diff options
Diffstat (limited to 'src/Movement/DDA.cpp')
| -rw-r--r-- | src/Movement/DDA.cpp | 20 |
1 files changed, 8 insertions, 12 deletions
diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp index 26358f6d..c0a81800 100644 --- a/src/Movement/DDA.cpp +++ b/src/Movement/DDA.cpp @@ -1374,7 +1374,7 @@ void DDA::Prepare(SimulationMode simMode) noexcept #if SUPPORT_CAN_EXPANSION if (driver.IsRemote()) { - CanMotion::AddMovement(params, driver, delta); + CanMotion::AddMovement(params, driver, delta, false); } else #endif @@ -1444,7 +1444,7 @@ void DDA::Prepare(SimulationMode simMode) noexcept const DriverId driver = config.driverNumbers[i]; if (driver.IsRemote()) { - CanMotion::AddMovement(params, driver, delta); + CanMotion::AddMovement(params, driver, delta, false); } } #endif @@ -1510,7 +1510,7 @@ void DDA::Prepare(SimulationMode simMode) noexcept const DriverId driver = config.driverNumbers[i]; if (driver.IsRemote()) { - CanMotion::AddMovement(params, driver, delta); + CanMotion::AddMovement(params, driver, delta, false); } } #endif @@ -1614,7 +1614,7 @@ void DDA::Prepare(SimulationMode simMode) noexcept } #if SUPPORT_CAN_EXPANSION - const uint32_t canClocksNeeded = CanMotion::FinishMovement(afterPrepare.moveStartTime, simMode != SimulationMode::off); + const uint32_t canClocksNeeded = CanMotion::FinishMovement(afterPrepare.moveStartTime, simMode != SimulationMode::off, flags.checkEndstops); if (canClocksNeeded > clocksNeeded) { // Due to rounding error in the calculations, we quite often calculate the CAN move as being longer than our previously-calculated value, normally by just one clock. @@ -1784,10 +1784,6 @@ float DDA::NormaliseLinearMotion(AxesBitmap linearAxes) noexcept // Either this move is currently executing (DDARing.currentDDA == this) and the state is 'executing', or we have almost finished preparing it and the state is 'provisional'. void DDA::CheckEndstops(Platform& platform) noexcept { -#if SUPPORT_CAN_EXPANSION - const bool fromPrepare = (state == DDAState::provisional); // determine this before anything sets the state to 'completed' -#endif - for (;;) { const EndstopHitDetails hitDetails = platform.GetEndstops().CheckEndstops(); @@ -1796,7 +1792,7 @@ void DDA::CheckEndstops(Platform& platform) noexcept case EndstopHitAction::stopAll: MoveAborted(); // set the state to completed and recalculate the endpoints #if SUPPORT_CAN_EXPANSION - CanMotion::StopAll(fromPrepare); + CanMotion::StopAll(*this); #endif if (hitDetails.isZProbe) { @@ -1819,11 +1815,11 @@ void DDA::CheckEndstops(Platform& platform) noexcept #if SUPPORT_CAN_EXPANSION if (state == completed) // if the call to StopDrive flagged the move as completed { - CanMotion::StopAll(fromPrepare); + CanMotion::StopAll(*this); } else { - CanMotion::StopAxis(fromPrepare, hitDetails.axis); + CanMotion::StopAxis(*this, hitDetails.axis); } #endif if (hitDetails.setAxisLow) @@ -1842,7 +1838,7 @@ void DDA::CheckEndstops(Platform& platform) noexcept #if SUPPORT_CAN_EXPANSION if (hitDetails.driver.IsRemote()) { - CanMotion::StopDriver(fromPrepare, hitDetails.driver); + CanMotion::StopDriver(*this, hitDetails.axis, hitDetails.driver); } else #endif |