21 files changed, 155 insertions, 88 deletions

diff --git a/.cproject b/.cproject
index 72cd1216..6a390cdc 100644
--- a/.cproject
+++ b/.cproject
@@ -87,7 +87,7 @@
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diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp
index f61e6ec5..e95cba95 100644
--- a/src/CAN/CanInterface.cpp
+++ b/src/CAN/CanInterface.cpp
@@ -179,8 +179,12 @@ static Task<CanReceiverTaskStackWords> canReceiverTask;
 constexpr size_t CanClockTaskStackWords = 400;			// used to be 300 but RD had a stack overflow
 static Task<CanSenderTaskStackWords> canClockTask;
 
-static CanMessageBuffer * volatile pendingBuffers;
-static CanMessageBuffer * volatile lastBuffer;			// only valid when pendingBuffers != nullptr
+static CanMessageBuffer * volatile pendingMotionBuffers = nullptr;
+static CanMessageBuffer * volatile lastMotionBuffer;			// only valid when pendingBuffers != nullptr
+
+#if 0	//unused
+static unsigned int numPendingMotionBuffers = 0;
+#endif
 
 extern "C" [[noreturn]] void CanSenderLoop(void *) noexcept;
 extern "C" [[noreturn]] void CanClockLoop(void *) noexcept;
@@ -239,7 +243,7 @@ void TxCallback(uint8_t marker, CanId id, uint16_t timeStamp) noexcept
 void CanInterface::Init() noexcept
 {
 	CanMessageBuffer::Init(NumCanBuffers);
-	pendingBuffers = nullptr;
+	pendingMotionBuffers = nullptr;
 
 	transactionMutex.Create("CanTrans");
 
@@ -377,13 +381,16 @@ extern "C" [[noreturn]] void CanSenderLoop(void *) noexcept
 			{
 				can0dev->SendMessage(TxBufferIndexUrgent, MaxUrgentSendWait, urgentMessage);
 			}
-			else if (pendingBuffers != nullptr)
+			else if (pendingMotionBuffers != nullptr)
 			{
 				CanMessageBuffer *buf;
 				{
 					TaskCriticalSectionLocker lock;
-					buf = pendingBuffers;
-					pendingBuffers = buf->next;
+					buf = pendingMotionBuffers;
+					pendingMotionBuffers = buf->next;
+#if 0	//unused
+					--numPendingMotionBuffers;
+#endif
 				}
 
 				// Send the message
@@ -625,20 +632,33 @@ void CanInterface::SendMotion(CanMessageBuffer *buf) noexcept
 	{
 		TaskCriticalSectionLocker lock;
 
-		if (pendingBuffers == nullptr)
+		if (pendingMotionBuffers == nullptr)
 		{
-			pendingBuffers = buf;
+			pendingMotionBuffers = buf;
 		}
 		else
 		{
-			lastBuffer->next = buf;
+			lastMotionBuffer->next = buf;
 		}
-		lastBuffer = buf;
+		lastMotionBuffer = buf;
+#if 0	//unused
+		++numPendingMotionBuffers;
+#endif
 	}
 
 	canSenderTask.Give();
 }
 
+#if 0	// not currently used
+
+// Get the number of motion messages waiting to be sent through the Tx fifo
+unsigned int CanInterface::GetNumPendingMotionMessages() noexcept
+{
+	return can0dev->NumTxMessagesPending(TxBufferIndexMotion) + numPendingMotionBuffers;
+}
+
+#endif
+
 // Send a request to an expansion board and append the response to 'reply'
 GCodeResult CanInterface::SendRequestAndGetStandardReply(CanMessageBuffer *buf, CanRequestId rid, const StringRef& reply, uint8_t *extra) noexcept
 {
diff --git a/src/CAN/CanInterface.h b/src/CAN/CanInterface.h
index 444a0e39..9293ad09 100644
--- a/src/CAN/CanInterface.h
+++ b/src/CAN/CanInterface.h
@@ -111,6 +111,9 @@ namespace CanInterface
 	GCodeResult SetRemoteDriverStepsPerMmAndMicrostepping(const CanDriversData<StepsPerUnitAndMicrostepping>& data, const StringRef& reply) noexcept;
 	GCodeResult ConfigureRemoteDriver(DriverId driver, GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
 	GCodeResult GetSetRemoteDriverStallParameters(const CanDriversList& drivers, GCodeBuffer& gb, const StringRef& reply, OutputBuffer *& buf) THROWS(GCodeException);
+#if 0	// not currently used
+	unsigned int GetNumPendingMotionMessages() noexcept;
+#endif
 	void WakeAsyncSenderFromIsr() noexcept;
 
 	// Remote handle functions
diff --git a/src/CAN/CanMotion.cpp b/src/CAN/CanMotion.cpp
index 78927c6d..8ba75919 100644
--- a/src/CAN/CanMotion.cpp
+++ b/src/CAN/CanMotion.cpp
@@ -17,6 +17,10 @@ static CanMessageBuffer *movementBufferList = nullptr;
 static CanMessageBuffer *urgentMessageBuffer = nullptr;
 static uint32_t currentMoveClocks;
 
+#if 0
+static unsigned int numMotionMessagesSentLast = 0;
+#endif
+
 static volatile uint32_t hiccupToInsert = 0;
 static CanDriversList driversToStop[2];
 static size_t driversToStopIndexBeingFilled = 0;
@@ -144,6 +148,9 @@ uint32_t CanMotion::FinishMovement(uint32_t moveStartTime) noexcept
 		return 0;
 	}
 
+#if 0
+	numMotionMessagesSentLast = 0;
+#endif
 	do
 	{
 		boardsActiveInLastMove.SetBit(buf->id.Dst());					//TODO should we set this if there were no steps for drives on the board, just drives to be enabled?
@@ -154,6 +161,9 @@ uint32_t CanMotion::FinishMovement(uint32_t moveStartTime) noexcept
 		buf->dataLength = buf->msg.moveLinear.GetActualDataLength();
 		CanMessageBuffer * const nextBuffer = buf->next;				// must get this before sending the buffer, because sending the buffer releases it
 		CanInterface::SendMotion(buf);									// queues the buffer for sending and frees it when done
+#if 0
+		++numMotionMessagesSentLast;
+#endif
 		buf = nextBuffer;
 	} while (buf != nullptr);
 
diff --git a/src/Comms/PanelDueUpdater.cpp b/src/Comms/PanelDueUpdater.cpp
index 9b0da7a0..78261eb7 100644
--- a/src/Comms/PanelDueUpdater.cpp
+++ b/src/Comms/PanelDueUpdater.cpp
@@ -21,20 +21,20 @@ public:
 	bool open(int baud = 115200,
 			  int data = 8,
 			  SerialPort::Parity parity = SerialPort::ParityNone,
-			  SerialPort::StopBit stop = SerialPort::StopBitOne) noexcept { return true; }
-	void close() noexcept {}
+			  SerialPort::StopBit stop = SerialPort::StopBitOne) noexcept override { return true; }
+	void close() noexcept override {}
 
-	bool isUsb() noexcept { return false; }
+	bool isUsb() noexcept override { return false; }
 
-	int read(uint8_t* data, int size) noexcept;
-	int write(const uint8_t* data, int size) noexcept { return this->uart.write(data, size); }
-	int get() noexcept;
-	int put(int c) noexcept { return this->uart.write(c); }
+	int read(uint8_t* data, int size) noexcept override;
+	int write(const uint8_t* data, int size) noexcept override { return this->uart.write(data, size); }
+	int get() noexcept override;
+	int put(int c) noexcept override { return this->uart.write(c); }
 
-	bool timeout(int millisecs) noexcept { _timeout = millisecs; return true; }
-	void flush() noexcept { this->uart.flush(); }
-	void setDTR(bool dtr) noexcept {}
-	void setRTS(bool rts) noexcept {}
+	bool timeout(int millisecs) noexcept override { _timeout = millisecs; return true; }
+	void flush() noexcept override { this->uart.flush(); }
+	void setDTR(bool dtr) noexcept override {}
+	void setRTS(bool rts) noexcept override {}
 private:
 	UARTClass& uart;
 	int _timeout;
@@ -71,9 +71,9 @@ public:
 	DebugObserver() noexcept : lastPercentage(0) {}
 	virtual ~DebugObserver() {}
 
-	virtual void onStatus(const char *message, ...) noexcept;
-	virtual void onProgress(int num, int div) noexcept;
-    virtual void Reset() noexcept { lastPercentage = 0; };
+	void onStatus(const char *message, ...) noexcept override;
+	void onProgress(int num, int div) noexcept override;
+    void Reset() noexcept override { lastPercentage = 0; };
 private:
 	uint8_t lastPercentage;
 };
diff --git a/src/Fans/LocalFan.h b/src/Fans/LocalFan.h
index 469053a7..7178833f 100644
--- a/src/Fans/LocalFan.h
+++ b/src/Fans/LocalFan.h
@@ -46,7 +46,7 @@ private:
 	float lastVal;											// the last PWM value we sent to the fan, not allowing for blipping, or -1 if we don't know it
 
 	// Variables used to read the tacho
-	static constexpr uint32_t fanMaxInterruptCount = 32;	// number of fan interrupts that we average over
+	static constexpr uint32_t fanMaxInterruptCount = 16;	// number of fan interrupts that we average over. We time out after 3 seconds, so a count of 16 allows us to read rpm down to (16/3) * (60/2) = 160.
 	uint32_t fanInterruptCount;								// accessed only in ISR, so no need to declare it volatile
 	volatile uint32_t fanLastResetTime;						// time (in step clocks) at which we last reset the interrupt count, accessed inside and outside ISR
 	volatile uint32_t fanInterval;							// written by ISR, read outside the ISR
diff --git a/src/GCodes/GCodeBuffer/StringParser.cpp b/src/GCodes/GCodeBuffer/StringParser.cpp
index abf822e5..8b4df0f0 100644
--- a/src/GCodes/GCodeBuffer/StringParser.cpp
+++ b/src/GCodes/GCodeBuffer/StringParser.cpp
@@ -266,7 +266,7 @@ bool StringParser::Put(char c) noexcept
 
 // This is called when we are fed a null, CR or LF character.
 // Return true if there is a completed command ready to be executed.
-bool StringParser::LineFinished()
+bool StringParser::LineFinished() noexcept
 {
 	if (hadLineNumber)
 	{
@@ -1486,9 +1486,21 @@ void StringParser::PrintCommand(const StringRef& s) const noexcept
 }
 
 // Append the full command content to a string
+// This is called when we report a "Bad command" error, so make sure we display any control characters.
 void StringParser::AppendFullCommand(const StringRef &s) const noexcept
 {
-	s.cat(gb.buffer);
+	for (size_t i = commandStart; i < commandEnd; ++i)
+	{
+		const char c = gb.buffer[i];
+		if (c < 0x20)
+		{
+			s.catf("[0x%02x]", (unsigned int)c);
+		}
+		else
+		{
+			s.cat(c);
+		}
+	}
 }
 
 // Called when we start a new file
diff --git a/src/GCodes/GCodeBuffer/StringParser.h b/src/GCodes/GCodeBuffer/StringParser.h
index a4b828fe..3e7c515b 100644
--- a/src/GCodes/GCodeBuffer/StringParser.h
+++ b/src/GCodes/GCodeBuffer/StringParser.h
@@ -92,7 +92,7 @@ private:
 
 	void AddToChecksum(char c) noexcept;
 	void StoreAndAddToChecksum(char c) noexcept;
-	bool LineFinished() THROWS(GCodeException);									// Deal with receiving end-of-line and return true if we have a command
+	bool LineFinished() noexcept;											// Deal with receiving end-of-line and return true if we have a command
 	void InternalGetQuotedString(const StringRef& str) THROWS(GCodeException)
 		pre (readPointer >= 0; gb.buffer[readPointer] == '"'; str.IsEmpty());
 	void InternalGetPossiblyQuotedString(const StringRef& str) THROWS(GCodeException)
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index cc5940d6..0e0d5f70 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -4622,7 +4622,7 @@ bool GCodes::HandleTcode(GCodeBuffer& gb, const StringRef& reply)
 
 	if (seen)
 	{
-		if (!LockMovementAndWaitForStandstill(gb))
+		if (!LockMovementAndWaitForStandstill(gb) || !IsCodeQueueIdle())
 		{
 			return false;
 		}
diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp
index ed140fb7..b48ae06b 100644
--- a/src/GCodes/GCodes3.cpp
+++ b/src/GCodes/GCodes3.cpp
@@ -38,9 +38,11 @@
 #endif
 
 #ifdef I2C_IFACE
-# include "Wire.h"
+# include <Wire.h>
 #endif
 
+#include <cctype>
+
 // Deal with G60
 GCodeResult GCodes::SavePosition(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException)
 {
@@ -1650,29 +1652,29 @@ bool GCodes::ProcessWholeLineComment(GCodeBuffer& gb, const StringRef& reply) TH
 		"BEGIN_LAYER_OBJECT z=",	// KISSlicer (followed by Z height)
 		"HEIGHT",					// Ideamaker
 		"PRINTING",					// Ideamaker
-		"REMAINING_TIME"			// Ideamaker
+		"REMAINING_TIME",			// Ideamaker
+		"LAYER_CHANGE"				// SuperSlicer
 	};
 
 	String<StringLength100> comment;
 	gb.GetCompleteParameters(comment.GetRef());
-	const char *text = comment.c_str();
-	while (*text == ' ')
+	const char *fullText = comment.c_str();
+	while (*fullText == ' ')
 	{
-		++text;
+		++fullText;
 	}
 
 	for (size_t i = 0; i < ARRAY_SIZE(StartStrings); ++i)
 	{
-		if (StringStartsWith(text, StartStrings[i]))
+		if (StringStartsWith(fullText, StartStrings[i]))
 		{
-			text += strlen(StartStrings[i]);
-			if (*text == ' ' || *text == ':')			// need this test to avoid recognising "processName" as "process"
+			const char *text = fullText + strlen(StartStrings[i]);
+			if (!isalpha(*text) && *text != '_')			// need this test to avoid recognising "processName" as "process"
 			{
-				do
+				while (*text == ' ' || *text == ':')
 				{
 					++text;
 				}
-				while (*text == ' ' || *text == ':');
 
 				switch (i)
 				{
@@ -1717,7 +1719,7 @@ bool GCodes::ProcessWholeLineComment(GCodeBuffer& gb, const StringRef& reply) TH
 
 				case 4:		// layer (counting from 1)
 				case 5:		// layer (counting from 0)
-				case 6:		// later (counting from 0)
+				case 6:		// layer (counting from 0)
 					{
 						const char *endptr;
 						const int32_t layer = StrToI32(text, &endptr);		// IdeaMaker uses negative layer numbers for the raft, so read a signed number here
@@ -1756,6 +1758,10 @@ bool GCodes::ProcessWholeLineComment(GCodeBuffer& gb, const StringRef& reply) TH
 						}
 					}
 					break;
+
+				case 11:	// LAYER_CHANGE (SuperSlicer). No layer number provided.
+					reprap.GetPrintMonitor().LayerChange();
+					break;
 				}
 				break;
 			}
diff --git a/src/Heating/RemoteHeater.cpp b/src/Heating/RemoteHeater.cpp
index e4cf368d..8bdfe5f3 100644
--- a/src/Heating/RemoteHeater.cpp
+++ b/src/Heating/RemoteHeater.cpp
@@ -385,7 +385,14 @@ GCodeResult RemoteHeater::SwitchOn(const StringRef& reply) noexcept
 	msg->heaterNumber = GetHeaterNumber();
 	msg->setPoint = GetTargetTemperature();
 	msg->command = CanMessageSetHeaterTemperature::commandOn;
-	return CanInterface::SendRequestAndGetStandardReply(buf, rid, reply);
+	const GCodeResult rslt = CanInterface::SendRequestAndGetStandardReply(buf, rid, reply);
+	if (lastMode == HeaterMode::off && rslt <= GCodeResult::warning)
+	{
+		// If the heater was previously off then we need to change lastMode, otherwise if M116 is executed before we get an update from the expansion board
+		// then it will treat the heater as inactive and not wait for it to reach temperature
+		lastMode = HeaterMode::heating;
+	}
+	return rslt;
 }
 
 // This is called when the heater model has been updated
diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp
index a0373d0f..e6b91c6b 100644
--- a/src/Movement/DDA.cpp
+++ b/src/Movement/DDA.cpp
@@ -1447,7 +1447,7 @@ void DDA::Prepare(uint8_t simMode) noexcept
 		const DDAState st = prev->state;
 		afterPrepare.moveStartTime = (st == DDAState::executing || st == DDAState::frozen)
 						? prev->afterPrepare.moveStartTime + prev->clocksNeeded			// this move will follow the previous one, so calculate the start time assuming no more hiccups
-							: StepTimer::GetTimerTicks() + MovementStartDelayClocks;	// else this move is the first so start it after a short delay
+							: StepTimer::GetTimerTicks() + AbsoluteMinimumPreparedTime;	// else this move is the first so start it after a short delay
 
 		if (flags.checkEndstops)
 		{
diff --git a/src/Movement/DDA.h b/src/Movement/DDA.h
index 766ccd3c..b4a02378 100644
--- a/src/Movement/DDA.h
+++ b/src/Movement/DDA.h
@@ -156,6 +156,7 @@ public:
 
 #if SUPPORT_LASER || SUPPORT_IOBITS
 	LaserPwmOrIoBits GetLaserPwmOrIoBits() const noexcept { return laserPwmOrIoBits; }
+	bool ControlLaser() const noexcept { return flags.controlLaser; }
 #endif
 
 #if SUPPORT_LASER
@@ -178,6 +179,8 @@ public:
 	void DebugPrint(const char *tag) const noexcept;								// print the DDA only
 	void DebugPrintAll(const char *tag) const noexcept;								// print the DDA and active DMs
 
+	static void PrintMoves() noexcept;												// print saved moves for debugging
+
 	// Note on the following constant:
 	// If we calculate the step interval on every clock, we reach a point where the calculation time exceeds the step interval.
 	// The worst case is pure Z movement on a delta. On a Mini Kossel with 80 steps/mm with this firmware running on a Duet (84MHx SAM3X8 processor),
@@ -206,7 +209,8 @@ public:
 	static constexpr uint32_t WakeupTime = (100 * StepTimer::StepClockRate)/1000000;				// stop resting 100us before the move is due to end
 	static constexpr uint32_t HiccupIncrement = HiccupTime/2;										// how much we increase the hiccup time by on each attempt
 
-	static void PrintMoves() noexcept;																// print saved moves for debugging
+	static constexpr uint32_t UsualMinimumPreparedTime = StepTimer::StepClockRate/10;				// 100ms
+	static constexpr uint32_t AbsoluteMinimumPreparedTime = StepTimer::StepClockRate/20;			// 50ms
 
 #if DDA_LOG_PROBE_CHANGES
 	static const size_t MaxLoggedProbePositions = 40;
@@ -214,10 +218,6 @@ public:
 	static int32_t loggedProbePositions[XYZ_AXES * MaxLoggedProbePositions];
 #endif
 
-#if SUPPORT_LASER || SUPPORT_IOBITS
-	bool ControlLaser() const noexcept { return flags.controlLaser; }
-#endif
-
 	static uint32_t lastStepLowTime;										// when we last completed a step pulse to a slow driver
 	static uint32_t lastDirChangeTime;										// when we last change the DIR signal to a slow driver
 
diff --git a/src/Movement/DDARing.cpp b/src/Movement/DDARing.cpp
index f112ef9b..8500dd9b 100644
--- a/src/Movement/DDARing.cpp
+++ b/src/Movement/DDARing.cpp
@@ -15,9 +15,6 @@
 # include "CAN/CanMotion.h"
 #endif
 
-constexpr uint32_t UsualMinimumPreparedTime = StepTimer::StepClockRate/10;			// 100ms
-constexpr uint32_t AbsoluteMinimumPreparedTime = StepTimer::StepClockRate/20;		// 50ms
-
 // Object model table and functions
 // Note: if using GCC version 7.3.1 20180622 and lambda functions are used in this table, you must compile this file with option -std=gnu++17.
 // Otherwise the table will be allocated in RAM instead of flash, which wastes too much RAM.
@@ -356,9 +353,9 @@ void DDARing::PrepareMoves(DDA *firstUnpreparedMove, int32_t moveTimeLeft, unsig
 	// If the number of prepared moves will execute in less than the minimum time, prepare another move.
 	// Try to avoid preparing deceleration-only moves too early
 	while (	  firstUnpreparedMove->GetState() == DDA::provisional
-		   && moveTimeLeft < (int32_t)UsualMinimumPreparedTime		// prepare moves one eighth of a second ahead of when they will be needed
+		   && moveTimeLeft < (int32_t)DDA::UsualMinimumPreparedTime		// prepare moves one tenth of a second ahead of when they will be needed
 		   && alreadyPrepared * 2 < numDdasInRing					// but don't prepare more than half the ring
-		   && (firstUnpreparedMove->IsGoodToPrepare() || moveTimeLeft < (int32_t)AbsoluteMinimumPreparedTime)
+		   && (firstUnpreparedMove->IsGoodToPrepare() || moveTimeLeft < (int32_t)DDA::AbsoluteMinimumPreparedTime)
 #if SUPPORT_CAN_EXPANSION
 		   && CanMotion::CanPrepareMove()
 #endif
diff --git a/src/Movement/Kinematics/FiveBarScaraKinematics.h b/src/Movement/Kinematics/FiveBarScaraKinematics.h
index 4f97fafe..8fc137eb 100644
--- a/src/Movement/Kinematics/FiveBarScaraKinematics.h
+++ b/src/Movement/Kinematics/FiveBarScaraKinematics.h
@@ -42,8 +42,8 @@ public:
 	void OnHomingSwitchTriggered(size_t axis, bool highEnd, const float stepsPerMm[], DDA& dda) const noexcept override;
 	void LimitSpeedAndAcceleration(DDA& dda, const float *normalisedDirectionVector, size_t numVisibleAxes, bool continuousRotationShortcut) const noexcept override;
 	bool IsContinuousRotationAxis(size_t axis) const noexcept override;
-	AxesBitmap GetLinearAxes() const noexcept;
-	AxesBitmap GetConnectedAxes(size_t axis) const noexcept;
+	AxesBitmap GetLinearAxes() const noexcept override;
+	AxesBitmap GetConnectedAxes(size_t axis) const noexcept override;
 
 protected:
 	DECLARE_OBJECT_MODEL
diff --git a/src/Networking/ESP8266WiFi/WiFiSocket.h b/src/Networking/ESP8266WiFi/WiFiSocket.h
index 923f7020..7549e8c4 100644
--- a/src/Networking/ESP8266WiFi/WiFiSocket.h
+++ b/src/Networking/ESP8266WiFi/WiFiSocket.h
@@ -21,21 +21,22 @@ public:
 	WiFiSocket(NetworkInterface *iface) noexcept;
 	void Init(SocketNumber n) noexcept;
 	int State() const noexcept { return (int)state; }				// used only for reporting debug info, hence the 'int' return
-	void Poll() noexcept;
-	void Close() noexcept;
-	bool IsClosing() const noexcept { return (state == SocketState::closing); }
-	void Terminate() noexcept;
-	void TerminateAndDisable() noexcept { Terminate(); }
-	bool ReadChar(char& c) noexcept;
-	bool ReadBuffer(const uint8_t *&buffer, size_t &len) noexcept;
-	void Taken(size_t len) noexcept;
-	bool CanRead() const noexcept;
-	bool CanSend() const noexcept;
-	size_t Send(const uint8_t *data, size_t length) noexcept;
-	void Send() noexcept;
 	void SetNeedsPolling() noexcept { needsPolling = true; }
 	bool NeedsPolling() const noexcept;
 
+	void Poll() noexcept override;
+	void Close() noexcept override;
+	bool IsClosing() const noexcept { return (state == SocketState::closing); }
+	void Terminate() noexcept override;
+	void TerminateAndDisable() noexcept override { Terminate(); }
+	bool ReadChar(char& c) noexcept override;
+	bool ReadBuffer(const uint8_t *&buffer, size_t &len) noexcept override;
+	void Taken(size_t len) noexcept override;
+	bool CanRead() const noexcept override;
+	bool CanSend() const noexcept override;
+	size_t Send(const uint8_t *data, size_t length) noexcept override;
+	void Send() noexcept override;
+
 private:
 	enum class SocketState : uint8_t
 	{
diff --git a/src/Networking/W5500Ethernet/W5500Interface.h b/src/Networking/W5500Ethernet/W5500Interface.h
index fe9de794..e0176891 100644
--- a/src/Networking/W5500Ethernet/W5500Interface.h
+++ b/src/Networking/W5500Ethernet/W5500Interface.h
@@ -41,7 +41,7 @@ public:
 
 	GCodeResult EnableInterface(int mode, const StringRef& ssid, const StringRef& reply) noexcept override;			// enable or disable the network
 	GCodeResult EnableProtocol(NetworkProtocol protocol, int port, int secure, const StringRef& reply) noexcept override;
-	bool IsProtocolEnabled(NetworkProtocol protocol) noexcept;
+	bool IsProtocolEnabled(NetworkProtocol protocol) noexcept override;
 	GCodeResult DisableProtocol(NetworkProtocol protocol, const StringRef& reply) noexcept override;
 	GCodeResult ReportProtocols(const StringRef& reply) const noexcept override;
 
diff --git a/src/Platform/TaskPriorities.h b/src/Platform/TaskPriorities.h
index b65f1568..36545a55 100644
--- a/src/Platform/TaskPriorities.h
+++ b/src/Platform/TaskPriorities.h
@@ -14,7 +14,7 @@ namespace TaskPriority
 	constexpr int IdlePriority = 0;
 	constexpr int SpinPriority = 1;							// priority for tasks that rarely block
 #if HAS_LINUX_INTERFACE
-	constexpr int SbcPriority = 1;							// priority for SBC task
+	constexpr int SbcPriority = 1;							// priority for SBC task. TODO increase this when we are certain that it never spins.
 #endif
 #if defined(LPC_NETWORKING)
     constexpr int TcpPriority  = 2;
@@ -26,7 +26,9 @@ namespace TaskPriority
 	constexpr int TmcPriority = 4;
 	constexpr int AinPriority = 4;
 	constexpr int HeightFollowingPriority = 4;
+#ifdef DUET_NG
 	constexpr int DueXPriority = 5;
+#endif
 	constexpr int LaserPriority = 5;
 	constexpr int CanSenderPriority = 5;
 	constexpr int CanReceiverPriority = 5;
diff --git a/src/PrintMonitor/PrintMonitor.cpp b/src/PrintMonitor/PrintMonitor.cpp
index 64661cb9..4cf8f2ed 100644
--- a/src/PrintMonitor/PrintMonitor.cpp
+++ b/src/PrintMonitor/PrintMonitor.cpp
@@ -346,6 +346,14 @@ void PrintMonitor::SetLayerZ(float layerZ) noexcept
 	// Currently we don't use the layerZ value
 }
 
+// Report that a new layer has started
+void PrintMonitor::LayerChange() noexcept
+{
+	++currentLayer;
+	lastLayerChangeTime = millis64();
+	lastLayerChangeNonPrintingTime = GetWarmUpDuration() + GetPauseDuration();
+}
+
 float PrintMonitor::FractionOfFilePrinted() const noexcept
 {
 	ReadLocker locker(printMonitorLock);
diff --git a/src/PrintMonitor/PrintMonitor.h b/src/PrintMonitor/PrintMonitor.h
index 16ae6b62..5ff5406f 100644
--- a/src/PrintMonitor/PrintMonitor.h
+++ b/src/PrintMonitor/PrintMonitor.h
@@ -44,6 +44,7 @@ public:
 	void StoppedPrint() noexcept;							// Called whenever a file print has stopped
 	void SetLayerNumber(uint32_t layerNumber) noexcept;		// Set the current layer number
 	void SetLayerZ(float layerZ) noexcept;					// Set the printing height of the new layer
+	void LayerChange() noexcept;							// Report that a new layer has started
 	float FractionOfFilePrinted() const noexcept;			// Return the fraction printed (0..1)
 
 	// Return an estimate in seconds based on a specific estimation method
diff --git a/src/bossa/EefcFlash.h b/src/bossa/EefcFlash.h
index 91dc3682..a92241e6 100644
--- a/src/bossa/EefcFlash.h
+++ b/src/bossa/EefcFlash.h
@@ -49,30 +49,30 @@ public:
               bool canBrownout) THROWS(GCodeException);
     virtual ~EefcFlash();
 
-    void eraseAll(uint32_t offset) THROWS(GCodeException);
-    void eraseAuto(bool enable) noexcept;
+    void eraseAll(uint32_t offset) THROWS(GCodeException) override;
+    void eraseAuto(bool enable) noexcept override;
 
-    Vector<bool, 16> getLockRegions() THROWS(GCodeException);
+    Vector<bool, 16> getLockRegions() THROWS(GCodeException) override;
 
 #if ORIGINAL_BOSSA_CODE
     bool getSecurity();
 
     bool getBod();
 #endif
-    bool canBod() noexcept { return _canBrownout; }
+    bool canBod() noexcept override { return _canBrownout; }
 
 #if ORIGINAL_BOSSA_CODE
     bool getBor();
 #endif
-    bool canBor() noexcept { return _canBrownout; }
+    bool canBor() noexcept override { return _canBrownout; }
 
-    bool getBootFlash() THROWS(GCodeException);
-    bool canBootFlash() noexcept { return true; }
+    bool getBootFlash() THROWS(GCodeException) override;
+    bool canBootFlash() noexcept override { return true; }
 
-    void writeOptions() THROWS(GCodeException);
+    void writeOptions() THROWS(GCodeException) override;
 
-    void writePage(uint32_t page) THROWS(GCodeException);
-    void readPage(uint32_t page, uint8_t* data) THROWS(GCodeException);
+    void writePage(uint32_t page) THROWS(GCodeException) override;
+    void readPage(uint32_t page, uint8_t* data) THROWS(GCodeException) override;
 
     static const uint32_t PagesPerErase;