Don't raise driver error events on 6XD when in test mode

5 files changed, 14 insertions, 5 deletions

diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp
index a44d757d..b7827e4d 100644
--- a/src/CAN/CanInterface.cpp
+++ b/src/CAN/CanInterface.cpp
@@ -99,6 +99,7 @@ static uint8_t currentTimeSyncMarker = 0xFF;
 
 #if SUPPORT_REMOTE_COMMANDS
 static bool inExpansionMode = false;
+static bool inTestMode = false;
 static bool mainBoardAcknowledgedAnnounce = false;
 #endif
 
@@ -311,6 +312,11 @@ bool CanInterface::InExpansionMode() noexcept
 	return inExpansionMode;
 }
 
+bool CanInterface::InTestMode() noexcept
+{
+	return inTestMode;
+}
+
 static void ReInit() noexcept
 {
 	can0dev->Disable();
@@ -318,12 +324,13 @@ static void ReInit() noexcept
 	can0dev->Enable();
 }
 
-void CanInterface::SwitchToExpansionMode(CanAddress addr) noexcept
+void CanInterface::SwitchToExpansionMode(CanAddress addr, bool useTestMode) noexcept
 {
 	TaskCriticalSectionLocker lock;
 
 	myAddress = addr;
 	inExpansionMode = true;
+	inTestMode = useTestMode;
 	reprap.GetGCodes().SwitchToExpansionMode();
 	ReInit();										// reset the CAN filters to account for our new CAN address
 }
diff --git a/src/CAN/CanInterface.h b/src/CAN/CanInterface.h
index a1c320ac..ef322205 100644
--- a/src/CAN/CanInterface.h
+++ b/src/CAN/CanInterface.h
@@ -34,7 +34,8 @@ namespace CanInterface
 
 #if SUPPORT_REMOTE_COMMANDS
 	bool InExpansionMode() noexcept;
-	void SwitchToExpansionMode(CanAddress addr) noexcept;
+	bool InTestMode() noexcept;
+	void SwitchToExpansionMode(CanAddress addr, bool useTestMode) noexcept;
 
 	void SendAnnounce(CanMessageBuffer *buf) noexcept;
 	void RaiseEvent(EventType type, uint16_t param, uint8_t device, const char *format, va_list vargs) noexcept;
diff --git a/src/CAN/CommandProcessor.cpp b/src/CAN/CommandProcessor.cpp
index 90e04e93..d27fa6aa 100644
--- a/src/CAN/CommandProcessor.cpp
+++ b/src/CAN/CommandProcessor.cpp
@@ -694,7 +694,7 @@ void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
 					CanInterface::SendResponseNoFree(buf);
 
 					delay(25);							// allow time for the response to be sent before we re-initialise CAN
-					CanInterface::SwitchToExpansionMode(newAddress);
+					CanInterface::SwitchToExpansionMode(newAddress, true);
 				}
 				break;
 #endif
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index 491e8b74..31444d61 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -4518,7 +4518,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeEx
 			case 954:	// configure as expansion board
 				{
 					CanAddress addr = gb.GetLimitedUIValue('A', 1, CanId::MaxCanAddress + 1);
-					CanInterface::SwitchToExpansionMode(addr);
+					CanInterface::SwitchToExpansionMode(addr, false);
 				}
 				break;
 #endif
diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp
index 54fd7916..c9bb41c7 100644
--- a/src/Platform/Platform.cpp
+++ b/src/Platform/Platform.cpp
@@ -1094,7 +1094,8 @@ void Platform::Spin() noexcept
 			{
 				StandardDriverStatus stat =
 #if defined(DUET3_MB6XD)
-											StandardDriverStatus((HasDriverError(nextDriveToPoll)) ? (uint32_t)1u << StandardDriverStatus::ExternDriverErrorBitPos : 0);
+											// Don't raise driver error events while we are being tested by ATE
+											StandardDriverStatus((!CanInterface::InTestMode() && HasDriverError(nextDriveToPoll)) ? (uint32_t)1u << StandardDriverStatus::ExternDriverErrorBitPos : 0);
 #else
 											SmartDrivers::GetStatus(nextDriveToPoll, true, true);
 #endif