Fixes for ATE and expansion mode

Set up correct CAN master address in ATE builds
Implemented M569 in expansion mode

4 files changed, 19 insertions, 2 deletions

diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp
index 6fda53b9..7092cad6 100644
--- a/src/CAN/CanInterface.cpp
+++ b/src/CAN/CanInterface.cpp
@@ -62,7 +62,7 @@ static uint32_t longestWaitTime = 0;
 static uint16_t longestWaitMessageType = 0;
 
 static CanAddress myAddress =
-#ifdef DUET3ATE
+#ifdef DUET3_ATE
 						CanId::ATEMasterAddress;
 #else
 						CanId::MasterAddress;
diff --git a/src/CAN/CanMessageGenericConstructor.cpp b/src/CAN/CanMessageGenericConstructor.cpp
index a384c8af..72fd7e26 100644
--- a/src/CAN/CanMessageGenericConstructor.cpp
+++ b/src/CAN/CanMessageGenericConstructor.cpp
@@ -270,7 +270,6 @@ void CanMessageGenericConstructor::AddIParam(char c, int32_t v) THROWS(GCodeExce
 
 	default:
 		throw ConstructParseException("ival wrong parameter type");
-		return;
 	}
 
 	InsertValue(&v, sz, pos);
@@ -317,6 +316,18 @@ void CanMessageGenericConstructor::AddStringParam(char c, const char *v) THROWS(
 	}
 }
 
+void CanMessageGenericConstructor::AddDriverIdParam(char c, DriverId did) THROWS(GCodeException)
+{
+	ParamDescriptor::ParamType t;
+	size_t sz;
+	const unsigned int pos = FindInsertPoint(c, t, sz);
+	if (t != ParamDescriptor::localDriver)
+	{
+		throw ConstructParseException("didval wrong parameter type");
+	}
+
+	InsertValue(&did.localDriver, sz, pos);
+}
 
 GCodeResult CanMessageGenericConstructor::SendAndGetResponse(CanMessageType msgType, CanAddress dest, const StringRef& reply) noexcept
 {
diff --git a/src/CAN/CanMessageGenericConstructor.h b/src/CAN/CanMessageGenericConstructor.h
index c252c637..50969ce7 100644
--- a/src/CAN/CanMessageGenericConstructor.h
+++ b/src/CAN/CanMessageGenericConstructor.h
@@ -33,6 +33,7 @@ public:
 	void AddFParam(char c, float v) THROWS(GCodeException);
 	void AddCharParam(char c, char v) THROWS(GCodeException);
 	void AddStringParam(char c, const char* v) THROWS(GCodeException);
+	void AddDriverIdParam(char c, DriverId did) THROWS(GCodeException);
 
 	GCodeResult SendAndGetResponse(CanMessageType msgType, CanAddress dest, const StringRef& reply) noexcept;
 
diff --git a/src/CAN/CommandProcessor.cpp b/src/CAN/CommandProcessor.cpp
index 212d8fcf..23ef0162 100644
--- a/src/CAN/CommandProcessor.cpp
+++ b/src/CAN/CommandProcessor.cpp
@@ -443,6 +443,11 @@ void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
 				rslt = reprap.GetPlatform().EutSetRemotePressureAdvance(buf->msg.multipleDrivesRequestFloat, buf->dataLength, replyRef);
 				break;
 
+			case CanMessageType::m569:
+				requestId = buf->msg.generic.requestId;
+				rslt = reprap.GetPlatform().EutProcessM569(buf->msg.generic, replyRef);
+				break;
+
 			case CanMessageType::createInputMonitor:
 				requestId = buf->msg.createInputMonitor.requestId;
 				rslt = InputMonitor::Create(buf->msg.createInputMonitor, buf->dataLength, replyRef, extra);