diff options
Diffstat (limited to 'src/CAN/CanInterface.cpp')
| -rw-r--r-- | src/CAN/CanInterface.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp index 9cb8b0c0..d692c7c7 100644 --- a/src/CAN/CanInterface.cpp +++ b/src/CAN/CanInterface.cpp @@ -919,7 +919,7 @@ extern "C" [[noreturn]] void CanReceiverLoop(void *) noexcept // This one is used by ATE GCodeResult CanInterface::EnableRemoteDrivers(const CanDriversList& drivers, const StringRef& reply) noexcept { - return SetRemoteDriverStates(drivers, reply, DriverStateControl(DriverStateControl::driverActive)); + return SetRemoteDriverStates(drivers, reply, DriverStateControl(DriverStateControl::driverActive, reprap.GetGCodes().GetMotorBrakeOffDelay())); } // This one is used by Prepare and by M17 @@ -932,7 +932,7 @@ void CanInterface::EnableRemoteDrivers(const CanDriversList& drivers) noexcept // This one is used by ATE GCodeResult CanInterface::DisableRemoteDrivers(const CanDriversList& drivers, const StringRef& reply) noexcept { - return SetRemoteDriverStates(drivers, reply, DriverStateControl(DriverStateControl::driverDisabled)); + return SetRemoteDriverStates(drivers, reply, DriverStateControl(DriverStateControl::driverDisabled, reprap.GetGCodes().GetMotorBrakeOnDelay())); } // This one is used by Prepare @@ -945,7 +945,7 @@ void CanInterface::DisableRemoteDrivers(const CanDriversList& drivers) noexcept void CanInterface::SetRemoteDriversIdle(const CanDriversList& drivers, float idleCurrentFactor) noexcept { String<1> dummy; - (void)SetRemoteDriverStates(drivers, dummy.GetRef(), DriverStateControl(DriverStateControl::driverIdle, lrintf(idleCurrentFactor * 100))); + (void)SetRemoteDriverStates(drivers, dummy.GetRef(), DriverStateControl(DriverStateControl::driverIdle, (uint16_t)lrintf(idleCurrentFactor * 100) << 4)); } GCodeResult CanInterface::SetRemoteStandstillCurrentPercent(const CanDriversData<float>& data, const StringRef& reply) noexcept @@ -979,7 +979,7 @@ pre(driver.IsRemote()) case 0: if (gb.SeenAny("RS")) { - if (!reprap.GetGCodes().LockMovementAndWaitForStandstill(gb)) + if (!reprap.GetGCodes().LockAllMovementSystemsAndWaitForStandstill(gb)) { return GCodeResult::notFinished; } @@ -993,7 +993,7 @@ pre(driver.IsRemote()) case 1: if (gb.SeenAny("STERID")) { - if (!reprap.GetGCodes().LockMovementAndWaitForStandstill(gb)) + if (!reprap.GetGCodes().LockAllMovementSystemsAndWaitForStandstill(gb)) { return GCodeResult::notFinished; } |