-const Pin DriversSclkPin = 30;								// PB13
-#  define USART_EXT_DRV		USART0
-#  define ID_USART_EXT_DRV	ID_USART0
-
-# else
-
-#  include "sam/drivers/tc/tc.h"
-
 // Pin assignments for the second prototype, using USART1 SPI
 const Pin DriversClockPin = 15;								// PB15/TIOA1
 const Pin DriversMosiPin = 22;								// PA13
 const Pin DriversMisoPin = 21;								// PA22
 const Pin DriversSclkPin = 23;								// PA23
-#  define USART_EXT_DRV		USART1
-#  define ID_USART_EXT_DRV	ID_USART1
-#  define TMC_CLOCK_TC		TC0
-#  define TMC_CLOCK_CHAN	1
-#  define TMC_CLOCK_ID		ID_TC1							// this is channel 1 on TC0
-# endif
 
-#else
-
-// Duet 0.6 or 0.8.5
-
-const Pin DriverSelectPins[NumExternalDrivers] = {37, X8, 50, 47 /*, X13*/ };
-const Pin DriversMosiPin = 16;								// PA13
-const Pin DriversMisoPin = 17;								// PA12
-const Pin DriversSclkPin = 54;								// PA16
-# define USART_EXT_DRV		USART1
-# define ID_USART_EXT_DRV	ID_USART1
-
-#endif
+#define USART_EXT_DRV		USART1
+#define ID_USART_EXT_DRV	ID_USART1
+#define TMC_CLOCK_TC		TC0
+#define TMC_CLOCK_CHAN		1
+#define TMC_CLOCK_ID		ID_TC1							// this is channel 1 on TC0
 
 const uint32_t DriversSpiClockFrequency = 1000000;			// 1MHz SPI clock for now
 
@@ -364,15 +334,15 @@ uint32_t TmcDriverState::GetStatus() const
 	return SpiSendWord(pin, smartEnReg) & (TMC_RR_SG | TMC_RR_OT | TMC_RR_OTPW | TMC_RR_S2G | TMC_RR_OLA | TMC_RR_OLB | TMC_RR_STST);
 }
 
-static TmcDriverState driverStates[NumExternalDrivers];
+static TmcDriverState driverStates[NumTmc2660Drivers];
 
 //--------------------------- Public interface ---------------------------------
 
-namespace ExternalDrivers
+namespace TMC2660
 {
 	// Initialise the driver interface and the drivers, leaving each drive disabled.
 	// It is assumed that the drivers are not powered, so driversPowered(true) must be called after calling this before the motors can be moved.
-	void Init()
+	void Init(const Pin driverSelectPins[NumTmc2660Drivers])
 	{
 		// Set up the SPI pins
 
@@ -396,27 +366,11 @@ namespace ExternalDrivers
 		// Enable the clock to the USART
 		pmc_enable_periph_clk(ID_USART_EXT_DRV);
 
-#if defined(DUET_NG) && !defined(PROTOTYPE_1)
-		// Set up the 15MHz clock to the TMC drivers on TIOA1
-		pmc_enable_periph_clk(TMC_CLOCK_ID);
-		ConfigurePin(GetPinDescription(DriversClockPin));	// set up TIOA1 to be an output
-		tc_init(TMC_CLOCK_TC, TMC_CLOCK_CHAN,
-				TC_CMR_TCCLKS_TIMER_CLOCK1 |			// clock is MCLK/2 (fastest available)
-				TC_CMR_BURST_NONE |						// clock is not gated
-				TC_CMR_WAVE |         					// Waveform mode
-				TC_CMR_WAVSEL_UP_RC | 					// Counter runs up and reset when equals to RC
-				TC_CMR_EEVT_XC0 |     					// Set external events from XC0 (this sets up TIOB as output)
-				TC_CMR_ACPC_TOGGLE);					// toggle TIOA output
-		tc_write_rc(TMC_CLOCK_TC, TMC_CLOCK_CHAN, 2);	// divisor = 2, gives us a 15MHz clock with a master clock of 120MHz.
-		tc_start(TMC_CLOCK_TC, TMC_CLOCK_CHAN);
-#endif
-
 		// Set up the CS pins and set them all high
 		// When this becomes the standard code, we must set up the STEP and DIR pins here too.
-		for (size_t drive = 0; drive < NumExternalDrivers; ++drive)
+		for (size_t drive = 0; drive < NumTmc2660Drivers; ++drive)
 		{
-			digitalWrite(DriverSelectPins[drive], HIGH);
-			pinMode(DriverSelectPins[drive], OUTPUT);
+			pinMode(driverSelectPins[drive], OUTPUT_HIGH);
 		}
 
 		// Set USART_EXT_DRV in SPI mode, with data changing on the falling edge of the clock and captured on the rising edge
@@ -438,15 +392,15 @@ namespace ExternalDrivers
 		delay(10);
 
 		driversPowered = false;
-		for (size_t drive = 0; drive < NumExternalDrivers; ++drive)
+		for (size_t drive = 0; drive < NumTmc2660Drivers; ++drive)
 		{
-			driverStates[drive].Init(DriverSelectPins[drive]);
+			driverStates[drive].Init(driverSelectPins[drive]);
 		}
 	}
 
 	void SetCurrent(size_t drive, float current)
 	{
-		if (drive < NumExternalDrivers)
+		if (drive < NumTmc2660Drivers)
 		{
 			driverStates[drive].SetCurrent(current);
 		}
@@ -454,7 +408,7 @@ namespace ExternalDrivers
 
 	void EnableDrive(size_t drive, bool en)
 	{
-		if (drive < NumExternalDrivers)
+		if (drive < NumTmc2660Drivers)
 		{
 			driverStates[drive].Enable(en);
 		}
@@ -462,12 +416,12 @@ namespace ExternalDrivers
 
 	uint32_t GetStatus(size_t drive)
 	{
-		return (drive < NumExternalDrivers) ? driverStates[drive].GetStatus() : 0;
+		return (drive < NumTmc2660Drivers) ? driverStates[drive].GetStatus() : 0;
 	}
 
 	bool SetMicrostepping(size_t drive, int microsteps, int mode)
 	{
-		if (drive < NumExternalDrivers)
+		if (drive < NumTmc2660Drivers)
 		{
 			if (mode == 999 && microsteps >= 0)
 			{
@@ -495,7 +449,7 @@ namespace ExternalDrivers
 
 	unsigned int GetMicrostepping(size_t drive, bool& interpolation)
 	{
-		if (drive < NumExternalDrivers)
+		if (drive < NumTmc2660Drivers)
 		{
 			const uint32_t drvCtrl = driverStates[drive].drvCtrlReg;
 			interpolation = (drvCtrl & TMC_DRVCTRL_INTPOL) != 0;
@@ -514,7 +468,7 @@ namespace ExternalDrivers
 		if (powered && !wasPowered)
 		{
 			// Power to the drivers has been provided or restored, so we need to re-initialise them
-			for (size_t drive = 0; drive < NumExternalDrivers; ++drive)
+			for (size_t drive = 0; drive < NumTmc2660Drivers; ++drive)
 			{
 				driverStates[drive].WriteAll();
 			}
diff --git a/src/ExternalDrivers.h b/src/DuetNG/TMC2660.h
index b966c78a..4b3a1f5a 100644
--- a/src/ExternalDrivers.h
+++ b/src/DuetNG/TMC2660.h
@@ -5,12 +5,14 @@
  *      Author: David
  */
 
-#ifndef EXTERNALDRIVERS_H_
-#define EXTERNALDRIVERS_H_
+#ifndef TMC2660_H_
+#define TMC2660_H_
 
-namespace ExternalDrivers
+#include "Pins.h"
+
+namespace TMC2660
 {
-	void Init();
+	void Init(const Pin[DRIVES]);
 	void SetCurrent(size_t drive, float current);
 	void EnableDrive(size_t drive, bool en);
 	uint32_t GetStatus(size_t drive);
@@ -19,4 +21,4 @@ namespace ExternalDrivers
 	void SetDriversPowered(bool powered);
 };
 
-#endif /* EXTERNALDRIVERS_H_ */
+#endif /* TMC2660_H_ */
diff --git a/src/GCodes.cpp b/src/GCodes.cpp
index 9cb60545..59589f01 100644
--- a/src/GCodes.cpp
+++ b/src/GCodes.cpp
@@ -2772,7 +2772,7 @@ bool GCodes::HandleMcode(GCodeBuffer* gb, StringRef& reply)
 	bool error = false;
 
 	int code = gb->GetIValue();
-	if (simulationMode != 0 && (code < 20 || code > 37) && code != 0 && code != 1 && code != 82 && code != 83 && code != 111 && code != 105 && code != 122 && code != 408 && code != 999)
+	if (simulationMode != 0 && (code < 20 || code > 37) && code != 0 && code != 1 && code != 82 && code != 83 && code != 105 && code != 111 && code != 112 && code != 122 && code != 408 && code != 999)
 	{
 		return true;			// we don't yet simulate most M codes
 	}
@@ -5418,9 +5418,10 @@ bool GCodes::HandleMcode(GCodeBuffer* gb, StringRef& reply)
 		break;
 
 	case 999:
-		result = DoDwellTime(0.5);		// wait half a second to allow the response to be sent back to the web server, otherwise it may retry
+		result = DoDwellTime(0.5);			// wait half a second to allow the response to be sent back to the web server, otherwise it may retry
 		if (result)
 		{
+			reprap.EmergencyStop();			// this disables heaters and drives - Duet WiFi seems to need drives disabled here
 			uint16_t reason = (gb->Seen('P') && StringStartsWith(gb->GetString(), "ERASE"))
 											? (uint16_t)SoftwareResetReason::erase
 											: (uint16_t)SoftwareResetReason::user;
diff --git a/src/Platform.cpp b/src/Platform.cpp
index 5295d4d9..0b4c52b2 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -25,8 +25,8 @@
 #include "sam/drivers/tc/tc.h"
 #include "sam/drivers/hsmci/hsmci.h"
 
-#if defined(DUET_NG) || defined (EXTERNAL_DRIVERS)
-# include "ExternalDrivers.h"
+#if defined(DUET_NG) && !defined(PROTOTYPE_1)
+# include <TMC2660.h>
 #endif
 
 #ifdef DUET_NG
@@ -60,9 +60,26 @@ uint32_t nextInterruptScheduledAt = 0;
 uint32_t lastInterruptTime = 0;
 #endif
 
+// Urgent initialisation function
+// This is called before general init has been done, and before constructors for C++ static data have been called.
+// Therefore, be very careful what you do here!
+void UrgentInit()
+{
+#ifdef DUET_NG
+	// When the reset button is pressed, if the TMC2660 drivers were previously enabled then we get uncommanded motor movements.
+	// Try to reduce that by initialising the drivers early here.
+	// On the production board we will also be able to set the ENN line high here.
+	for (size_t drive = 0; drive < DRIVES; ++drive)
+	{
+		pinMode(STEP_PINS[drive], OUTPUT_LOW);
+		pinMode(DIRECTION_PINS[drive], OUTPUT_LOW);
+		pinMode(ENABLE_PINS[drive], OUTPUT_HIGH);
+	}
+#endif
+}
+
 // Arduino initialise and loop functions
 // Put nothing in these other than calls to the RepRap equivalents
-
 void setup()
 {
 	// Fill the free memory with a pattern so that we can check for stack usage and memory corruption
@@ -148,8 +165,7 @@ Platform::Platform() :
 void Platform::Init()
 {
 	// Deal with power first
-	digitalWrite(ATX_POWER_PIN, LOW);		// ensure ATX power is off by default
-	pinMode(ATX_POWER_PIN, OUTPUT);
+	pinMode(ATX_POWER_PIN, OUTPUT_LOW);
 
 	SetBoardType(BoardType::Auto);
 
@@ -232,7 +248,7 @@ void Platform::Init()
 	// Z PROBE
 
 	zProbePin = Z_PROBE_PIN;
-	zProbeAdcChannel = PinToAdcChannel(zProbePin);
+	zProbeAdcChannel = PinToAdcChannel(zProbePin);	// we don't bother to turn the pullup resistor off for this input
 	InitZProbe();		// this also sets up zProbeModulationPin
 
 	// AXES
@@ -271,21 +287,17 @@ void Platform::Init()
 		SetPhysicalDrive(drive, drive);					// map drivers directly to axes and extruders
 		if (stepPins[drive] >= 0)
 		{
-			pinMode(stepPins[drive], OUTPUT);
+			pinMode(stepPins[drive], OUTPUT_LOW);
 		}
 		if (directionPins[drive] >= 0)
 		{
-			pinMode(directionPins[drive], OUTPUT);
+			pinMode(directionPins[drive], OUTPUT_LOW);
 		}
 
 #if !defined(DUET_NG) || defined(PROTOTYPE_1)
-# ifdef EXTERNAL_DRIVERS
-		if (drive < FIRST_EXTERNAL_DRIVE && enablePins[drive] >= 0)
-# else
 		if (enablePins[drive] >= 0)
-# endif
 		{
-			pinMode(enablePins[drive], OUTPUT);
+			pinMode(enablePins[drive], OUTPUT_HIGH);
 		}
 #endif
 		if (endStopPins[drive] >= 0)
@@ -305,9 +317,10 @@ void Platform::Init()
 		}
 	}
 
-#ifdef EXTERNAL_DRIVERS
+#ifdef DUET_NG
+	numTMC2660Drivers = DRIVES;			// for now assume all drivers are TMC2660 on the Duet NG
 	driversPowered = false;
-	ExternalDrivers::Init();
+	TMC2660::Init(enablePins);
 #endif
 
 	extrusionAncilliaryPWM = 0.0;
@@ -317,10 +330,10 @@ void Platform::Init()
 	{
 		if (heatOnPins[heater] >= 0)
 		{
-			digitalWrite(heatOnPins[heater], (HEAT_ON) ? LOW : HIGH);		// turn the heater off
-			pinMode(heatOnPins[heater], OUTPUT);
+			pinMode(heatOnPins[heater], (HEAT_ON) ? OUTPUT_LOW : OUTPUT_HIGH);
 		}
 		AnalogChannelNumber chan = PinToAdcChannel(tempSensePins[heater]);	// translate the Arduino Due Analog pin number to the SAM ADC channel number
+		pinMode(tempSensePins[heater], AIN);
 		thermistorAdcChannels[heater] = chan;
 		AnalogInEnableChannel(chan, true);
 
@@ -345,24 +358,19 @@ void Platform::Init()
 		inkjetDelayMicroseconds = INKJET_DELAY_MICROSECONDS;
 
 		inkjetSerialOut = INKJET_SERIAL_OUT;
-		pinMode(inkjetSerialOut, OUTPUT);
-		digitalWrite(inkjetSerialOut, 0);
+		pinMode(inkjetSerialOut, OUTPUT_LOW);
 
 		inkjetShiftClock = INKJET_SHIFT_CLOCK;
-		pinMode(inkjetShiftClock, OUTPUT);
-		digitalWrite(inkjetShiftClock, LOW);
+		pinMode(inkjetShiftClock, OUTPUT_LOW);
 
 		inkjetStorageClock = INKJET_STORAGE_CLOCK;
-		pinMode(inkjetStorageClock, OUTPUT);
-		digitalWrite(inkjetStorageClock, LOW);
+		pinMode(inkjetStorageClock, OUTPUT_LOW);
 
 		inkjetOutputEnable = INKJET_OUTPUT_ENABLE;
-		pinMode(inkjetOutputEnable, OUTPUT);
-		digitalWrite(inkjetOutputEnable, HIGH);
+		pinMode(inkjetOutputEnable, OUTPUT_HIGH);
 
 		inkjetClear = INKJET_CLEAR;
-		pinMode(inkjetClear, OUTPUT);
-		digitalWrite(inkjetClear, HIGH);
+		pinMode(inkjetClear, OUTPUT_HIGH);
 	}
 #endif
 
@@ -376,6 +384,7 @@ void Platform::Init()
 
 #ifdef DUET_NG
 	vInMonitorAdcChannel = PinToAdcChannel(PowerMonitorVinDetectPin);
+	pinMode(PowerMonitorVinDetectPin, AIN);
 	AnalogInEnableChannel(vInMonitorAdcChannel, true);
 	currentVin = highestVin = 0;
 	lowestVin = 9999;
@@ -464,14 +473,12 @@ void Platform::InitZProbe()
 	case 1:
 	case 2:
 		AnalogInEnableChannel(zProbeAdcChannel, true);
-		pinMode(zProbeModulationPin, OUTPUT);
-		digitalWrite(zProbeModulationPin, HIGH);	// enable the IR LED
+		pinMode(zProbeModulationPin, OUTPUT_HIGH);	// enable the IR LED
 		break;
 
 	case 3:
 		AnalogInEnableChannel(zProbeAdcChannel, true);
-		pinMode(zProbeModulationPin, OUTPUT);
-		digitalWrite(zProbeModulationPin, LOW);		// enable the alternate sensor
+		pinMode(zProbeModulationPin, OUTPUT_LOW);		// enable the alternate sensor
 		break;
 
 	case 4:
@@ -1187,7 +1194,7 @@ void Platform::Spin()
 	{
 		driversPowered = true;
 	}
-	ExternalDrivers::SetDriversPowered(driversPowered);
+	TMC2660::SetDriversPowered(driversPowered);
 #endif
 
 	ClassReport(longWait);
@@ -1693,7 +1700,7 @@ EndStopHit Platform::Stopped(size_t drive) const
 	}
 	else if (endStopPins[drive] >= 0)
 	{
-		if (digitalRead(endStopPins[drive]) == ((endStopLogicLevel[drive]) ? 1 : 0))
+		if (digitalRead(endStopPins[drive]) == endStopLogicLevel[drive])
 		{
 			return (endStopType[drive] == EndStopType::highEndStop) ? EndStopHit::highHit : EndStopHit::lowHit;
 		}
@@ -1756,24 +1763,21 @@ void Platform::EnableDrive(size_t drive)
 			UpdateMotorCurrent(driver);						// the current may have been reduced by the idle timeout
 
 #if defined(DUET_NG) && !defined(PROTOTYPE_1)
-			ExternalDrivers::EnableDrive(driver, true);
-#else
-# ifdef EXTERNAL_DRIVERS
-			if (driver >= FIRST_EXTERNAL_DRIVE)
+			TMC2660::EnableDrive(driver, true);
+			if (driver < numTMC2660Drivers)
 			{
-				ExternalDrivers::EnableDrive(driver - FIRST_EXTERNAL_DRIVE, true);
+				TMC2660::EnableDrive(driver, true);
 			}
 			else
 			{
-# endif
+#endif
 				const int pin = enablePins[driver];
 				if (pin >= 0)
 				{
 					digitalWrite(pin, enableValues[driver]);
 				}
-# ifdef EXTERNAL_DRIVERS
+#if defined(DUET_NG) && !defined(PROTOTYPE_1)
 			}
-# endif
 #endif
 		}
 	}
@@ -1784,27 +1788,23 @@ void Platform::DisableDrive(size_t drive)
 {
 	if (drive < DRIVES)
 	{
-#if defined(DUET_NG) && !defined(PROTOTYPE_1)
-		ExternalDrivers::EnableDrive(driverNumbers[drive], false);
-#else
 		const size_t driver = driverNumbers[drive];
-# ifdef EXTERNAL_DRIVERS
-		if (driver >= FIRST_EXTERNAL_DRIVE)
+#if defined(DUET_NG) && !defined(PROTOTYPE_1)
+		if (driver < numTMC2660Drivers)
 		{
-			ExternalDrivers::EnableDrive(driver - FIRST_EXTERNAL_DRIVE, false);
+			TMC2660::EnableDrive(driver, false);
 		}
 		else
 		{
-# endif
+#endif
 			const int pin = enablePins[driver];
 			if (pin >= 0)
 			{
 				digitalWrite(pin, !enableValues[driver]);
 			}
 			driveState[drive] = DriveStatus::disabled;
-# ifdef EXTERNAL_DRIVERS
+#if defined(DUET_NG) && !defined(PROTOTYPE_1)
 		}
-# endif
 #endif
 	}
 }
@@ -1846,60 +1846,51 @@ void Platform::UpdateMotorCurrent(size_t drive)
 		const size_t driver = driverNumbers[drive];
 
 #if defined(DUET_NG) && !defined(PROTOTYPE_1)
-		ExternalDrivers::SetCurrent(driver, current);
+		if (driver < numTMC2660Drivers)
+		{
+			TMC2660::SetCurrent(driver, current);
+		}
+		// else we can't set the current
+#elif defined (__RADDS__)
+		// we can't set the current on RADDS
 #else
-
-# ifdef EXTERNAL_DRIVERS
-		if (driver >= FIRST_EXTERNAL_DRIVE)
+		unsigned short pot = (unsigned short)((0.256*current*8.0*senseResistor + maxStepperDigipotVoltage/2)/maxStepperDigipotVoltage);
+		if (driver < 4)
 		{
-			ExternalDrivers::SetCurrent(driver - FIRST_EXTERNAL_DRIVE, current);
+			mcpDuet.setNonVolatileWiper(potWipes[driver], pot);
+			mcpDuet.setVolatileWiper(potWipes[driver], pot);
 		}
 		else
 		{
-# endif
-			unsigned short pot = (unsigned short)((0.256*current*8.0*senseResistor + maxStepperDigipotVoltage/2)/maxStepperDigipotVoltage);
-			if (driver < 4)
+# ifndef DUET_NG
+			if (board == BoardType::Duet_085)
 			{
-				mcpDuet.setNonVolatileWiper(potWipes[driver], pot);
-				mcpDuet.setVolatileWiper(potWipes[driver], pot);
-			}
-			else
-			{
-# ifndef __RADDS__
-#  ifndef DUET_NG
-				if (board == BoardType::Duet_085)
+# endif
+				// Extruder 0 is on DAC channel 0
+				if (driver == 4)
 				{
-#  endif
-					// Extruder 0 is on DAC channel 0
-					if (driver == 4)
-					{
-						float dacVoltage = max<float>(current * 0.008*senseResistor + stepperDacVoltageOffset, 0.0);	// the voltage we want from the DAC relative to its minimum
-						uint32_t dac = (uint32_t)((256 * dacVoltage + 0.5 * stepperDacVoltageRange)/stepperDacVoltageRange);
-#  ifdef DUET_NG
-						AnalogWrite(DAC1, dac);
-#  else
-						AnalogWrite(DAC0, dac);
-#  endif
-					}
-					else
-					{
-						mcpExpansion.setNonVolatileWiper(potWipes[driver-1], pot);
-						mcpExpansion.setVolatileWiper(potWipes[driver-1], pot);
-					}
-#  ifndef DUET_NG
+					float dacVoltage = max<float>(current * 0.008*senseResistor + stepperDacVoltageOffset, 0.0);	// the voltage we want from the DAC relative to its minimum
+					uint32_t dac = (uint32_t)((256 * dacVoltage + 0.5 * stepperDacVoltageRange)/stepperDacVoltageRange);
+# ifdef DUET_NG
+					AnalogWrite(DAC1, dac);
+# else
+					AnalogWrite(DAC0, dac);
+# endif
 				}
-				else if (driver < 8)		// on a Duet 0.6 we have a maximum of 8 drives
+				else
 				{
-					mcpExpansion.setNonVolatileWiper(potWipes[driver], pot);
-					mcpExpansion.setVolatileWiper(potWipes[driver], pot);
+					mcpExpansion.setNonVolatileWiper(potWipes[driver-1], pot);
+					mcpExpansion.setVolatileWiper(potWipes[driver-1], pot);
 				}
-#  endif
-# endif
+# ifndef DUET_NG
+			}
+			else if (driver < 8)		// on a Duet 0.6 we have a maximum of 8 drives
+			{
+				mcpExpansion.setNonVolatileWiper(potWipes[driver], pot);
+				mcpExpansion.setVolatileWiper(potWipes[driver], pot);
 			}
-# ifdef EXTERNAL_DRIVERS
-		}
 # endif
-
+		}
 #endif
 	}
 }
@@ -1928,13 +1919,10 @@ bool Platform::SetMicrostepping(size_t drive, int microsteps, int mode)
 	if (drive < DRIVES)
 	{
 #if defined(DUET_NG) && !defined(PROTOTYPE_1)
-		return ExternalDrivers::SetMicrostepping(driverNumbers[drive], microsteps, mode);
-#else
-# ifdef EXTERNAL_DRIVERS
 		const size_t driver = driverNumbers[drive];
-		if (driver >= FIRST_EXTERNAL_DRIVE)
+		if (driver < numTMC2660Drivers)
 		{
-			return ExternalDrivers::SetMicrostepping(driver - FIRST_EXTERNAL_DRIVE, microsteps, mode);
+			return TMC2660::SetMicrostepping(driver, microsteps, mode);
 		}
 		else
 		{
@@ -1942,10 +1930,8 @@ bool Platform::SetMicrostepping(size_t drive, int microsteps, int mode)
 			// On-board drivers only support x16 microstepping.
 			// We ignore the interpolation on/off parameter so that e.g. M350 I1 E16:128 won't give an error if E1 supports interpolation but E0 doesn't.
 			return microsteps == 16;
-# ifdef EXTERNAL_DRIVERS
+#if defined(DUET_NG) && !defined(PROTOTYPE_1)
 		}
-# endif
-
 #endif
 	}
 	return false;
@@ -1956,19 +1942,12 @@ unsigned int Platform::GetMicrostepping(size_t drive, bool& interpolation) const
 #if defined(DUET_NG) && !defined(PROTOTYPE_1)
 	if (drive < DRIVES)
 	{
-		return ExternalDrivers::GetMicrostepping(driverNumbers[drive], interpolation);
-	}
-# else
-# ifdef EXTERNAL_DRIVERS
-	if (drive < DRIVES)
-	{
 		const size_t driver = driverNumbers[drive];
-		if (driver >= FIRST_EXTERNAL_DRIVE)
+		if (driver < numTMC2660Drivers)
 		{
-			return ExternalDrivers::GetMicrostepping(driver - FIRST_EXTERNAL_DRIVE, interpolation);
+			return TMC2660::GetMicrostepping(driver, interpolation);
 		}
 	}
-# endif
 #endif
 	// On-board drivers only support x16 microstepping without interpolation
 	interpolation = false;
@@ -2461,12 +2440,12 @@ void Platform::MessageF(MessageType type, const char *fmt, ...)
 
 bool Platform::AtxPower() const
 {
-	return (digitalRead(ATX_POWER_PIN) == HIGH);
+	return (digitalRead(ATX_POWER_PIN));
 }
 
 void Platform::SetAtxPower(bool on)
 {
-	digitalWrite(ATX_POWER_PIN, (on) ? HIGH : LOW);
+	digitalWrite(ATX_POWER_PIN, on);
 }
 
 
@@ -2624,7 +2603,7 @@ bool Platform::SetPin(int pin, int level)
 #else
 			if ((pinInitialised[index] & mask) == 0)
 			{
-				pinMode(pin, OUTPUT);
+				pinMode(pin, (level == 0) ? OUTPUT_LOW : OUTPUT_HIGH);
 				pinInitialised[index] |= mask;
 			}
 			digitalWrite(pin, level);
@@ -2816,7 +2795,7 @@ void Platform::Tick()
 		if (driversPowered && currentVin > driverOverVoltageAdcReading)
 		{
 			driversPowered = false;
-			ExternalDrivers::SetDriversPowered(false);
+			TMC2660::SetDriversPowered(false);
 			//TODO set ENN high on production boards
 		}
 #endif
diff --git a/src/Platform.h b/src/Platform.h
index 8bd7d267..645243af 100644
--- a/src/Platform.h
+++ b/src/Platform.h
@@ -92,10 +92,10 @@ const int INKJET_DELAY_MICROSECONDS = 800;				// How long to wait before the nex
 
 #endif
 
-const float MAX_FEEDRATES[DRIVES] = DRIVES_(100.0, 100.0, 3.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0);						// mm/sec
-const float ACCELERATIONS[DRIVES] = DRIVES_(500.0, 500.0, 20.0, 250.0, 250.0, 250.0, 250.0, 250.0, 250.0);				// mm/sec^2
-const float DRIVE_STEPS_PER_UNIT[DRIVES] = DRIVES_(87.4890, 87.4890, 4000.0, 420.0, 420.0, 420.0, 420.0, 420.0, 420.0);	// steps/mm
-const float INSTANT_DVS[DRIVES] = DRIVES_(15.0, 15.0, 0.2, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0);								// mm/sec
+const float MAX_FEEDRATES[DRIVES] = DRIVES_(100.0, 100.0, 3.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0);						// mm/sec
+const float ACCELERATIONS[DRIVES] = DRIVES_(500.0, 500.0, 20.0, 250.0, 250.0, 250.0, 250.0, 250.0, 250.0, 250.0);				// mm/sec^2
+const float DRIVE_STEPS_PER_UNIT[DRIVES] = DRIVES_(87.4890, 87.4890, 4000.0, 420.0, 420.0, 420.0, 420.0, 420.0, 420.0, 420.0);	// steps/mm
+const float INSTANT_DVS[DRIVES] = DRIVES_(15.0, 15.0, 0.2, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0);								// mm/sec
 
 // AXES
 
@@ -112,10 +112,10 @@ const float defaultDeltaHomedHeight = 200;						// mm
 
 // Bed thermistor: http://uk.farnell.com/epcos/b57863s103f040/sensor-miniature-ntc-10k/dp/1299930?Ntt=129-9930
 // Hot end thermistor: http://www.digikey.co.uk/product-search/en?x=20&y=11&KeyWords=480-3137-ND
-const float defaultThermistorBetas[HEATERS] = HEATERS_(BED_BETA, EXT_BETA, EXT_BETA, EXT_BETA, EXT_BETA, EXT_BETA, EXT_BETA); // Bed thermistor: B57861S104F40; Extruder thermistor: RS 198-961
-const float defaultThermistorSeriesRs[HEATERS] = HEATERS_(THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS,
+const float defaultThermistorBetas[HEATERS] = HEATERS_(BED_BETA, EXT_BETA, EXT_BETA, EXT_BETA, EXT_BETA, EXT_BETA, EXT_BETA, EXT_BETA); // Bed thermistor: B57861S104F40; Extruder thermistor: RS 198-961
+const float defaultThermistorSeriesRs[HEATERS] = HEATERS_(THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS,
 													THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS, THERMISTOR_SERIES_RS);
-const float defaultThermistor25RS[HEATERS] = HEATERS_(BED_R25, EXT_R25, EXT_R25, EXT_R25, EXT_R25, EXT_R25, EXT_R25); // Thermistor ohms at 25 C = 298.15 K
+const float defaultThermistor25RS[HEATERS] = HEATERS_(BED_R25, EXT_R25, EXT_R25, EXT_R25, EXT_R25, EXT_R25, EXT_R25, EXT_R25); // Thermistor ohms at 25 C = 298.15 K
 
 // Note on hot end PID parameters:
 // The system is highly nonlinear because the heater power is limited to a maximum value and cannot go negative.
@@ -140,17 +140,17 @@ const float defaultThermistor25RS[HEATERS] = HEATERS_(BED_R25, EXT_R25, EXT_R25,
 // This allows us to switch between PID and bang-bang using the M301 and M304 commands.
 
 // We use method 2 (see above)
-const float defaultPidKis[HEATERS] = HEATERS_(5.0, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2); 			// Integral PID constants
-const float defaultPidKds[HEATERS] = HEATERS_(500.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0); // Derivative PID constants
-const float defaultPidKps[HEATERS] = HEATERS_(-1.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0);	// Proportional PID constants, negative values indicate use bang-bang instead of PID
-const float defaultPidKts[HEATERS] = HEATERS_(2.7, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4);			// approximate PWM value needed to maintain temperature, per degC above room temperature
-const float defaultPidKss[HEATERS] = HEATERS_(1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0);			// PWM scaling factor, to allow for variation in heater power and supply voltage
-const float defaultFullBands[HEATERS] = HEATERS_(5.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0);	// errors larger than this cause heater to be on or off
-const float defaultPidMins[HEATERS] = HEATERS_(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);			// minimum value of I-term
-const float defaultPidMaxes[HEATERS] = HEATERS_(255, 180, 180, 180, 180, 180, 180);			// maximum value of I-term, must be high enough to reach 245C for ABS printing
-
-const float STANDBY_TEMPERATURES[HEATERS] = HEATERS_(ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO); // We specify one for the bed, though it's not needed
-const float ACTIVE_TEMPERATURES[HEATERS] = HEATERS_(ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO);
+const float defaultPidKis[HEATERS] = HEATERS_(5.0, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2); 			// Integral PID constants
+const float defaultPidKds[HEATERS] = HEATERS_(500.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0); // Derivative PID constants
+const float defaultPidKps[HEATERS] = HEATERS_(-1.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0);	// Proportional PID constants, negative values indicate use bang-bang instead of PID
+const float defaultPidKts[HEATERS] = HEATERS_(2.7, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4);			// approximate PWM value needed to maintain temperature, per degC above room temperature
+const float defaultPidKss[HEATERS] = HEATERS_(1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0);			// PWM scaling factor, to allow for variation in heater power and supply voltage
+const float defaultFullBands[HEATERS] = HEATERS_(5.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0);	// errors larger than this cause heater to be on or off
+const float defaultPidMins[HEATERS] = HEATERS_(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);			// minimum value of I-term
+const float defaultPidMaxes[HEATERS] = HEATERS_(255, 180, 180, 180, 180, 180, 180, 180);			// maximum value of I-term, must be high enough to reach 245C for ABS printing
+
+const float STANDBY_TEMPERATURES[HEATERS] = HEATERS_(ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO); // We specify one for the bed, though it's not needed
+const float ACTIVE_TEMPERATURES[HEATERS] = HEATERS_(ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO, ABS_ZERO);
 
 // For the theory behind ADC oversampling, see http://www.atmel.com/Images/doc8003.pdf
 const unsigned int AD_OVERSAMPLE_BITS = 1;		// Number of bits we oversample when reading temperatures
@@ -751,10 +751,13 @@ private:
 	float idleCurrentFactor;
 	size_t slowestDrive;
 	float maxAverageAcceleration;
+	//uint16_t driversUsed[DRIVES];
 
 	// Digipots
 
-#if !defined(DUET_NG) || defined(PROTOTYPE_1)
+#if defined(DUET_NG) && !defined(PROTOTYPE_1)
+	size_t numTMC2660Drivers;
+#else
 	MCP4461 mcpDuet;
 	MCP4461 mcpExpansion;
 	Pin potWipes[8];			// we have only 8 digipots, on the Duet 0.8.5 we use the DAC for the 9th
@@ -1281,7 +1284,7 @@ inline uint16_t Platform::GetRawZProbeReading() const
 {
 	if (nvData.zProbeType >= 4)
 	{
-		bool b = (bool)digitalRead(endStopPins[E0_AXIS]);
+		bool b = digitalRead(endStopPins[E0_AXIS]);
 		if (!endStopLogicLevel[AXES])
 		{
 			b = !b;