3 files changed, 73 insertions, 13 deletions

diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp
index 08489c13..e82780c4 100644
--- a/src/Platform/Platform.cpp
+++ b/src/Platform/Platform.cpp
@@ -3761,6 +3761,29 @@ void Platform::ResetChannel(size_t chan) noexcept
 #endif
 }
 
+#if defined(DUET3_MB6HC)
+
+// this is safe to call before Platform has been created
+/*static*/ BoardType Platform::GetMB6HCBoardType() noexcept
+{
+	// Driver 0 direction has a pulldown resistor on v0.6 and v1.0 boards, but not on v1.01 or v1.02 boards
+	// Driver 1 has a pulldown resistor on v0.1 and v1.0 boards, however we don't support v0.1 and we don't care about the difference between v0.6 and v1.0, so we don't need to read it
+	// Driver 2 has a pulldown resistor on v1.02 only
+	pinMode(DIRECTION_PINS[2], INPUT_PULLUP);
+	pinMode(DIRECTION_PINS[0], INPUT_PULLUP);
+	delayMicroseconds(20);									// give the pullup resistor time to work
+	if (digitalRead(DIRECTION_PINS[2]))
+	{
+		return (digitalRead(DIRECTION_PINS[0])) ? BoardType::Duet3_6HC_v101 : BoardType::Duet3_6HC_v06_100;
+	}
+	else
+	{
+		return BoardType::Duet3_6HC_v102;
+	}
+}
+
+#endif
+
 // Set the board type. This must be called quite early, because for some builds it relies on pins not having been programmed for their intended use yet.
 void Platform::SetBoardType(BoardType bt) noexcept
 {
@@ -3774,21 +3797,20 @@ void Platform::SetBoardType(BoardType bt) noexcept
 					? BoardType::Duet3Mini_WiFi
 						: BoardType::Duet3Mini_Ethernet;
 #elif defined(DUET3_MB6HC)
-		// Driver 0 direction has a pulldown resistor on v0.6 and v1.0 boards, but not on v1.01 or v1.02 boards
-		// Driver 1 has a pulldown resistor on v0.1 and v1.0 boards, however we don't support v0.1 and we don't care about the difference between v0.6 and v1.0, so we don't need to read it
-		// Driver 2 has a pulldown resistor on v1.02 only
-		pinMode(DIRECTION_PINS[2], INPUT_PULLUP);
-		pinMode(DIRECTION_PINS[0], INPUT_PULLUP);
-		delayMicroseconds(20);									// give the pullup resistor time to work
-		if (digitalRead(DIRECTION_PINS[2]))
+		board = GetMB6HCBoardType();
+		if (board == BoardType::Duet3_6HC_v102)
 		{
-			board = (digitalRead(DIRECTION_PINS[0])) ? BoardType::Duet3_6HC_v101 : BoardType::Duet3_6HC_v06_100;
-			powerMonitorVoltageRange = PowerMonitorVoltageRange_v101;
+			powerMonitorVoltageRange = PowerMonitorVoltageRange_v102;
+			DiagPin = DiagPin102;
+			ActLedPin = ActLedPin102;
+			DiagOnPolarity = DiagOnPolarity102;
 		}
 		else
 		{
-			board = BoardType::Duet3_6HC_v102;
-			powerMonitorVoltageRange = PowerMonitorVoltageRange_v102;
+			powerMonitorVoltageRange = PowerMonitorVoltageRange_v101;
+			DiagPin = DiagPinPre102;
+			ActLedPin = ActLedPinPre102;
+			DiagOnPolarity = DiagOnPolarityPre102;
 		}
 		driverPowerOnAdcReading = PowerVoltageToAdcReading(10.0);
 		driverPowerOffAdcReading = PowerVoltageToAdcReading(9.5);
@@ -4646,6 +4668,20 @@ uint32_t Platform::Random() noexcept
 
 #endif
 
+void Platform::SetDiagLed(bool on) const noexcept
+{
+	digitalWrite(DiagPin, XNor(DiagOnPolarity, on));
+}
+
+#if SUPPORT_MULTICAST_DISCOVERY
+
+void Platform::InvertDiagLed() const noexcept
+{
+	digitalWrite(DiagPin, !digitalRead(DiagPin));
+}
+
+#endif
+
 #if HAS_CPU_TEMP_SENSOR && SAME5x
 
 void Platform::TemperatureCalibrationInit() noexcept
diff --git a/src/Platform/Platform.h b/src/Platform/Platform.h
index 1ed5186b..22735a98 100644
--- a/src/Platform/Platform.h
+++ b/src/Platform/Platform.h
@@ -672,7 +672,17 @@ public:
 #endif
 
 #if SUPPORT_CAN_EXPANSION
-	void OnProcessingCanMessage() noexcept;								// called when we start processing any CAN message except for regular messages e.g. time sync
+	void OnProcessingCanMessage() noexcept;										// called when we start processing any CAN message except for regular messages e.g. time sync
+#endif
+
+#if defined(DUET3_MB6HC)
+	static BoardType GetMB6HCBoardType() noexcept;								// this is safe to call before Platform has been created
+#endif
+
+	void SetDiagLed(bool on) const noexcept;
+
+#if SUPPORT_MULTICAST_DISCOVERY
+	void InvertDiagLed() const noexcept;
 #endif
 
 protected:
@@ -894,6 +904,9 @@ private:
 	float powerMonitorVoltageRange;
 	uint16_t driverPowerOnAdcReading;
 	uint16_t driverPowerOffAdcReading;
+	Pin DiagPin;
+	Pin ActLedPin;
+	bool DiagOnPolarity;
 #endif
 
 	bool autoSaveEnabled;
diff --git a/src/Platform/Tasks.cpp b/src/Platform/Tasks.cpp
index 7d7c39e8..4d42d332 100644
--- a/src/Platform/Tasks.cpp
+++ b/src/Platform/Tasks.cpp
@@ -128,8 +128,19 @@ void *Tasks::GetNVMBuffer(const uint32_t *_ecv_array null stk) noexcept
 // Application entry point
 [[noreturn]] void AppMain() noexcept
 {
+#if defined(DUET3_MB6HC)													// for MB6HC the Status and Activity pins and polarity depend on the board version
+	const BoardType bt = Platform::GetMB6HCBoardType();
+	const Pin DiagPin = (bt == BoardType::Duet3_6HC_v102) ? DiagPin102 : DiagPinPre102;
+	const Pin ActLedPin = (bt == BoardType::Duet3_6HC_v102) ? ActLedPin102 : ActLedPinPre102;
+	const bool DiagOnPolarity = (bt == BoardType::Duet3_6HC_v102) ? DiagOnPolarity102 : DiagOnPolarityPre102;
+	if (bt == BoardType::Duet3_6HC_v102)
+	{
+		pinMode(UsbPowerSwitchPin, OUTPUT_LOW);								// turn USB power off
+		pinMode(UsbModePin, OUTPUT_LOW);									// USB mode = device/UFP
+	}
+#endif
 	pinMode(DiagPin, (DiagOnPolarity) ? OUTPUT_LOW : OUTPUT_HIGH);			// set up status LED for debugging and turn it off
-#if defined(DUET3MINI) || defined(DUET3_MB6XD)
+#if defined(DUET3MINI) || defined(DUET3_MB6HC) || defined(DUET3_MB6XD)
 	pinMode(ActLedPin, (ActOnPolarity) ? OUTPUT_LOW : OUTPUT_HIGH);			// set up activity LED and turn it off
 #endif