Final (?) changes to 3.0RC1

dc42 · dc42 · commit dc9a01971422 · 2019-12-14T13:15:01.000Z
Removed M574 S0 option
Fix truncation of M574 report
Unconfigured fans report fanPercent -1 instead of -100
diff --git a/src/Endstops/Endstop.h b/src/Endstops/Endstop.h
@@ -56,7 +56,7 @@ inline void EndstopOrZProbe::UpdateStalledDrivers(uint32_t driverMask, bool isSt
 class Endstop : public EndstopOrZProbe
 {
 public:
-	virtual EndStopInputType GetEndstopType() const = 0;
+	virtual EndStopType GetEndstopType() const = 0;
 	virtual bool Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) = 0;
 	virtual void AppendDetails(const StringRef& str) = 0;
 
diff --git a/src/Endstops/EndstopDefs.h b/src/Endstops/EndstopDefs.h
@@ -53,10 +53,10 @@ enum class EndStopPosition : unsigned int
 };
 
 // Type of an endstop input - values must tally with the M574 command S parameter
-enum class EndStopInputType : unsigned int
+enum class EndStopType : unsigned int
 {
-	activeLow = 0,
-	activeHigh = 1,
+	unused_wasActiveLow = 0,
+	inputPin = 1,
 	zProbeAsEndstop = 2,
 	motorStallAny = 3,
 	motorStallIndividual = 4,
diff --git a/src/Endstops/EndstopsManager.cpp b/src/Endstops/EndstopsManager.cpp
@@ -20,6 +20,7 @@
 #include "GCodes/GCodeBuffer/GCodeBuffer.h"
 #include "GCodes/GCodes.h"
 #include "Movement/Move.h"
+#include <OutputMemory.h>
 
 #if SUPPORT_CAN_EXPANSION
 # include "CanMessageBuffer.h"
@@ -49,7 +50,7 @@ void EndstopsManager::Init()
 	for (size_t axis = 0; axis < ARRAY_SIZE(DefaultEndstopPinNames); ++axis)
 	{
 		SwitchEndstop * const sw = new SwitchEndstop(axis, EndStopPosition::lowEndStop);
-		sw->Configure(DefaultEndstopPinNames[axis], dummy.GetRef(), EndStopInputType::activeHigh);
+		sw->Configure(DefaultEndstopPinNames[axis], dummy.GetRef());
 		axisEndstops[axis] = sw;
 	}
 #endif
@@ -206,7 +207,7 @@ EndstopHitDetails EndstopsManager::CheckEndstops(bool goingSlow)
 }
 
 // Configure the endstops in response to M574
-GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply)
+GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply, OutputBuffer*& outbuf)
 {
 	// First count how many axes we are configuring, and lock movement if necessary
 	unsigned int axesSeen = 0;
@@ -229,22 +230,29 @@ GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply)
 
 	if (axesSeen == 0)
 	{
-		reply.copy("Endstop configuration");
-		char sep = ':';
+		// Report current configuration
+		// The response can get very long, so allocate an output buffer
+		if (outbuf == nullptr && !OutputBuffer::Allocate(outbuf))
+		{
+			return GCodeResult::notFinished;
+		}
+
+		outbuf->copy("Endstop configuration:");
 		ReadLocker lock(endstopsLock);
 
 		for (size_t axis = 0; axis < reprap.GetGCodes().GetTotalAxes(); ++axis)
 		{
-			reply.catf("%c %c: ", sep, reprap.GetGCodes().GetAxisLetters()[axis]);
-			sep = ',';
+			outbuf->catf("\n%c: ", reprap.GetGCodes().GetAxisLetters()[axis]);
 			if (axisEndstops[axis] == nullptr)
 			{
-				reply.cat("none");
+				outbuf->cat("none");
 			}
 			else
 			{
-				reply.cat((axisEndstops[axis]->GetAtHighEnd()) ? "high end " : "low end ");
+				outbuf->cat((axisEndstops[axis]->GetAtHighEnd()) ? "high end " : "low end ");
+				reply.Clear();
 				axisEndstops[axis]->AppendDetails(reply);
+				outbuf->cat(reply.c_str());
 			}
 		}
 		return GCodeResult::ok;
@@ -258,17 +266,22 @@ GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply)
 
 	activeEndstops = nullptr;			// we may be about to remove endstops, so make sure they are not in the active list
 
-	const EndStopInputType inputType = (gb.Seen('S')) ? (EndStopInputType)gb.GetUIValue() : EndStopInputType::activeHigh;
-	if (inputType >= EndStopInputType::numInputTypes)
+	const EndStopType inputType = (gb.Seen('S')) ? (EndStopType)gb.GetUIValue() : EndStopType::inputPin;
+	if (inputType >= EndStopType::numInputTypes)
 	{
 		reply.copy("invalid input type");
 		return GCodeResult::error;
 	}
+	if (inputType == EndStopType::unused_wasActiveLow)
+	{
+		reply.copy("endstop type 0 is no longer supported. Use type 1 and invert the input pin instead.");
+		return GCodeResult::error;
+	}
 
 	if (gb.Seen('P'))					// we use P not C, because C may be an axis
 	{
 		// Setting the port number(s), so there must be just one axis and we must be using switch-type endstops
-		if (axesSeen > 1 || (inputType != EndStopInputType::activeLow && inputType != EndStopInputType::activeHigh))
+		if (axesSeen > 1 || inputType != EndStopType::inputPin)
 		{
 			reply.copy("Invalid use of P parameter");
 			return GCodeResult::error;
@@ -279,7 +292,7 @@ GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply)
 		delete axisEndstops[lastAxisSeen];
 		axisEndstops[lastAxisSeen] = nullptr;
 		SwitchEndstop * const sw = new SwitchEndstop(lastAxisSeen, lastPosSeen);
-		const GCodeResult rslt = sw->Configure(gb, reply, inputType);
+		const GCodeResult rslt = sw->Configure(gb, reply);
 		axisEndstops[lastAxisSeen] = sw;
 		return rslt;
 	}
@@ -302,28 +315,27 @@ GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply)
 			{
 				switch (inputType)
 				{
-				case EndStopInputType::motorStallAny:
+				case EndStopType::motorStallAny:
 					// Asking for stall detection endstop, so we can delete any existing endstop(s) and create new ones
 					delete axisEndstops[axis];
 					axisEndstops[axis] = new StallDetectionEndstop(axis, pos, false);
 					break;
 
-				case EndStopInputType::motorStallIndividual:
+				case EndStopType::motorStallIndividual:
 					// Asking for stall detection endstop, so we can delete any existing endstop(s) and create new ones
 					delete axisEndstops[axis];
 					axisEndstops[axis] = new StallDetectionEndstop(axis, pos, true);
 					break;
 
-				case EndStopInputType::zProbeAsEndstop:
+				case EndStopType::zProbeAsEndstop:
 					// Asking for a ZProbe or stall detection endstop, so we can delete any existing endstop(s) and create new ones
 					delete axisEndstops[axis];
 					axisEndstops[axis] = new ZProbeEndstop(axis, pos);
 					break;
 
-				case EndStopInputType::activeHigh:
-				case EndStopInputType::activeLow:
+				case EndStopType::inputPin:
 					if (   axisEndstops[axis] == nullptr
-						|| (axisEndstops[axis]->GetEndstopType() != EndStopInputType::activeHigh && axisEndstops[axis]->GetEndstopType() != EndStopInputType::activeLow)
+						|| axisEndstops[axis]->GetEndstopType() != EndStopType::inputPin
 					   )
 					{
 						// Asking for a switch endstop but we don't already have one, so we don't know what pin number(s) it should use
@@ -332,7 +344,7 @@ GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply)
 					}
 					else
 					{
-						((SwitchEndstop *)axisEndstops[axis])->Reconfigure(pos, inputType);
+						// Nothing to do because there are no parameters we can change except the port number
 					}
 					break;
 
@@ -356,7 +368,7 @@ EndStopPosition EndstopsManager::GetEndStopPosition(size_t axis) const pre(axis
 // Return true if we are using a bed probe to home Z
 bool EndstopsManager::HomingZWithProbe() const
 {
-	return axisEndstops[Z_AXIS] == nullptr || axisEndstops[Z_AXIS]->GetEndstopType() == EndStopInputType::zProbeAsEndstop;
+	return axisEndstops[Z_AXIS] == nullptr || axisEndstops[Z_AXIS]->GetEndstopType() == EndStopType::zProbeAsEndstop;
 }
 
 EndStopHit EndstopsManager::Stopped(size_t axis) const
diff --git a/src/Endstops/EndstopsManager.h b/src/Endstops/EndstopsManager.h
@@ -44,7 +44,7 @@ class EndstopsManager
 	EndstopHitDetails CheckEndstops(bool goingSlow);
 
 	// Configure the endstops in response to M574
-	GCodeResult HandleM574(GCodeBuffer& gb, const StringRef& reply);
+	GCodeResult HandleM574(GCodeBuffer& gb, const StringRef& reply, OutputBuffer*& outbuf);
 
 	EndStopPosition GetEndStopPosition(size_t axis) const pre(axis < MaxAxes);
 	bool HomingZWithProbe() const;
diff --git a/src/Endstops/StallDetectionEndstop.h b/src/Endstops/StallDetectionEndstop.h
@@ -20,7 +20,7 @@ class StallDetectionEndstop final : public Endstop
 	StallDetectionEndstop(uint8_t axis, EndStopPosition pos, bool p_individualMotors);		// for creating axis endstops
 	StallDetectionEndstop();							// for creating the single extruders endstop
 
-	EndStopInputType GetEndstopType() const override { return (individualMotors) ? EndStopInputType::motorStallIndividual : EndStopInputType::motorStallAny; }
+	EndStopType GetEndstopType() const override { return (individualMotors) ? EndStopType::motorStallIndividual : EndStopType::motorStallAny; }
 	EndStopHit Stopped() const override;
 	bool Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) override;
 	EndstopHitDetails CheckTriggered(bool goingSlow) override;
diff --git a/src/Endstops/SwitchEndstop.cpp b/src/Endstops/SwitchEndstop.cpp
@@ -53,7 +53,7 @@ void SwitchEndstop::ReleasePorts()
 	}
 }
 
-GCodeResult SwitchEndstop::Configure(GCodeBuffer& gb, const StringRef& reply, EndStopInputType inputType)
+GCodeResult SwitchEndstop::Configure(GCodeBuffer& gb, const StringRef& reply)
 {
 	String<StringLength50> portNames;
 	if (!gb.GetReducedString(portNames.GetRef()))
@@ -62,17 +62,13 @@ GCodeResult SwitchEndstop::Configure(GCodeBuffer& gb, const StringRef& reply, En
 		return GCodeResult::error;
 	}
 
-	return Configure(portNames.c_str(), reply, inputType);
+	return Configure(portNames.c_str(), reply);
 }
 
-GCodeResult SwitchEndstop::Configure(const char *pinNames, const StringRef& reply, EndStopInputType inputType)
+GCodeResult SwitchEndstop::Configure(const char *pinNames, const StringRef& reply)
 {
 	ReleasePorts();
 
-#if SUPPORT_CAN_EXPANSION
-	activeLow = (inputType == EndStopInputType::activeLow);
-#endif
-
 	// Parse the string into individual port names
 	size_t index = 0;
 	while (numPortsUsed < MaxDriversPerAxis)
@@ -108,7 +104,6 @@ GCodeResult SwitchEndstop::Configure(const char *pinNames, const StringRef& repl
 				ReleasePorts();
 				return GCodeResult::error;
 			}
-			ports[numPortsUsed].SetInvert(inputType == EndStopInputType::activeLow);
 		}
 
 		++numPortsUsed;
@@ -121,27 +116,9 @@ GCodeResult SwitchEndstop::Configure(const char *pinNames, const StringRef& repl
 	return GCodeResult::ok;
 }
 
-void SwitchEndstop::Reconfigure(EndStopPosition pos, EndStopInputType inputType)
-{
-	SetAtHighEnd(pos == EndStopPosition::highEndStop);
-
-#if SUPPORT_CAN_EXPANSION
-	activeLow = (inputType == EndStopInputType::activeLow);
-#endif
-
-	for (IoPort& pp : ports)
-	{
-		pp.SetInvert(inputType == EndStopInputType::activeLow);
-	}
-}
-
-EndStopInputType SwitchEndstop::GetEndstopType() const
+EndStopType SwitchEndstop::GetEndstopType() const
 {
-#if SUPPORT_CAN_EXPANSION
-	return (activeLow)? EndStopInputType::activeLow : EndStopInputType::activeHigh;
-#else
-	return (ports[0].GetInvert()) ? EndStopInputType::activeLow : EndStopInputType::activeHigh;
-#endif
+	return EndStopType::inputPin;
 }
 
 // Test whether we are at or near the stop
@@ -258,13 +235,7 @@ bool SwitchEndstop::Acknowledge(EndstopHitDetails what)
 
 void SwitchEndstop::AppendDetails(const StringRef& str)
 {
-	str.catf("%s on pin(s)",
-#if SUPPORT_CAN_EXPANSION
-				(activeLow)
-#else
-				(ports[0].GetInvert())
-#endif
-				? "active low switch" : "active high switch");
+	str.catf((numPortsUsed == 1) ? "switch connected to pin" : "switches connected to pins");
 
 	for (size_t i = 0; i < numPortsUsed; ++i)
 	{
@@ -282,7 +253,7 @@ void SwitchEndstop::AppendDetails(const StringRef& str)
 			{
 				reply.cat('\n');
 				reprap.GetPlatform().Message(ErrorMessage, reply.c_str());
-				str.catf("%u.???", boardNumbers[i]);
+				str.catf("%u.unknown", boardNumbers[i]);
 			}
 		}
 		else
diff --git a/src/Endstops/SwitchEndstop.h b/src/Endstops/SwitchEndstop.h
@@ -22,7 +22,7 @@ class SwitchEndstop : public Endstop
 
 	SwitchEndstop(uint8_t axis, EndStopPosition pos);
 
-	EndStopInputType GetEndstopType() const override;
+	EndStopType GetEndstopType() const override;
 	EndStopHit Stopped() const override;
 	bool Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) override;
 	EndstopHitDetails CheckTriggered(bool goingSlow) override;
@@ -34,9 +34,8 @@ class SwitchEndstop : public Endstop
 	void HandleRemoteInputChange(CanAddress src, uint8_t handleMinor, bool state) override;
 #endif
 
-	GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply, EndStopInputType inputType);
-	GCodeResult Configure(const char *pinNames, const StringRef& reply, EndStopInputType inputType);
-	void Reconfigure(EndStopPosition pos, EndStopInputType inputType);
+	GCodeResult Configure(GCodeBuffer& gb, const StringRef& reply);
+	GCodeResult Configure(const char *pinNames, const StringRef& reply);
 
 private:
 	typedef uint16_t PortsBitmap;
@@ -46,7 +45,7 @@ class SwitchEndstop : public Endstop
 	inline bool IsTriggered(size_t index) const
 	{
 #if SUPPORT_CAN_EXPANSION
-		return (boardNumbers[index] == CanId::MasterAddress) ? ports[index].Read() : states[index] != activeLow;
+		return (boardNumbers[index] == CanId::MasterAddress) ? ports[index].Read() : states[index];
 #else
 		return ports[index].Read();
 #endif
@@ -60,7 +59,6 @@ class SwitchEndstop : public Endstop
 #if SUPPORT_CAN_EXPANSION
 	CanAddress boardNumbers[MaxDriversPerAxis];
 	bool states[MaxDriversPerAxis];
-	bool activeLow;
 #endif
 	size_t numPortsUsed;
 	PortsBitmap portsLeftToTrigger;
diff --git a/src/Endstops/ZProbeEndstop.h b/src/Endstops/ZProbeEndstop.h
@@ -18,7 +18,7 @@ class ZProbeEndstop final : public Endstop
 
 	ZProbeEndstop(uint8_t axis, EndStopPosition pos);
 
-	EndStopInputType GetEndstopType() const override { return EndStopInputType::zProbeAsEndstop; }
+	EndStopType GetEndstopType() const override { return EndStopType::zProbeAsEndstop; }
 	EndStopHit Stopped() const override;
 	bool Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) override;
 	EndstopHitDetails CheckTriggered(bool goingSlow) override;
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
@@ -3454,7 +3454,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 		{
 			return false;
 		}
-		result = platform.GetEndstops().HandleM574(gb, reply);
+		result = platform.GetEndstops().HandleM574(gb, reply, outBuf);
 		break;
 
 	case 575: // Set communications parameters
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
@@ -941,7 +941,8 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) noe
 		ch = '[';
 		for (size_t i = 0; i <= highestFan; i++)
 		{
-			response->catf("%c%d", ch, (int)lrintf(fansManager->GetFanValue(i) * 100.0));
+			const float fanValue = fansManager->GetFanValue(i);
+			response->catf("%c%d", ch, (fanValue < 0.0) ? -1 : (int)lrintf(fanValue * 100.0));
 			ch = ',';
 		}
 		response->cat((ch == '[') ? "[]" : "]");
@@ -1734,7 +1735,8 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) noexcept
 	response->catf(",\"fanPercent\":[%.1f", (double)(gCodes->GetMappedFanSpeed() * 100.0));
 	for (size_t i = 0; i < MaxFans; ++i)
 	{
-		response->catf(",%.1f", (double)(fansManager->GetFanValue(i) * 100.0));
+		const float fanValue = fansManager->GetFanValue(i);
+		response->catf(",%d", (fanValue < 0.0) ? -1 : (int)lrintf(fanValue * 100.0));
 	}
 	response->cat(']');
 
diff --git a/src/Version.h b/src/Version.h
@@ -20,7 +20,7 @@
 #endif
 
 #ifndef DATE
-# define DATE "2019-12-13b2"
+# define DATE "2019-12-14b3"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d"

Original file line number	Diff line number	Diff line change
`@@ -56,7 +56,7 @@ inline void EndstopOrZProbe::UpdateStalledDrivers(uint32_t driverMask, bool isSt`
`56`	`56`	`class Endstop : public EndstopOrZProbe`
`57`	`57`	`{`
`58`	`58`	`public:`
`59`		`- virtual EndStopInputType GetEndstopType() const = 0;`
	`59`	`+ virtual EndStopType GetEndstopType() const = 0;`
`60`	`60`	`virtual bool Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) = 0;`
`61`	`61`	`virtual void AppendDetails(const StringRef& str) = 0;`
`62`	`62`
Original file line number	Diff line number	Diff line change
`@@ -20,6 +20,7 @@`
`20`	`20`	`#include "GCodes/GCodeBuffer/GCodeBuffer.h"`
`21`	`21`	`#include "GCodes/GCodes.h"`
`22`	`22`	`#include "Movement/Move.h"`
	`23`	`+#include <OutputMemory.h>`
`23`	`24`
`24`	`25`	`#if SUPPORT_CAN_EXPANSION`
`25`	`26`	`# include "CanMessageBuffer.h"`
`@@ -49,7 +50,7 @@ void EndstopsManager::Init()`
`49`	`50`	`for (size_t axis = 0; axis < ARRAY_SIZE(DefaultEndstopPinNames); ++axis)`
`50`	`51`	`{`
`51`	`52`	`SwitchEndstop * const sw = new SwitchEndstop(axis, EndStopPosition::lowEndStop);`
`52`		`- sw->Configure(DefaultEndstopPinNames[axis], dummy.GetRef(), EndStopInputType::activeHigh);`
	`53`	`+ sw->Configure(DefaultEndstopPinNames[axis], dummy.GetRef());`
`53`	`54`	`axisEndstops[axis] = sw;`
`54`	`55`	`}`
`55`	`56`	`#endif`
`@@ -206,7 +207,7 @@ EndstopHitDetails EndstopsManager::CheckEndstops(bool goingSlow)`
`206`	`207`	`}`
`207`	`208`
`208`	`209`	`// Configure the endstops in response to M574`
`209`		`-GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply)`
	`210`	`+GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply, OutputBuffer*& outbuf)`
`210`	`211`	`{`
`211`	`212`	`// First count how many axes we are configuring, and lock movement if necessary`
`212`	`213`	`unsigned int axesSeen = 0;`
`@@ -229,22 +230,29 @@ GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply)`
`229`	`230`
`230`	`231`	`if (axesSeen == 0)`
`231`	`232`	`{`
`232`		`- reply.copy("Endstop configuration");`
`233`		`- char sep = ':';`
	`233`	`+ // Report current configuration`
	`234`	`+ // The response can get very long, so allocate an output buffer`
	`235`	`+ if (outbuf == nullptr && !OutputBuffer::Allocate(outbuf))`
	`236`	`+ {`
	`237`	`+ return GCodeResult::notFinished;`
	`238`	`+ }`
	`239`	`+`
	`240`	`+ outbuf->copy("Endstop configuration:");`
`234`	`241`	`ReadLocker lock(endstopsLock);`
`235`	`242`
`236`	`243`	`for (size_t axis = 0; axis < reprap.GetGCodes().GetTotalAxes(); ++axis)`
`237`	`244`	`{`
`238`		`- reply.catf("%c %c: ", sep, reprap.GetGCodes().GetAxisLetters()[axis]);`
`239`		`- sep = ',';`
	`245`	`+ outbuf->catf("\n%c: ", reprap.GetGCodes().GetAxisLetters()[axis]);`
`240`	`246`	`if (axisEndstops[axis] == nullptr)`
`241`	`247`	`{`
`242`		`- reply.cat("none");`
	`248`	`+ outbuf->cat("none");`
`243`	`249`	`}`
`244`	`250`	`else`
`245`	`251`	`{`
`246`		`- reply.cat((axisEndstops[axis]->GetAtHighEnd()) ? "high end " : "low end ");`
	`252`	`+ outbuf->cat((axisEndstops[axis]->GetAtHighEnd()) ? "high end " : "low end ");`
	`253`	`+ reply.Clear();`
`247`	`254`	`axisEndstops[axis]->AppendDetails(reply);`
	`255`	`+ outbuf->cat(reply.c_str());`
`248`	`256`	`}`
`249`	`257`	`}`
`250`	`258`	`return GCodeResult::ok;`
`@@ -258,17 +266,22 @@ GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply)`
`258`	`266`
`259`	`267`	`activeEndstops = nullptr; // we may be about to remove endstops, so make sure they are not in the active list`
`260`	`268`
`261`		`- const EndStopInputType inputType = (gb.Seen('S')) ? (EndStopInputType)gb.GetUIValue() : EndStopInputType::activeHigh;`
`262`		`- if (inputType >= EndStopInputType::numInputTypes)`
	`269`	`+ const EndStopType inputType = (gb.Seen('S')) ? (EndStopType)gb.GetUIValue() : EndStopType::inputPin;`
	`270`	`+ if (inputType >= EndStopType::numInputTypes)`
`263`	`271`	`{`
`264`	`272`	`reply.copy("invalid input type");`
`265`	`273`	`return GCodeResult::error;`
`266`	`274`	`}`
	`275`	`+ if (inputType == EndStopType::unused_wasActiveLow)`
	`276`	`+ {`
	`277`	`+ reply.copy("endstop type 0 is no longer supported. Use type 1 and invert the input pin instead.");`
	`278`	`+ return GCodeResult::error;`
	`279`	`+ }`
`267`	`280`
`268`	`281`	`if (gb.Seen('P')) // we use P not C, because C may be an axis`
`269`	`282`	`{`
`270`	`283`	`// Setting the port number(s), so there must be just one axis and we must be using switch-type endstops`
`271`		`- if (axesSeen > 1 \|\| (inputType != EndStopInputType::activeLow && inputType != EndStopInputType::activeHigh))`
	`284`	`+ if (axesSeen > 1 \|\| inputType != EndStopType::inputPin)`
`272`	`285`	`{`
`273`	`286`	`reply.copy("Invalid use of P parameter");`
`274`	`287`	`return GCodeResult::error;`
`@@ -279,7 +292,7 @@ GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply)`
`279`	`292`	`delete axisEndstops[lastAxisSeen];`
`280`	`293`	`axisEndstops[lastAxisSeen] = nullptr;`
`281`	`294`	`SwitchEndstop * const sw = new SwitchEndstop(lastAxisSeen, lastPosSeen);`
`282`		`- const GCodeResult rslt = sw->Configure(gb, reply, inputType);`
	`295`	`+ const GCodeResult rslt = sw->Configure(gb, reply);`
`283`	`296`	`axisEndstops[lastAxisSeen] = sw;`
`284`	`297`	`return rslt;`
`285`	`298`	`}`
`@@ -302,28 +315,27 @@ GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply)`
`302`	`315`	`{`
`303`	`316`	`switch (inputType)`
`304`	`317`	`{`
`305`		`- case EndStopInputType::motorStallAny:`
	`318`	`+ case EndStopType::motorStallAny:`
`306`	`319`	`// Asking for stall detection endstop, so we can delete any existing endstop(s) and create new ones`
`307`	`320`	`delete axisEndstops[axis];`
`308`	`321`	`axisEndstops[axis] = new StallDetectionEndstop(axis, pos, false);`
`309`	`322`	`break;`
`310`	`323`
`311`		`- case EndStopInputType::motorStallIndividual:`
	`324`	`+ case EndStopType::motorStallIndividual:`
`312`	`325`	`// Asking for stall detection endstop, so we can delete any existing endstop(s) and create new ones`
`313`	`326`	`delete axisEndstops[axis];`
`314`	`327`	`axisEndstops[axis] = new StallDetectionEndstop(axis, pos, true);`
`315`	`328`	`break;`
`316`	`329`
`317`		`- case EndStopInputType::zProbeAsEndstop:`
	`330`	`+ case EndStopType::zProbeAsEndstop:`
`318`	`331`	`// Asking for a ZProbe or stall detection endstop, so we can delete any existing endstop(s) and create new ones`
`319`	`332`	`delete axisEndstops[axis];`
`320`	`333`	`axisEndstops[axis] = new ZProbeEndstop(axis, pos);`
`321`	`334`	`break;`
`322`	`335`
`323`		`- case EndStopInputType::activeHigh:`
`324`		`- case EndStopInputType::activeLow:`
	`336`	`+ case EndStopType::inputPin:`
`325`	`337`	`if ( axisEndstops[axis] == nullptr`
`326`		`- \|\| (axisEndstops[axis]->GetEndstopType() != EndStopInputType::activeHigh && axisEndstops[axis]->GetEndstopType() != EndStopInputType::activeLow)`
	`338`	`+ \|\| axisEndstops[axis]->GetEndstopType() != EndStopType::inputPin`
`327`	`339`	`)`
`328`	`340`	`{`
`329`	`341`	`// Asking for a switch endstop but we don't already have one, so we don't know what pin number(s) it should use`
`@@ -332,7 +344,7 @@ GCodeResult EndstopsManager::HandleM574(GCodeBuffer& gb, const StringRef& reply)`
`332`	`344`	`}`
`333`	`345`	`else`
`334`	`346`	`{`
`335`		`- ((SwitchEndstop *)axisEndstops[axis])->Reconfigure(pos, inputType);`
	`347`	`+ // Nothing to do because there are no parameters we can change except the port number`
`336`	`348`	`}`
`337`	`349`	`break;`
`338`	`350`
`@@ -356,7 +368,7 @@ EndStopPosition EndstopsManager::GetEndStopPosition(size_t axis) const pre(axis`
`356`	`368`	`// Return true if we are using a bed probe to home Z`
`357`	`369`	`bool EndstopsManager::HomingZWithProbe() const`
`358`	`370`	`{`
`359`		`- return axisEndstops[Z_AXIS] == nullptr \|\| axisEndstops[Z_AXIS]->GetEndstopType() == EndStopInputType::zProbeAsEndstop;`
	`371`	`+ return axisEndstops[Z_AXIS] == nullptr \|\| axisEndstops[Z_AXIS]->GetEndstopType() == EndStopType::zProbeAsEndstop;`
`360`	`372`	`}`
`361`	`373`
`362`	`374`	`EndStopHit EndstopsManager::Stopped(size_t axis) const`
Original file line number	Diff line number	Diff line change
`@@ -53,7 +53,7 @@ void SwitchEndstop::ReleasePorts()`
`53`	`53`	`}`
`54`	`54`	`}`
`55`	`55`
`56`		`-GCodeResult SwitchEndstop::Configure(GCodeBuffer& gb, const StringRef& reply, EndStopInputType inputType)`
	`56`	`+GCodeResult SwitchEndstop::Configure(GCodeBuffer& gb, const StringRef& reply)`
`57`	`57`	`{`
`58`	`58`	`String<StringLength50> portNames;`
`59`	`59`	`if (!gb.GetReducedString(portNames.GetRef()))`
`@@ -62,17 +62,13 @@ GCodeResult SwitchEndstop::Configure(GCodeBuffer& gb, const StringRef& reply, En`
`62`	`62`	`return GCodeResult::error;`
`63`	`63`	`}`
`64`	`64`
`65`		`- return Configure(portNames.c_str(), reply, inputType);`
	`65`	`+ return Configure(portNames.c_str(), reply);`
`66`	`66`	`}`
`67`	`67`
`68`		`-GCodeResult SwitchEndstop::Configure(const char *pinNames, const StringRef& reply, EndStopInputType inputType)`
	`68`	`+GCodeResult SwitchEndstop::Configure(const char *pinNames, const StringRef& reply)`
`69`	`69`	`{`
`70`	`70`	`ReleasePorts();`
`71`	`71`
`72`		`-#if SUPPORT_CAN_EXPANSION`
`73`		`- activeLow = (inputType == EndStopInputType::activeLow);`
`74`		`-#endif`
`75`		`-`
`76`	`72`	`// Parse the string into individual port names`
`77`	`73`	`size_t index = 0;`
`78`	`74`	`while (numPortsUsed < MaxDriversPerAxis)`
`@@ -108,7 +104,6 @@ GCodeResult SwitchEndstop::Configure(const char *pinNames, const StringRef& repl`
`108`	`104`	`ReleasePorts();`
`109`	`105`	`return GCodeResult::error;`
`110`	`106`	`}`
`111`		`- ports[numPortsUsed].SetInvert(inputType == EndStopInputType::activeLow);`
`112`	`107`	`}`
`113`	`108`
`114`	`109`	`++numPortsUsed;`
`@@ -121,27 +116,9 @@ GCodeResult SwitchEndstop::Configure(const char *pinNames, const StringRef& repl`
`121`	`116`	`return GCodeResult::ok;`
`122`	`117`	`}`
`123`	`118`
`124`		`-void SwitchEndstop::Reconfigure(EndStopPosition pos, EndStopInputType inputType)`
`125`		`-{`
`126`		`- SetAtHighEnd(pos == EndStopPosition::highEndStop);`
`127`		`-`
`128`		`-#if SUPPORT_CAN_EXPANSION`
`129`		`- activeLow = (inputType == EndStopInputType::activeLow);`
`130`		`-#endif`
`131`		`-`
`132`		`- for (IoPort& pp : ports)`
`133`		`- {`
`134`		`- pp.SetInvert(inputType == EndStopInputType::activeLow);`
`135`		`- }`
`136`		`-}`
`137`		`-`
`138`		`-EndStopInputType SwitchEndstop::GetEndstopType() const`
	`119`	`+EndStopType SwitchEndstop::GetEndstopType() const`
`139`	`120`	`{`
`140`		`-#if SUPPORT_CAN_EXPANSION`
`141`		`- return (activeLow)? EndStopInputType::activeLow : EndStopInputType::activeHigh;`
`142`		`-#else`
`143`		`- return (ports[0].GetInvert()) ? EndStopInputType::activeLow : EndStopInputType::activeHigh;`
`144`		`-#endif`
	`121`	`+ return EndStopType::inputPin;`
`145`	`122`	`}`
`146`	`123`
`147`	`124`	`// Test whether we are at or near the stop`
`@@ -258,13 +235,7 @@ bool SwitchEndstop::Acknowledge(EndstopHitDetails what)`
`258`	`235`
`259`	`236`	`void SwitchEndstop::AppendDetails(const StringRef& str)`
`260`	`237`	`{`
`261`		`- str.catf("%s on pin(s)",`
`262`		`-#if SUPPORT_CAN_EXPANSION`
`263`		`- (activeLow)`
`264`		`-#else`
`265`		`- (ports[0].GetInvert())`
`266`		`-#endif`
`267`		`- ? "active low switch" : "active high switch");`
	`238`	`+ str.catf((numPortsUsed == 1) ? "switch connected to pin" : "switches connected to pins");`
`268`	`239`
`269`	`240`	`for (size_t i = 0; i < numPortsUsed; ++i)`
`270`	`241`	`{`
`@@ -282,7 +253,7 @@ void SwitchEndstop::AppendDetails(const StringRef& str)`
`282`	`253`	`{`
`283`	`254`	`reply.cat('\n');`
`284`	`255`	`reprap.GetPlatform().Message(ErrorMessage, reply.c_str());`
`285`		`- str.catf("%u.???", boardNumbers[i]);`
	`256`	`+ str.catf("%u.unknown", boardNumbers[i]);`
`286`	`257`	`}`
`287`	`258`	`}`
`288`	`259`	`else`
Original file line number	Diff line number	Diff line change
`@@ -3454,7 +3454,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)`
`3454`	`3454`	`{`
`3455`	`3455`	`return false;`
`3456`	`3456`	`}`
`3457`		`- result = platform.GetEndstops().HandleM574(gb, reply);`
	`3457`	`+ result = platform.GetEndstops().HandleM574(gb, reply, outBuf);`
`3458`	`3458`	`break;`
`3459`	`3459`
`3460`	`3460`	`case 575: // Set communications parameters`
Original file line number	Diff line number	Diff line change
`@@ -941,7 +941,8 @@ OutputBuffer *RepRap::GetStatusResponse(uint8_t type, ResponseSource source) noe`
`941`	`941`	`ch = '[';`
`942`	`942`	`for (size_t i = 0; i <= highestFan; i++)`
`943`	`943`	`{`
`944`		`- response->catf("%c%d", ch, (int)lrintf(fansManager->GetFanValue(i) * 100.0));`
	`944`	`+ const float fanValue = fansManager->GetFanValue(i);`
	`945`	`+ response->catf("%c%d", ch, (fanValue < 0.0) ? -1 : (int)lrintf(fanValue * 100.0));`
`945`	`946`	`ch = ',';`
`946`	`947`	`}`
`947`	`948`	`response->cat((ch == '[') ? "[]" : "]");`
`@@ -1734,7 +1735,8 @@ OutputBuffer *RepRap::GetLegacyStatusResponse(uint8_t type, int seq) noexcept`
`1734`	`1735`	`response->catf(",\"fanPercent\":[%.1f", (double)(gCodes->GetMappedFanSpeed() * 100.0));`
`1735`	`1736`	`for (size_t i = 0; i < MaxFans; ++i)`
`1736`	`1737`	`{`
`1737`		`- response->catf(",%.1f", (double)(fansManager->GetFanValue(i) * 100.0));`
	`1738`	`+ const float fanValue = fansManager->GetFanValue(i);`
	`1739`	`+ response->catf(",%d", (fanValue < 0.0) ? -1 : (int)lrintf(fanValue * 100.0));`
`1738`	`1740`	`}`
`1739`	`1741`	`response->cat(']');`
`1740`	`1742`