Fix all compiler bugs (linker still unhappy)

26 files changed, 171 insertions, 64 deletions

diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp
index 3105c730..e2bf7950 100644
--- a/src/CAN/CanInterface.cpp
+++ b/src/CAN/CanInterface.cpp
@@ -27,13 +27,13 @@
 
 #include <memory>
 
-#if SAME5x
+#if SAME5x || SAME70
 # define USE_NEW_CAN_DRIVER		1		// use the new CAN driver in CoreN2G
 # define SUPPORT_CAN		1			// needed by CanDevice.h
 # include <CanDevice.h>
-#elif SAME70
-# define USE_NEW_CAN_DRIVER		0		// Use the CAN driver in Hardware/SAME70
-# include <CanDriver.h>
+# if SAME70
+#  include <pmc/pmc.h>
+# endif
 #endif
 
 const unsigned int NumCanBuffers = 2 * MaxCanBoards + 10;
@@ -349,7 +349,7 @@ extern "C" [[noreturn]] void CanSenderLoop(void *) noexcept;
 extern "C" [[noreturn]] void CanClockLoop(void *) noexcept;
 extern "C" [[noreturn]] void CanReceiverLoop(void *) noexcept;
 
-#if SAME5x
+#if SAME5x || SAME70
 
 static void InitReceiveFilters() noexcept
 {
@@ -410,11 +410,11 @@ void CanInterface::Init() noexcept
 
 #if SAME70
 # ifdef USE_CAN0
-	ConfigurePin(APIN_CAN0_TX);
-	ConfigurePin(APIN_CAN0_RX);
+	SetPinFunction(APIN_CAN0_TX, CAN0PinPeriphMode);
+	SetPinFunction(APIN_CAN0_RX, CAN0PinPeriphMode);
 # else
-	ConfigurePin(APIN_CAN1_TX);
-	ConfigurePin(APIN_CAN1_RX);
+	SetPinFunction(APIN_CAN1_TX, CAN1TXPinPeriphMode);
+	SetPinFunction(APIN_CAN1_RX, CAN1RXPinPeriphMode);
 # endif
 	pmc_enable_upll_clock();			// configure_mcan sets up PCLK5 to be the UPLL divided by something, so make sure the UPLL is running
 #elif SAME5x
diff --git a/src/Comms/PanelDueUpdater.cpp b/src/Comms/PanelDueUpdater.cpp
index 0a67ccf1..5789501b 100644
--- a/src/Comms/PanelDueUpdater.cpp
+++ b/src/Comms/PanelDueUpdater.cpp
@@ -234,7 +234,7 @@ void PanelDueUpdater::Spin() noexcept
 		case FlashState::bossaWriteOptions:
 			{
 				reprap.GetPlatform().Message(GenericMessage, "Writing PanelDue flash options\n");
-				Flash* flash = device->getFlash();
+				BossaFlash* flash = device->getFlash();
 				flash->setBootFlash(true);
 				flash->writeOptions();
 				state = FlashState::bossaReset;
diff --git a/src/Duet3_V06/Pins_Duet3_V06.h b/src/Duet3_V06/Pins_Duet3_V06.h
index df305682..98a0cc47 100644
--- a/src/Duet3_V06/Pins_Duet3_V06.h
+++ b/src/Duet3_V06/Pins_Duet3_V06.h
@@ -87,6 +87,12 @@ constexpr size_t NumSerialChannels = 3;				// The number of serial IO channels n
 #define SERIAL_AUX_DEVICE Serial
 #define SERIAL_AUX2_DEVICE Serial1
 
+// Shared SPI (USART 1)
+constexpr Pin APIN_USART_SSPI_SCK = PortBPin(13);
+constexpr Pin APIN_USART_SSPI_MOSI = PortBPin(1);
+constexpr Pin APIN_USART_SSPI_MISO = PortBPin(0);
+constexpr GpioPinFunction USARTSSPIPeriphMode = GpioPinFunction::C;
+
 constexpr Pin UsbVBusPin = PortCPin(21);			// Pin used to monitor VBUS on USB port
 
 // Drivers
@@ -107,8 +113,11 @@ constexpr IRQn TMC51xx_SPI_IRQn = USART1_IRQn;
 #define TMC51xx_DmaRxPerid	((uint32_t)DmaTrigSource::usart1rx)
 
 constexpr Pin TMC51xxMosiPin = PortBPin(4);
+constexpr GpioPinFunction TMC51xxMosiPinPeriphMode = GpioPinFunction::D;	// FIXME: Check if this is the correct periph
 constexpr Pin TMC51xxMisoPin = PortAPin(21);
+constexpr GpioPinFunction TMC51xxSclkPinPeriphMode = GpioPinFunction::A;	// FIXME: Check if this is the correct periph
 constexpr Pin TMC51xxSclkPin = PortAPin(23);
+constexpr GpioPinFunction TMC51xxMisoPinPeriphMode = GpioPinFunction::A;	// FIXME: Check if this is the correct periph
 
 constexpr uint32_t DefaultStandstillCurrentPercent = 71;
 
@@ -152,6 +161,7 @@ constexpr IRQn SdhcIRQn = HSMCI_IRQn;
 
 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;
 
@@ -273,10 +283,23 @@ bool LookupPinName(const char *pn, LogicalPin& lpin, bool& hardwareInverted) noe
 #define SBC_SPI_IRQn			SPI1_IRQn
 #define SBC_SPI_HANDLER			SPI1_Handler
 
-constexpr Pin APIN_SPI1_MOSI = PortCPin(27);
-constexpr Pin APIN_SPI1_MISO = PortCPin(26);
-constexpr Pin APIN_SPI1_SCK = PortCPin(24);
-constexpr Pin APIN_SPI1_SS0 = PortCPin(25);
+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;							// we use CAN1
 
 constexpr Pin SbcTfrReadyPin = PortEPin(2);
 // Note, the DMAC peripheral IDs are hard-coded in DataTransfer
diff --git a/src/Endstops/LocalZProbe.cpp b/src/Endstops/LocalZProbe.cpp
index 9b2a593d..2c2b5b29 100644
--- a/src/Endstops/LocalZProbe.cpp
+++ b/src/Endstops/LocalZProbe.cpp
@@ -11,9 +11,13 @@
 #include "RepRap.h"
 #include "Platform.h"
 
-#if SAME5x
+#if SAME5x || SAME70		// if using CoreN2G
 # include <AnalogIn.h>
+# if SAME5x
 using AnalogIn::AdcBits;
+# elif SAME70
+using LegacyAnalogIn::AdcBits;
+# endif
 #endif
 
 // Members of class LocalZProbe
diff --git a/src/Fans/LedStripDriver.cpp b/src/Fans/LedStripDriver.cpp
index ed79a2a2..15801436 100644
--- a/src/Fans/LedStripDriver.cpp
+++ b/src/Fans/LedStripDriver.cpp
@@ -24,6 +24,7 @@
 #  include <hri_mclk_e54.h>
 # elif SAME70
 #  include <sam/drivers/xdmac/xdmac.h>
+#  include <pmc/pmc.h>
 # endif
 #endif
 
@@ -374,8 +375,8 @@ void LedStripDriver::Init() noexcept
 	hri_mclk_set_APBCMASK_QSPI_bit(MCLK);
 #else
 	// Set up the USART or QSPI pins for SPI mode. The pins are already set up for SPI in the pins table
-	ConfigurePin(DotStarMosiPin);
-	ConfigurePin(DotStarSclkPin);
+	SetPinFunction(DotStarMosiPin, DotStarPinMode);
+	SetPinFunction(DotStarSclkPin, DotStarPinMode);
 
 	// Enable the clock to the USART or SPI peripheral
 	pmc_enable_periph_clk(DotStarClockId);
diff --git a/src/Hardware/ExceptionHandlers.cpp b/src/Hardware/ExceptionHandlers.cpp
index ce6d81bc..c1fa5186 100644
--- a/src/Hardware/ExceptionHandlers.cpp
+++ b/src/Hardware/ExceptionHandlers.cpp
@@ -10,6 +10,9 @@
 #include <Platform.h>
 #include <Hardware/NonVolatileMemory.h>
 #include <Cache.h>
+#if SAME70 || SAM4S || SAM4E
+# include <Reset.h>
+#endif
 
 // Perform a software reset. 'stk' points to the exception stack (r0 r1 r2 r3 r12 lr pc xPSR) if the cause is an exception, otherwise it is nullptr.
 [[noreturn]] void SoftwareReset(SoftwareResetReason initialReason, const uint32_t *stk) noexcept
@@ -18,7 +21,7 @@
 	WatchdogReset();							// kick the watchdog
 
 #if SAM4E || SAME70
-	rswdt_restart(RSWDT);						// kick the secondary watchdog
+	WatchdogResetSecondary();						// kick the secondary watchdog
 #endif
 
 	Cache::Disable();
diff --git a/src/Hardware/IoPorts.cpp b/src/Hardware/IoPorts.cpp
index 97b9da17..aca4c8b7 100644
--- a/src/Hardware/IoPorts.cpp
+++ b/src/Hardware/IoPorts.cpp
@@ -15,11 +15,15 @@
 # include "DuetNG/DueXn.h"
 #endif
 
-#if SAME5x
+#if SAME5x || SAME70		// if using CoreN2G
 # include <AnalogIn.h>
-using AnalogIn::AdcBits;
 # include <AnalogOut.h>
 # include <Interrupts.h>
+# if SAME5x
+using AnalogIn::AdcBits;
+# elif SAME70
+using LegacyAnalogIn::AdcBits;
+# endif
 #endif
 
 #if SUPPORT_CAN_EXPANSION
@@ -624,6 +628,8 @@ uint16_t IoPort::ReadAnalog() const noexcept
 	{
 		AnalogOut(pin, pwm, freq);
 	}
+#elif SAME70
+	AnalogOut::Write(pin, pwm, freq);
 #else
 	AnalogOut(pin, pwm, freq);
 #endif
diff --git a/src/Hardware/NonVolatileMemory.cpp b/src/Hardware/NonVolatileMemory.cpp
index d36e6dae..45aee49e 100644
--- a/src/Hardware/NonVolatileMemory.cpp
+++ b/src/Hardware/NonVolatileMemory.cpp
@@ -27,7 +27,7 @@ void NonVolatileMemory::EnsureRead() noexcept
 # error		//TODO
 #elif SAM4E || SAM4S || SAME70
 		const bool cacheEnabled = Cache::Disable();
-		flash_read_user_signature(reinterpret_cast<uint32_t*>(&buffer), sizeof(buffer)/sizeof(uint32_t));
+		Flash::ReadUserSignature(reinterpret_cast<uint32_t*>(&buffer), sizeof(buffer)/sizeof(uint32_t));
 		if (cacheEnabled)
 		{
 			Cache::Enable();
@@ -66,7 +66,7 @@ void NonVolatileMemory::EnsureWritten() noexcept
 	{
 		// Erase the page
 # if SAM4E || SAM4S || SAME70
-		flash_erase_user_signature();
+		Flash::EraseUserSignature();
 # elif defined(__LPC17xx__)
 		LPC_EraseSoftwareResetDataSlots();	// erase the last flash sector
 # endif
@@ -77,7 +77,7 @@ void NonVolatileMemory::EnsureWritten() noexcept
 	{
 # if SAM4E || SAM4S || SAME70
 		const bool cacheEnabled = Cache::Disable();
-		flash_write_user_signature(reinterpret_cast<const uint32_t*>(&buffer));
+		Flash::WriteUserSignature(reinterpret_cast<const uint32_t*>(&buffer));
 		if (cacheEnabled)
 		{
 			Cache::Enable();
diff --git a/src/Hardware/SAME70/Devices.cpp b/src/Hardware/SAME70/Devices.cpp
index 23a7391e..49316c6a 100644
--- a/src/Hardware/SAME70/Devices.cpp
+++ b/src/Hardware/SAME70/Devices.cpp
@@ -7,28 +7,75 @@
 
 #include "Devices.h"
 
-AsyncSerial serialUart0(UART2, UART2_IRQn, ID_UART2, 512, 512, [](AsyncSerial*) noexcept { }, [](AsyncSerial*) noexcept { });
+AsyncSerial Serial(UART2, UART2_IRQn, ID_UART2, 512, 512, 		[](AsyncSerial*) noexcept { }, [](AsyncSerial*) noexcept { });
+USARTClass Serial1(USART2, USART2_IRQn, ID_USART2, 512, 512,	[](AsyncSerial*) noexcept { }, [](AsyncSerial*) noexcept { });
+SerialCDC SerialUSB;
 
 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(18);
+constexpr Pin APIN_Serial1_TXD = PortDPin(19);
+constexpr auto Serial1PinFunction = GpioPinFunction::C;
 
 constexpr Pin HcmciMclkPin = PortAPin(25);
 constexpr auto HsmciMclkPinFunction = GpioPinFunction::D;
 constexpr Pin HsmciOtherPins[] = { PortAPin(26), PortAPin(27), PortAPin(28), PortAPin(30), PortAPin(31) };
 constexpr auto HsmciOtherkPinsFunction = GpioPinFunction::C;
 
-void UART2_Handler(void)
+void UART2_Handler(void) noexcept
 {
-	serialUart0.IrqHandler();
+	Serial.IrqHandler();
 }
 
 
+void USART2_Handler(void) noexcept
+{
+	Serial1.IrqHandler();
+}
+
+// Callback glue functions, all called from the USB ISR
+
+// This is called when we are plugged in and connect to a host
+extern "C" bool core_cdc_enable(uint8_t port) noexcept
+{
+	SerialUSB.cdcSetConnected(true);
+	return true;
+}
+
+// This is called when we get disconnected from the host
+extern "C" void core_cdc_disable(uint8_t port) noexcept
+{
+	SerialUSB.cdcSetConnected(false);
+}
+
+// This is called when data has been received
+extern "C" void core_cdc_rx_notify(uint8_t port) noexcept
+{
+	SerialUSB.cdcRxNotify();
+}
+
+// This is called when the transmit buffer has been emptied
+extern "C" void core_cdc_tx_empty_notify(uint8_t port) noexcept
+{
+	SerialUSB.cdcTxEmptyNotify();
+}
+
+// On the SAM4E and SAM4S we use a GPIO pin available to monitor the VBUS state
+void core_vbus_off(CallbackParameter) noexcept
+{
+	SerialUSB.cdcSetConnected(false);
+}
+
 void SerialInit() noexcept
 {
 	SetPinFunction(APIN_Serial0_RXD, Serial0PinFunction);
 	SetPinFunction(APIN_Serial0_TXD, Serial0PinFunction);
 	SetPullup(APIN_Serial0_RXD, true);
+
+	SetPinFunction(APIN_Serial1_RXD, Serial1PinFunction);
+	SetPinFunction(APIN_Serial1_TXD, Serial1PinFunction);
+	SetPullup(APIN_Serial1_RXD, true);
 }
 
 void SdhcInit() noexcept
diff --git a/src/Hardware/SAME70/Devices.h b/src/Hardware/SAME70/Devices.h
index 0e5f3e89..eca9dd54 100644
--- a/src/Hardware/SAME70/Devices.h
+++ b/src/Hardware/SAME70/Devices.h
@@ -10,13 +10,15 @@
 
 #include <AsyncSerial.h>
 typedef AsyncSerial UARTClass;
+#include <USARTClass.h>
 
-extern AsyncSerial serialUart0, serialUart1;
+extern AsyncSerial Serial;
+extern USARTClass Serial1;
 
 #define SUPPORT_USB		1		// needed by SerialCDC.h
 #include "SerialCDC.h"
 
-extern SerialCDC serialUSB;
+extern SerialCDC SerialUSB;
 
 void DeviceInit() noexcept;
 
diff --git a/src/Hardware/SharedSpi/SharedSpiDevice.cpp b/src/Hardware/SharedSpi/SharedSpiDevice.cpp
index 31b9bebf..c7c9c4d2 100644
--- a/src/Hardware/SharedSpi/SharedSpiDevice.cpp
+++ b/src/Hardware/SharedSpi/SharedSpiDevice.cpp
@@ -15,6 +15,7 @@
 # include <peripheral_clk_config.h>
 # include <hri_sercom_e54.h>
 #elif USART_SPI
+# include <pmc/pmc.h>
 # include <usart/usart.h>
 #else
 # include <spi/spi.h>
@@ -344,9 +345,9 @@ void SharedSpiDevice::Init() noexcept
 	SetPinFunction(SharedSpiSclkPin, SharedSpiPinFunction);
 	mainSharedSpiDevice = new SharedSpiDevice(SharedSpiSercomNumber);
 #elif USART_SPI
-	ConfigurePin(APIN_USART_SSPI_SCK);
-	ConfigurePin(APIN_USART_SSPI_MOSI);
-	ConfigurePin(APIN_USART_SSPI_MISO);
+	SetPinFunction(APIN_USART_SSPI_SCK, USARTSSPIPeriphMode);
+	SetPinFunction(APIN_USART_SSPI_MOSI, USARTSSPIPeriphMode);
+	SetPinFunction(APIN_USART_SSPI_MISO, USARTSSPIPeriphMode);
 	mainSharedSpiDevice = new SharedSpiDevice(0);
 #else
 	ConfigurePin(g_APinDescription[APIN_SHARED_SPI_SCK]);
diff --git a/src/Heating/Sensors/LinearAnalogSensor.cpp b/src/Heating/Sensors/LinearAnalogSensor.cpp
index 43d23d9d..ee047188 100644
--- a/src/Heating/Sensors/LinearAnalogSensor.cpp
+++ b/src/Heating/Sensors/LinearAnalogSensor.cpp
@@ -11,9 +11,13 @@
 #include "RepRap.h"
 #include "Platform.h"
 
-#if SAME5x		// if using CoreN2G
+#if SAME5x || SAME70		// if using CoreN2G
 # include <AnalogIn.h>
+# if SAME5x
 using AnalogIn::AdcBits;
+# elif SAME70
+using LegacyAnalogIn::AdcBits;
+# endif
 #endif
 
 // ADC resolution
diff --git a/src/Heating/Sensors/Thermistor.cpp b/src/Heating/Sensors/Thermistor.cpp
index 709cee0a..4e23458c 100644
--- a/src/Heating/Sensors/Thermistor.cpp
+++ b/src/Heating/Sensors/Thermistor.cpp
@@ -20,9 +20,13 @@
 # include <CanMessageGenericParser.h>
 #endif
 
-#if SAME5x		// if using CoreN2G
+#if SAME5x || SAME70		// if using CoreN2G
 # include <AnalogIn.h>
+# if SAME5x
 using AnalogIn::AdcBits;
+# elif SAME70
+using LegacyAnalogIn::AdcBits;
+# endif
 #endif
 
 // For the theory behind ADC oversampling, see http://www.atmel.com/Images/doc8003.pdf
diff --git a/src/Linux/DataTransfer.cpp b/src/Linux/DataTransfer.cpp
index b8de289b..72fde11a 100644
--- a/src/Linux/DataTransfer.cpp
+++ b/src/Linux/DataTransfer.cpp
@@ -451,10 +451,10 @@ void DataTransfer::Init() noexcept
 # endif
 #else
 	// Initialize SPI
-	ConfigurePin(APIN_SBC_SPI_MOSI);
-	ConfigurePin(APIN_SBC_SPI_MISO);
-	ConfigurePin(APIN_SBC_SPI_SCK);
-	ConfigurePin(APIN_SBC_SPI_SS0);
+	SetPinFunction(APIN_SBC_SPI_MOSI, SBCPinPeriphMode);
+	SetPinFunction(APIN_SBC_SPI_MISO, SBCPinPeriphMode);
+	SetPinFunction(APIN_SBC_SPI_SCK, SBCPinPeriphMode);
+	SetPinFunction(APIN_SBC_SPI_SS0, SBCPinPeriphMode);
 
 	spi_enable_clock(SBC_SPI);
 	spi_disable(SBC_SPI);
diff --git a/src/Movement/StepTimer.cpp b/src/Movement/StepTimer.cpp
index a57a8a23..13fc1b85 100644
--- a/src/Movement/StepTimer.cpp
+++ b/src/Movement/StepTimer.cpp
@@ -21,6 +21,9 @@
 # include <hri_tc_e54.h>
 #elif !defined(__LPC17xx__)
 # include <sam/drivers/tc/tc.h>
+# if SAME70
+#  include <pmc/pmc.h>
+# endif
 #endif
 
 StepTimer * volatile StepTimer::pendingList = nullptr;
@@ -98,7 +101,7 @@ void StepTimer::Init() noexcept
 
 #  if SAME70
 	// Step clock runs at 48MHz/64 for compatibility with the Tool board
-	constexpr uint32_t divisor = (64ull * VARIANT_MCK)/(48000000u);
+	constexpr uint32_t divisor = (64ull * (SystemCoreClockFreq/2))/(48000000u);
 	static_assert(divisor <= 256 && divisor >= 100);
 
 	// TC0 can use either PCLK6 or PCLK7 depending on the setting in the bus matrix Peripheral Clock Configuration Register. Default is PCLK6.
diff --git a/src/Movement/StepperDrivers/TMC51xx.cpp b/src/Movement/StepperDrivers/TMC51xx.cpp
index 3ad803ff..ea69f0a6 100644
--- a/src/Movement/StepperDrivers/TMC51xx.cpp
+++ b/src/Movement/StepperDrivers/TMC51xx.cpp
@@ -1239,9 +1239,9 @@ void SmartDrivers::Init() noexcept
 	Serial::EnableSercomClock(SERCOM_TMC51xx_NUMBER);
 #else
 	// The pins are already set up for SPI in the pins table
-	ConfigurePin(TMC51xxMosiPin);
-	ConfigurePin(TMC51xxMisoPin);
-	ConfigurePin(TMC51xxSclkPin);
+	SetPinFunction(TMC51xxMosiPin, TMC51xxMosiPinPeriphMode);
+	SetPinFunction(TMC51xxMisoPin, TMC51xxMosiPinPeriphMode);
+	SetPinFunction(TMC51xxSclkPin, TMC51xxMisoPinPeriphMode);
 
 	// Enable the clock to the USART or SPI
 	pmc_enable_periph_clk(ID_TMC51xx_SPI);
diff --git a/src/Platform.cpp b/src/Platform.cpp
index 63fffefc..b82d029c 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -47,7 +47,9 @@
 #endif
 
 #if SAME70
+# include <AnalogIn.h>
 # include <DmacManager.h>
+using LegacyAnalogIn::AdcBits;			// for compatibility with CoreNG, which doesn't have the AnalogIn namespace
 static_assert(NumDmaChannelsUsed <= NumDmaChannelsSupported, "Need more DMA channels in CoreNG");
 #elif SAME5x
 # include <AnalogIn.h>
@@ -805,7 +807,11 @@ void Platform::Init() noexcept
 	AnalogIn::EnableTemperatureSensor(1, tcFilter.CallbackFeedIntoFilter, &tcFilter, 1, 0);
 	TemperatureCalibrationInit();
 # else
-	filteredAdcChannels[CpuTempFilterIndex] = GetTemperatureAdcChannel();
+	filteredAdcChannels[CpuTempFilterIndex] =
+#if SAME70
+			LegacyAnalogIn::
+#endif
+			GetTemperatureAdcChannel();
 # endif
 #endif
 
@@ -870,13 +876,13 @@ void Platform::ReadUniqueId()
 	memset(uniqueId, 0, sizeof(uniqueId));
 
 	const bool cacheWasEnabled = Cache::Disable();
-	const uint32_t rc = flash_read_unique_id(uniqueId);
+	const bool success = Flash::ReadUniqueId(uniqueId);
 	if (cacheWasEnabled)
 	{
 		Cache::Enable();
 	}
 
-	if (rc == 0)
+	if (success)
 	{
 # endif
 		// Put the checksum at the end
@@ -5078,6 +5084,9 @@ GCodeResult Platform::EutProcessM569(const CanMessageGeneric& msg, const StringR
 void Platform::Tick() noexcept
 {
 #if !SAME5x
+# if SAME70
+	LegacyAnalogIn::
+# endif
 	AnalogInFinaliseConversion();
 #endif
 
@@ -5195,7 +5204,7 @@ void Platform::Tick() noexcept
 	// On Duet 3, AFEC1 is used only for thermistors and associated Vref/Vssa monitoring. AFEC0 is used for everything else.
 	// To reduce noise, we use x16 hardware averaging on AFEC0 and x256 on AFEC1. This is hard coded in file AnalogIn.cpp in project CoreNG.
 	// There is enough time to convert all AFEC0 channels in one tick, but only one AFEC1 channel because of the higher averaging.
-	AnalogInStartConversion(0x0FFF | (1u << filteredAdcChannels[currentFilterNumber]));
+	LegacyAnalogIn::AnalogInStartConversion(0x0FFF | (1u << (uint8_t) filteredAdcChannels[currentFilterNumber]));
 #elif !SAME5x
 	AnalogInStartConversion();
 #endif
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index 192b4e33..b93018d5 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -98,7 +98,7 @@ extern "C" void HSMCI_Handler() noexcept
 #if SAME70
 
 // HSMCI DMA complete callback
-void HsmciDmaCallback(CallbackParameter cp) noexcept
+void HsmciDmaCallback(CallbackParameter cb, DmaCallbackReason reason) noexcept
 {
 	HSMCI->HSMCI_IDR = 0xFFFFFFFF;										// disable all HSMCI interrupts
 	XDMAC->XDMAC_CHID[DmacChanHsmci].XDMAC_CID = 0xFFFFFFFF;			// disable all DMA interrupts for this channel
@@ -2835,7 +2835,7 @@ void RepRap::StartIap() noexcept
 	WatchdogReset();								// kick the watchdog one last time
 
 #if SAM4E || SAME70
-	rswdt_restart(RSWDT);							// kick the secondary watchdog
+	WatchdogResetSecondary();							// kick the secondary watchdog
 #endif
 
 	// Modify vector table location
diff --git a/src/Tasks.cpp b/src/Tasks.cpp
index 917e4d7e..77348a66 100644
--- a/src/Tasks.cpp
+++ b/src/Tasks.cpp
@@ -102,7 +102,7 @@ extern "C" void ReleaseMallocMutex() noexcept
 }
 
 // Application entry point
-#if SAME5x		// if using CoreN2G
+#if SAME5x || SAME70		// if using CoreN2G
 [[noreturn]] void AppMain() noexcept
 #else			// using CoreNG
 extern "C" [[noreturn]] void AppMain() noexcept
diff --git a/src/bossa/Device.cpp b/src/bossa/Device.cpp
index 6cfda0be..d3abc9e8 100644
--- a/src/bossa/Device.cpp
+++ b/src/bossa/Device.cpp
@@ -47,7 +47,7 @@ Device::readChipId(uint32_t& chipId, uint32_t& extChipId)
 void
 Device::create() THROWS(GCodeException)
 {
-    Flash* flashPtr;
+	BossaFlash* flashPtr;
 #if ORIGINAL_BOSSA_CODE
     uint32_t chipId = 0;
     uint32_t cpuId = 0;
diff --git a/src/bossa/Device.h b/src/bossa/Device.h
index 9509acb4..f0a2e5b7 100644
--- a/src/bossa/Device.h
+++ b/src/bossa/Device.h
@@ -84,13 +84,13 @@ public:
 
     Family getFamily() noexcept { return _family; }
 
-    Flash* getFlash() noexcept { return _flash; }
+    BossaFlash* getFlash() noexcept { return _flash; }
 
     void reset() THROWS(GCodeException);
 
 private:
     Samba& _samba;
-    Flash* _flash;
+    BossaFlash* _flash;
     Family _family;
 
 #if ORIGINAL_BOSSA_CODE
diff --git a/src/bossa/EefcFlash.cpp b/src/bossa/EefcFlash.cpp
index 346d43e1..153e38b7 100644
--- a/src/bossa/EefcFlash.cpp
+++ b/src/bossa/EefcFlash.cpp
@@ -68,7 +68,7 @@ EefcFlash::EefcFlash(Samba& samba,
                      uint32_t stack,
                      uint32_t regs,
                      bool canBrownout) THROWS(GCodeException)
-    : Flash(samba, name, addr, pages, size, planes, lockRegions, user, stack),
+    : BossaFlash(samba, name, addr, pages, size, planes, lockRegions, user, stack),
       _regs(regs), _canBrownout(canBrownout), _eraseAuto(true)
 {
 
diff --git a/src/bossa/EefcFlash.h b/src/bossa/EefcFlash.h
index cd0f72ee..58ea811c 100644
--- a/src/bossa/EefcFlash.h
+++ b/src/bossa/EefcFlash.h
@@ -33,7 +33,7 @@
 
 #include "Flash.h"
 
-class EefcFlash : public Flash
+class EefcFlash : public BossaFlash
 {
 public:
     EefcFlash(Samba& samba,
diff --git a/src/bossa/Flash.cpp b/src/bossa/Flash.cpp
index 58d7f24d..953a9f5d 100644
--- a/src/bossa/Flash.cpp
+++ b/src/bossa/Flash.cpp
@@ -28,7 +28,7 @@
 ///////////////////////////////////////////////////////////////////////////////
 #include "Flash.h"
 
-Flash::Flash(Samba& samba,
+BossaFlash::BossaFlash(Samba& samba,
 			const char* name,
              uint32_t addr,
              uint32_t pages,
@@ -52,7 +52,7 @@ Flash::Flash(Samba& samba,
 }
 
 void
-Flash::setLockRegions(const Vector<bool, 16>& regions) THROWS(GCodeException)
+BossaFlash::setLockRegions(const Vector<bool, 16>& regions) THROWS(GCodeException)
 {
     if (regions.Size() > _lockRegions)
         throw FlashRegionError("Flash::setLockRegions: regions.Size() > _lockRegions");
@@ -61,34 +61,34 @@ Flash::setLockRegions(const Vector<bool, 16>& regions) THROWS(GCodeException)
 }
 
 void
-Flash::setSecurity() noexcept
+BossaFlash::setSecurity() noexcept
 {
     _security.set(true);
 }
 
 void
-Flash::setBor(bool enable) noexcept
+BossaFlash::setBor(bool enable) noexcept
 {
     if (canBor())
         _bor.set(enable);
 }
 
 void
-Flash::setBod(bool enable) noexcept
+BossaFlash::setBod(bool enable) noexcept
 {
     if (canBod())
         _bod.set(enable);
 }
 
 void
-Flash::setBootFlash(bool enable) noexcept
+BossaFlash::setBootFlash(bool enable) noexcept
 {
     if (canBootFlash())
         _bootFlash.set(enable);
 }
 
 void
-Flash::loadBuffer(const uint8_t* data, uint16_t bufferSize) THROWS(GCodeException)
+BossaFlash::loadBuffer(const uint8_t* data, uint16_t bufferSize) THROWS(GCodeException)
 {
     _samba.write(_onBufferA ? _pageBufferA : _pageBufferB, data, bufferSize);
 }
diff --git a/src/bossa/Flash.h b/src/bossa/Flash.h
index 9f7f9b0c..afc03664 100644
--- a/src/bossa/Flash.h
+++ b/src/bossa/Flash.h
@@ -60,10 +60,10 @@ private:
     bool _dirty;
 };
 
-class Flash
+class BossaFlash	// manuel: required to rename to avoid clash with CoreN2G namespace Flash
 {
 public:
-    Flash(Samba& samba,
+	BossaFlash(Samba& samba,
           const char* name,
           uint32_t addr,                 // Flash base address
           uint32_t pages,                // Number of pages
@@ -72,7 +72,7 @@ public:
           uint32_t lockRegions,          // Number of flash lock regions
           uint32_t user,                 // Address in SRAM where the applet and buffers will be placed
           uint32_t stack) THROWS(GCodeException);               // Address in SRAM where the applet stack will be placed
-    virtual ~Flash() {}
+    virtual ~BossaFlash() {}
 
     const char* name() noexcept { return _name; }
 
diff --git a/src/bossa/Flasher.h b/src/bossa/Flasher.h
index b9a4935b..5198e2a0 100644
--- a/src/bossa/Flasher.h
+++ b/src/bossa/Flasher.h
@@ -64,7 +64,7 @@ public:
 
 private:
     Samba& _samba;
-    Flash* _flash;
+    BossaFlash* _flash;
     FlasherObserver& _observer;
 
     uint32_t pageNum;