Expansion mode fixes from gloomyAndy

3 files changed, 27 insertions, 22 deletions

diff --git a/src/CAN/CommandProcessor.cpp b/src/CAN/CommandProcessor.cpp
index b74c4750..f7223b32 100644
--- a/src/CAN/CommandProcessor.cpp
+++ b/src/CAN/CommandProcessor.cpp
@@ -575,30 +575,33 @@ void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
 				rslt = GCodeResult::error;
 			}
 
-			// Re-use the message buffer to send a standard reply
-			const CanAddress srcAddress = buf->id.Src();
-			CanMessageStandardReply *msg = buf->SetupResponseMessage<CanMessageStandardReply>(requestId, CanInterface::GetCanAddress(), srcAddress);
-			msg->resultCode = (uint16_t)rslt;
-			msg->extra = extra;
-			const size_t totalLength = reply.strlen();
-			size_t lengthDone = 0;
-			uint8_t fragmentNumber = 0;
-			for (;;)
+			if (requestId != CanRequestIdNoReplyNeeded)				// if a reply is needed
 			{
-				const size_t fragmentLength = min<size_t>(totalLength - lengthDone, CanMessageStandardReply::MaxTextLength);
-				memcpy(msg->text, reply.c_str() + lengthDone, fragmentLength);
-				lengthDone += fragmentLength;
-				buf->dataLength = msg->GetActualDataLength(fragmentLength);
-				msg->fragmentNumber = fragmentNumber;
-				if (lengthDone == totalLength)
+				// Re-use the message buffer to send a standard reply
+				const CanAddress srcAddress = buf->id.Src();
+				CanMessageStandardReply *msg = buf->SetupResponseMessage<CanMessageStandardReply>(requestId, CanInterface::GetCanAddress(), srcAddress);
+				msg->resultCode = (uint16_t)rslt;
+				msg->extra = extra;
+				const size_t totalLength = reply.strlen();
+				size_t lengthDone = 0;
+				uint8_t fragmentNumber = 0;
+				for (;;)
 				{
-					msg->moreFollows = false;
+					const size_t fragmentLength = min<size_t>(totalLength - lengthDone, CanMessageStandardReply::MaxTextLength);
+					memcpy(msg->text, reply.c_str() + lengthDone, fragmentLength);
+					lengthDone += fragmentLength;
+					buf->dataLength = msg->GetActualDataLength(fragmentLength);
+					msg->fragmentNumber = fragmentNumber;
+					if (lengthDone == totalLength)
+					{
+						msg->moreFollows = false;
+						CanInterface::SendResponseNoFree(buf);
+						break;
+					}
+					msg->moreFollows = true;
 					CanInterface::SendResponseNoFree(buf);
-					break;
+					++fragmentNumber;
 				}
-				msg->moreFollows = true;
-				CanInterface::SendResponseNoFree(buf);
-				++fragmentNumber;
 			}
 		}
 		else
diff --git a/src/CAN/ExpansionManager.cpp b/src/CAN/ExpansionManager.cpp
index 546e517a..9952e5b2 100644
--- a/src/CAN/ExpansionManager.cpp
+++ b/src/CAN/ExpansionManager.cpp
@@ -173,8 +173,8 @@ void ExpansionManager::ProcessAnnouncement(CanMessageBuffer *buf, bool isNewForm
 		UpdateBoardState(src, BoardState::running);
 
 		// Tell the sending board that we don't need any more announcements from it
-		buf->SetupResponseMessage<CanMessageAcknowledgeAnnounce>(0, CanInterface::GetCanAddress(), src);
-		CanInterface::SendResponseNoFree(buf);
+		buf->SetupRequestMessage<CanMessageAcknowledgeAnnounce>(0, CanInterface::GetCanAddress(), src);
+		CanInterface::SendMessageNoReplyNoFree(buf);
 	}
 }
 
diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp
index 74c4a05f..e98c7042 100644
--- a/src/Movement/DDA.cpp
+++ b/src/Movement/DDA.cpp
@@ -718,6 +718,8 @@ bool DDA::InitFromRemote(const CanMessageMovementLinear& msg) noexcept
 	params.unshaped.accelClocks = msg.accelerationClocks;
 	params.unshaped.steadyClocks = msg.steadyClocks;
 	params.unshaped.decelClocks = msg.decelClocks;
+	params.unshaped.acceleration = acceleration;
+	params.unshaped.deceleration = deceleration;
 
 	shapedSegments = unshapedSegments = nullptr;
 	activeDMs = completedDMs = nullptr;