Merge remote-tracking branch 'dc42/dev' into v2-dev-lpc

Author: sdavi

WHATS_NEW.md

@@ -1,13 +1,33 @@
 Summary of important changes in recent versions
 ===============================================
 
-Version 2.05RC1
+Version 2.05RC2
 ===============
 Compatible files:
 - DuetWiFiServer 1.23
 - DuetWebControl 2.0.4 (recommended) or 1.22.6
 
-Upgrade notes: none
+Upgrade notes from version 2.04 or 2.05RC1:
+- If using this relesse to control a laser cutter or laser engraver, see "Changed behaviour" below.
+
+Changed behaviour:
+- In laser mode (M453), M3 never turns on the laser immediately. Instead it sets the default laser power for following G1/G2/G3 commands. Likewise, M5 does not immediately turn off the laser, it sets the default laser power for following G1/G2/G3 commands. If a subsequent G1 command has a S parameter, the value of that parameter becomes the default laser power for that command and subsequent G1/G2/G3 commands.
+
+Bug fixes:
+- 2.05RC1 was not compatible with Duet Web Control 2.0.x. This has been fixed.
+- In laser mode, M3 and M5 commands used in a job gave unpredictable results
+
+Version 2.05RC1
+===============
+Compatible files:
+- DuetWiFiServer 1.23
+- DuetWebControl 1.22.6
+
+Known issue:
+- This release is not compatible with Duet Web Control 2.0.x. Please either use Duet Web Control 1.22.6 or wait for firmware release 2.05RC2.
+
+Upgrade notes:
+- See the known issue above.
 
 Changed behaviour:
 - Current position is no longer shown for pulse-type filament monitors, because it was meaningless and nearly always zero

src/GCodes/GCodeQueue.cpp

@@ -41,16 +41,19 @@ GCodeQueue::GCodeQueue() : freeItems(nullptr), queuedItems(nullptr)
 		case 'G':
 			{
 				const int code = gb.GetCommandNumber();
-				return code == 10 && gb.Seen('P');			// Set active/standby temperatures
+				return code == 10 && gb.Seen('P') && !gb.Seen('L') && (gb.Seen('R') || gb.Seen('S'));			// set active/standby temperatures
 			}
 
 		case 'M':
 			{
 				switch (gb.GetCommandNumber())
 				{
-				case 3:		// spindle control
+				case 3:		// spindle or laser control
+				case 5:		// spindle or laser control
+					// On laser devices we use these codes to set the default laser power for the next G1 command
+					return reprap.GetGCodes().GetMachineType() != MachineType::laser;
+
 				case 4:		// spindle control
-				case 5:		// spindle control
 				case 42:	// set IO pin
 				case 106:	// fan control
 				case 107:	// fan off

src/GCodes/GCodes.cpp

@@ -4129,7 +4129,7 @@ void GCodes::HandleReply(GCodeBuffer& gb, GCodeResult rslt, const char* reply)
 	{
 	case Compatibility::me:
 	case Compatibility::reprapFirmware:
-		if (reply[0] != 0)
+		// DWC2 expects a response to each command even is the response is just a newline. So don't suppress empty responses.
 		{
 			const MessageType mt = (rslt == GCodeResult::error) ? (MessageType)(type | ErrorMessageFlag | LogMessage)
 									: (rslt == GCodeResult::warning) ? (MessageType)(type | WarningMessageFlag | LogMessage)

src/GCodes/GCodes2.cpp

@@ -430,15 +430,11 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 				}
 				break;
 
-			case MachineType::laser:
-				{
-					const Pwm_t laserPwm = ConvertLaserPwm(gb.GetFValue());
-					platform.SetLaserPwm(laserPwm);
 #if SUPPORT_LASER
-					moveBuffer.laserPwmOrIoBits.laserPwm = laserPwm;
-#endif
-				}
+			case MachineType::laser:
+				moveBuffer.laserPwmOrIoBits.laserPwm = ConvertLaserPwm(gb.GetFValue());
 				break;
+#endif
 
 			default:
 #if SUPPORT_ROLAND
@@ -508,12 +504,11 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 			}
 			break;
 
-		case MachineType::laser:
-			platform.SetLaserPwm(0);
 #if SUPPORT_LASER
+		case MachineType::laser:
 			moveBuffer.laserPwmOrIoBits.Clear();
-#endif
 			break;
+#endif
 
 		default:
 #if SUPPORT_ROLAND

src/GCodes/GCodes3.cpp

@@ -355,14 +355,14 @@ GCodeResult GCodes::DefineGrid(GCodeBuffer& gb, const StringRef &reply)
 
 	if (seenX != seenY)
 	{
-		reply.copy("specify both or neither of X and Y in M577");
+		reply.copy("specify both or neither of X and Y in M557");
 		return GCodeResult::error;
 	}
 
 	if (!seenX && !seenR)
 	{
 		// Must have given just the S or P parameter
-		reply.copy("specify at least radius or X and Y ranges in M577");
+		reply.copy("specify at least radius or X and Y ranges in M557");
 		return GCodeResult::error;
 	}
 

src/Storage/CRC32.cpp

@@ -1,6 +1,6 @@
 #include "CRC32.h"
 
-const uint32_t CRC32::CRC_32_TAB[256] =
+constexpr uint32_t CRC_32_TAB[256] =
 {
 	// CRC polynomial 0xedb88320
 	0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f,
@@ -48,22 +48,178 @@ const uint32_t CRC32::CRC_32_TAB[256] =
 	0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
 };
 
+#if SAME70
+
+// On SAME70 we have more flash memory available, so use 4K table instead of 1K and the faster slicing-by-4 algorithm
+constexpr uint32_t CRC_32_TAB1[256] =
+{
+	0x00000000,0x191B3141,0x32366282,0x2B2D53C3,0x646CC504,0x7D77F445,0x565AA786,0x4F4196C7,
+	0xC8D98A08,0xD1C2BB49,0xFAEFE88A,0xE3F4D9CB,0xACB54F0C,0xB5AE7E4D,0x9E832D8E,0x87981CCF,
+	0x4AC21251,0x53D92310,0x78F470D3,0x61EF4192,0x2EAED755,0x37B5E614,0x1C98B5D7,0x05838496,
+	0x821B9859,0x9B00A918,0xB02DFADB,0xA936CB9A,0xE6775D5D,0xFF6C6C1C,0xD4413FDF,0xCD5A0E9E,
+	0x958424A2,0x8C9F15E3,0xA7B24620,0xBEA97761,0xF1E8E1A6,0xE8F3D0E7,0xC3DE8324,0xDAC5B265,
+	0x5D5DAEAA,0x44469FEB,0x6F6BCC28,0x7670FD69,0x39316BAE,0x202A5AEF,0x0B07092C,0x121C386D,
+	0xDF4636F3,0xC65D07B2,0xED705471,0xF46B6530,0xBB2AF3F7,0xA231C2B6,0x891C9175,0x9007A034,
+	0x179FBCFB,0x0E848DBA,0x25A9DE79,0x3CB2EF38,0x73F379FF,0x6AE848BE,0x41C51B7D,0x58DE2A3C,
+	0xF0794F05,0xE9627E44,0xC24F2D87,0xDB541CC6,0x94158A01,0x8D0EBB40,0xA623E883,0xBF38D9C2,
+	0x38A0C50D,0x21BBF44C,0x0A96A78F,0x138D96CE,0x5CCC0009,0x45D73148,0x6EFA628B,0x77E153CA,
+	0xBABB5D54,0xA3A06C15,0x888D3FD6,0x91960E97,0xDED79850,0xC7CCA911,0xECE1FAD2,0xF5FACB93,
+	0x7262D75C,0x6B79E61D,0x4054B5DE,0x594F849F,0x160E1258,0x0F152319,0x243870DA,0x3D23419B,
+	0x65FD6BA7,0x7CE65AE6,0x57CB0925,0x4ED03864,0x0191AEA3,0x188A9FE2,0x33A7CC21,0x2ABCFD60,
+	0xAD24E1AF,0xB43FD0EE,0x9F12832D,0x8609B26C,0xC94824AB,0xD05315EA,0xFB7E4629,0xE2657768,
+	0x2F3F79F6,0x362448B7,0x1D091B74,0x04122A35,0x4B53BCF2,0x52488DB3,0x7965DE70,0x607EEF31,
+	0xE7E6F3FE,0xFEFDC2BF,0xD5D0917C,0xCCCBA03D,0x838A36FA,0x9A9107BB,0xB1BC5478,0xA8A76539,
+	0x3B83984B,0x2298A90A,0x09B5FAC9,0x10AECB88,0x5FEF5D4F,0x46F46C0E,0x6DD93FCD,0x74C20E8C,
+	0xF35A1243,0xEA412302,0xC16C70C1,0xD8774180,0x9736D747,0x8E2DE606,0xA500B5C5,0xBC1B8484,
+	0x71418A1A,0x685ABB5B,0x4377E898,0x5A6CD9D9,0x152D4F1E,0x0C367E5F,0x271B2D9C,0x3E001CDD,
+	0xB9980012,0xA0833153,0x8BAE6290,0x92B553D1,0xDDF4C516,0xC4EFF457,0xEFC2A794,0xF6D996D5,
+	0xAE07BCE9,0xB71C8DA8,0x9C31DE6B,0x852AEF2A,0xCA6B79ED,0xD37048AC,0xF85D1B6F,0xE1462A2E,
+	0x66DE36E1,0x7FC507A0,0x54E85463,0x4DF36522,0x02B2F3E5,0x1BA9C2A4,0x30849167,0x299FA026,
+	0xE4C5AEB8,0xFDDE9FF9,0xD6F3CC3A,0xCFE8FD7B,0x80A96BBC,0x99B25AFD,0xB29F093E,0xAB84387F,
+	0x2C1C24B0,0x350715F1,0x1E2A4632,0x07317773,0x4870E1B4,0x516BD0F5,0x7A468336,0x635DB277,
+	0xCBFAD74E,0xD2E1E60F,0xF9CCB5CC,0xE0D7848D,0xAF96124A,0xB68D230B,0x9DA070C8,0x84BB4189,
+	0x03235D46,0x1A386C07,0x31153FC4,0x280E0E85,0x674F9842,0x7E54A903,0x5579FAC0,0x4C62CB81,
+	0x8138C51F,0x9823F45E,0xB30EA79D,0xAA1596DC,0xE554001B,0xFC4F315A,0xD7626299,0xCE7953D8,
+	0x49E14F17,0x50FA7E56,0x7BD72D95,0x62CC1CD4,0x2D8D8A13,0x3496BB52,0x1FBBE891,0x06A0D9D0,
+	0x5E7EF3EC,0x4765C2AD,0x6C48916E,0x7553A02F,0x3A1236E8,0x230907A9,0x0824546A,0x113F652B,
+	0x96A779E4,0x8FBC48A5,0xA4911B66,0xBD8A2A27,0xF2CBBCE0,0xEBD08DA1,0xC0FDDE62,0xD9E6EF23,
+	0x14BCE1BD,0x0DA7D0FC,0x268A833F,0x3F91B27E,0x70D024B9,0x69CB15F8,0x42E6463B,0x5BFD777A,
+	0xDC656BB5,0xC57E5AF4,0xEE530937,0xF7483876,0xB809AEB1,0xA1129FF0,0x8A3FCC33,0x9324FD72,
+};
+
+constexpr uint32_t CRC_32_TAB2[256] =
+{
+	0x00000000,0x01C26A37,0x0384D46E,0x0246BE59,0x0709A8DC,0x06CBC2EB,0x048D7CB2,0x054F1685,
+	0x0E1351B8,0x0FD13B8F,0x0D9785D6,0x0C55EFE1,0x091AF964,0x08D89353,0x0A9E2D0A,0x0B5C473D,
+	0x1C26A370,0x1DE4C947,0x1FA2771E,0x1E601D29,0x1B2F0BAC,0x1AED619B,0x18ABDFC2,0x1969B5F5,
+	0x1235F2C8,0x13F798FF,0x11B126A6,0x10734C91,0x153C5A14,0x14FE3023,0x16B88E7A,0x177AE44D,
+	0x384D46E0,0x398F2CD7,0x3BC9928E,0x3A0BF8B9,0x3F44EE3C,0x3E86840B,0x3CC03A52,0x3D025065,
+	0x365E1758,0x379C7D6F,0x35DAC336,0x3418A901,0x3157BF84,0x3095D5B3,0x32D36BEA,0x331101DD,
+	0x246BE590,0x25A98FA7,0x27EF31FE,0x262D5BC9,0x23624D4C,0x22A0277B,0x20E69922,0x2124F315,
+	0x2A78B428,0x2BBADE1F,0x29FC6046,0x283E0A71,0x2D711CF4,0x2CB376C3,0x2EF5C89A,0x2F37A2AD,
+	0x709A8DC0,0x7158E7F7,0x731E59AE,0x72DC3399,0x7793251C,0x76514F2B,0x7417F172,0x75D59B45,
+	0x7E89DC78,0x7F4BB64F,0x7D0D0816,0x7CCF6221,0x798074A4,0x78421E93,0x7A04A0CA,0x7BC6CAFD,
+	0x6CBC2EB0,0x6D7E4487,0x6F38FADE,0x6EFA90E9,0x6BB5866C,0x6A77EC5B,0x68315202,0x69F33835,
+	0x62AF7F08,0x636D153F,0x612BAB66,0x60E9C151,0x65A6D7D4,0x6464BDE3,0x662203BA,0x67E0698D,
+	0x48D7CB20,0x4915A117,0x4B531F4E,0x4A917579,0x4FDE63FC,0x4E1C09CB,0x4C5AB792,0x4D98DDA5,
+	0x46C49A98,0x4706F0AF,0x45404EF6,0x448224C1,0x41CD3244,0x400F5873,0x4249E62A,0x438B8C1D,
+	0x54F16850,0x55330267,0x5775BC3E,0x56B7D609,0x53F8C08C,0x523AAABB,0x507C14E2,0x51BE7ED5,
+	0x5AE239E8,0x5B2053DF,0x5966ED86,0x58A487B1,0x5DEB9134,0x5C29FB03,0x5E6F455A,0x5FAD2F6D,
+	0xE1351B80,0xE0F771B7,0xE2B1CFEE,0xE373A5D9,0xE63CB35C,0xE7FED96B,0xE5B86732,0xE47A0D05,
+	0xEF264A38,0xEEE4200F,0xECA29E56,0xED60F461,0xE82FE2E4,0xE9ED88D3,0xEBAB368A,0xEA695CBD,
+	0xFD13B8F0,0xFCD1D2C7,0xFE976C9E,0xFF5506A9,0xFA1A102C,0xFBD87A1B,0xF99EC442,0xF85CAE75,
+	0xF300E948,0xF2C2837F,0xF0843D26,0xF1465711,0xF4094194,0xF5CB2BA3,0xF78D95FA,0xF64FFFCD,
+	0xD9785D60,0xD8BA3757,0xDAFC890E,0xDB3EE339,0xDE71F5BC,0xDFB39F8B,0xDDF521D2,0xDC374BE5,
+	0xD76B0CD8,0xD6A966EF,0xD4EFD8B6,0xD52DB281,0xD062A404,0xD1A0CE33,0xD3E6706A,0xD2241A5D,
+	0xC55EFE10,0xC49C9427,0xC6DA2A7E,0xC7184049,0xC25756CC,0xC3953CFB,0xC1D382A2,0xC011E895,
+	0xCB4DAFA8,0xCA8FC59F,0xC8C97BC6,0xC90B11F1,0xCC440774,0xCD866D43,0xCFC0D31A,0xCE02B92D,
+	0x91AF9640,0x906DFC77,0x922B422E,0x93E92819,0x96A63E9C,0x976454AB,0x9522EAF2,0x94E080C5,
+	0x9FBCC7F8,0x9E7EADCF,0x9C381396,0x9DFA79A1,0x98B56F24,0x99770513,0x9B31BB4A,0x9AF3D17D,
+	0x8D893530,0x8C4B5F07,0x8E0DE15E,0x8FCF8B69,0x8A809DEC,0x8B42F7DB,0x89044982,0x88C623B5,
+	0x839A6488,0x82580EBF,0x801EB0E6,0x81DCDAD1,0x8493CC54,0x8551A663,0x8717183A,0x86D5720D,
+	0xA9E2D0A0,0xA820BA97,0xAA6604CE,0xABA46EF9,0xAEEB787C,0xAF29124B,0xAD6FAC12,0xACADC625,
+	0xA7F18118,0xA633EB2F,0xA4755576,0xA5B73F41,0xA0F829C4,0xA13A43F3,0xA37CFDAA,0xA2BE979D,
+	0xB5C473D0,0xB40619E7,0xB640A7BE,0xB782CD89,0xB2CDDB0C,0xB30FB13B,0xB1490F62,0xB08B6555,
+	0xBBD72268,0xBA15485F,0xB853F606,0xB9919C31,0xBCDE8AB4,0xBD1CE083,0xBF5A5EDA,0xBE9834ED,
+};
+
+constexpr uint32_t CRC_32_TAB3[256] =
+{
+	0x00000000,0xB8BC6765,0xAA09C88B,0x12B5AFEE,0x8F629757,0x37DEF032,0x256B5FDC,0x9DD738B9,
+	0xC5B428EF,0x7D084F8A,0x6FBDE064,0xD7018701,0x4AD6BFB8,0xF26AD8DD,0xE0DF7733,0x58631056,
+	0x5019579F,0xE8A530FA,0xFA109F14,0x42ACF871,0xDF7BC0C8,0x67C7A7AD,0x75720843,0xCDCE6F26,
+	0x95AD7F70,0x2D111815,0x3FA4B7FB,0x8718D09E,0x1ACFE827,0xA2738F42,0xB0C620AC,0x087A47C9,
+	0xA032AF3E,0x188EC85B,0x0A3B67B5,0xB28700D0,0x2F503869,0x97EC5F0C,0x8559F0E2,0x3DE59787,
+	0x658687D1,0xDD3AE0B4,0xCF8F4F5A,0x7733283F,0xEAE41086,0x525877E3,0x40EDD80D,0xF851BF68,
+	0xF02BF8A1,0x48979FC4,0x5A22302A,0xE29E574F,0x7F496FF6,0xC7F50893,0xD540A77D,0x6DFCC018,
+	0x359FD04E,0x8D23B72B,0x9F9618C5,0x272A7FA0,0xBAFD4719,0x0241207C,0x10F48F92,0xA848E8F7,
+	0x9B14583D,0x23A83F58,0x311D90B6,0x89A1F7D3,0x1476CF6A,0xACCAA80F,0xBE7F07E1,0x06C36084,
+	0x5EA070D2,0xE61C17B7,0xF4A9B859,0x4C15DF3C,0xD1C2E785,0x697E80E0,0x7BCB2F0E,0xC377486B,
+	0xCB0D0FA2,0x73B168C7,0x6104C729,0xD9B8A04C,0x446F98F5,0xFCD3FF90,0xEE66507E,0x56DA371B,
+	0x0EB9274D,0xB6054028,0xA4B0EFC6,0x1C0C88A3,0x81DBB01A,0x3967D77F,0x2BD27891,0x936E1FF4,
+	0x3B26F703,0x839A9066,0x912F3F88,0x299358ED,0xB4446054,0x0CF80731,0x1E4DA8DF,0xA6F1CFBA,
+	0xFE92DFEC,0x462EB889,0x549B1767,0xEC277002,0x71F048BB,0xC94C2FDE,0xDBF98030,0x6345E755,
+	0x6B3FA09C,0xD383C7F9,0xC1366817,0x798A0F72,0xE45D37CB,0x5CE150AE,0x4E54FF40,0xF6E89825,
+	0xAE8B8873,0x1637EF16,0x048240F8,0xBC3E279D,0x21E91F24,0x99557841,0x8BE0D7AF,0x335CB0CA,
+	0xED59B63B,0x55E5D15E,0x47507EB0,0xFFEC19D5,0x623B216C,0xDA874609,0xC832E9E7,0x708E8E82,
+	0x28ED9ED4,0x9051F9B1,0x82E4565F,0x3A58313A,0xA78F0983,0x1F336EE6,0x0D86C108,0xB53AA66D,
+	0xBD40E1A4,0x05FC86C1,0x1749292F,0xAFF54E4A,0x322276F3,0x8A9E1196,0x982BBE78,0x2097D91D,
+	0x78F4C94B,0xC048AE2E,0xD2FD01C0,0x6A4166A5,0xF7965E1C,0x4F2A3979,0x5D9F9697,0xE523F1F2,
+	0x4D6B1905,0xF5D77E60,0xE762D18E,0x5FDEB6EB,0xC2098E52,0x7AB5E937,0x680046D9,0xD0BC21BC,
+	0x88DF31EA,0x3063568F,0x22D6F961,0x9A6A9E04,0x07BDA6BD,0xBF01C1D8,0xADB46E36,0x15080953,
+	0x1D724E9A,0xA5CE29FF,0xB77B8611,0x0FC7E174,0x9210D9CD,0x2AACBEA8,0x38191146,0x80A57623,
+	0xD8C66675,0x607A0110,0x72CFAEFE,0xCA73C99B,0x57A4F122,0xEF189647,0xFDAD39A9,0x45115ECC,
+	0x764DEE06,0xCEF18963,0xDC44268D,0x64F841E8,0xF92F7951,0x41931E34,0x5326B1DA,0xEB9AD6BF,
+	0xB3F9C6E9,0x0B45A18C,0x19F00E62,0xA14C6907,0x3C9B51BE,0x842736DB,0x96929935,0x2E2EFE50,
+	0x2654B999,0x9EE8DEFC,0x8C5D7112,0x34E11677,0xA9362ECE,0x118A49AB,0x033FE645,0xBB838120,
+	0xE3E09176,0x5B5CF613,0x49E959FD,0xF1553E98,0x6C820621,0xD43E6144,0xC68BCEAA,0x7E37A9CF,
+	0xD67F4138,0x6EC3265D,0x7C7689B3,0xC4CAEED6,0x591DD66F,0xE1A1B10A,0xF3141EE4,0x4BA87981,
+	0x13CB69D7,0xAB770EB2,0xB9C2A15C,0x017EC639,0x9CA9FE80,0x241599E5,0x36A0360B,0x8E1C516E,
+	0x866616A7,0x3EDA71C2,0x2C6FDE2C,0x94D3B949,0x090481F0,0xB1B8E695,0xA30D497B,0x1BB12E1E,
+	0x43D23E48,0xFB6E592D,0xE9DBF6C3,0x516791A6,0xCCB0A91F,0x740CCE7A,0x66B96194,0xDE0506F1,
+};
+
+#endif
+
 CRC32::CRC32()
 {
 	Reset();
 }
 
-inline void CRC32::Update(char c)
+void CRC32::Update(char c)
 {
 	crc = (CRC_32_TAB[(crc ^ c) & 0xFF] ^ (crc >> 8));
 }
 
-void CRC32::Update(const char *c, size_t len)
+// A note on CRC algorithms on ARM:
+// Original algorithm (1 byte per loop iteration, 1K table): 7 instructions, 11 clocks (11 clocks/byte)
+// Algorithm currently used on non-SAME70 processors (4 bytes per loop iteration, 1K table): 19 instructions, 26 clocks (6.5 clocks/byte)
+// Slicing-by-4 using 1 dword per loop iteration: 15 instructions, 18 clocks (4.5 clocks/byte)
+// Slicing-by-4 using 1 quadword per loop iteration: 28 instructions, 31 clocks (3.875 clocks/byte)
+void CRC32::Update(const char *s, size_t len)
 {
-	for (size_t i = 0; i < len; ++i)
+	// The speed of this function affects the speed of file uploads, so make it as fast as possible. Sadly the SAME70 doesn't do hardware CRC calculation.
+	// Work on a local copy of the crc to avoid storing it all the time
+	uint32_t locCrc = crc;
+	const char * const end = s + len;
+
+	// Process any bytes at the start until we reach a dword boundary
+	while ((reinterpret_cast<uint32_t>(s) & 3) != 0 && s != end)
+	{
+		locCrc = (CRC_32_TAB[(locCrc ^ *s++) & 0xFF] ^ (locCrc >> 8));
+	}
+
+#if SAME70
+	const char * const endAligned = s + ((end - s) & ~7);
+	while (s != endAligned)
+	{
+		// Slicing-by-4 algorithm, 2 quadwords at a time
+		const uint32_t data0 = *reinterpret_cast<const uint32_t*>(s) ^ locCrc;
+	    locCrc = CRC_32_TAB[(data0 >> 24) & 0xFF] ^ CRC_32_TAB1[(data0 >> 16) & 0xFF] ^ CRC_32_TAB2[(data0 >> 8) & 0xFF] ^ CRC_32_TAB3[data0 & 0xFF];
+		const uint32_t data1 = *reinterpret_cast<const uint32_t*>(s + 4) ^ locCrc;
+	    locCrc = CRC_32_TAB[(data1 >> 24) & 0xFF] ^ CRC_32_TAB1[(data1 >> 16) & 0xFF] ^ CRC_32_TAB2[(data1 >> 8) & 0xFF] ^ CRC_32_TAB3[data1 & 0xFF];
+		s += 8;
+	}
+#else
+	const char * const endAligned = s + ((end - s) & ~3);
+	while (s != endAligned)
 	{
-		Update(c[i]);
+		const uint32_t data = *reinterpret_cast<const uint32_t*>(s);
+		s += 4;
+		locCrc = (CRC_32_TAB[(locCrc ^ data) & 0xFF] ^ (locCrc >> 8));
+		locCrc = (CRC_32_TAB[(locCrc ^ (data >> 8)) & 0xFF] ^ (locCrc >> 8));
+		locCrc = (CRC_32_TAB[(locCrc ^ (data >> 16)) & 0xFF] ^ (locCrc >> 8));
+		locCrc = (CRC_32_TAB[(locCrc ^ (data >> 24)) & 0xFF] ^ (locCrc >> 8));
 	}
+#endif
+
+	// Process up to 7 (SAME70) or 3 (others) bytes at the end
+	while (s != end)
+	{
+		locCrc = (CRC_32_TAB[(locCrc ^ *s++) & 0xFF] ^ (locCrc >> 8));
+	}
+
+	crc = locCrc;
 }
 
 void CRC32::Reset()

src/Storage/CRC32.h

@@ -1,13 +1,11 @@
 #ifndef CRC32_H
 #define CRC32_H
 
-#include <cstdint> // for uint32_t
-#include <cstddef> // for size_t
+#include <RepRapFirmware.h>
 
 class CRC32
 {
 private:
-	static const uint32_t CRC_32_TAB[];
 	uint32_t crc;
 
 public:
@@ -16,12 +14,11 @@ class CRC32
 	void Update(const char *c, size_t len);
 	void Reset();
 	uint32_t Get() const;
-
 };
 
 inline uint32_t CRC32::Get() const
 {
 	return ~crc;
 }
 
-#endif
+#endif

src/Version.h

@@ -11,16 +11,16 @@
 
 #ifndef VERSION
 #ifdef RTOS
-# define MAIN_VERSION	"2.05RC1"
+# define MAIN_VERSION	"2.05RC2"
 #else
-# define MAIN_VERSION	"1.26RC1"
+# define MAIN_VERSION	"1.26RC2"
 #endif
 
 # define VERSION MAIN_VERSION
 #endif
 
 #ifndef DATE
-# define DATE "2019-11-29b1"
+# define DATE "2019-12-08b1"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"