From 6f3540a14d784d64270632a552b3fd589705631a Mon Sep 17 00:00:00 2001
From: Yuri D'Elia <wavexx@thregr.org>
Date: Thu, 2 Sep 2021 11:24:40 +0200
Subject: [PATCH] Fix Motion::SetMode(axis, mode) and introduce SetMode(mode)

Motion::SetMode(axis, mode) was incorrectly looping through all axes,
setting the same axis three times.

Fix this and introduce Motion::SetMode(mode) which actually loops
through all axes (see PR #110)
---
 src/modules/motion.cpp | 6 +++++-
 src/modules/motion.h   | 3 +++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/modules/motion.cpp b/src/modules/motion.cpp
index 879ffea..94bd9af 100644
--- a/src/modules/motion.cpp
+++ b/src/modules/motion.cpp
@@ -28,8 +28,12 @@ void Motion::SetEnabled(Axis axis, bool enabled) {
 }
 
 void Motion::SetMode(Axis axis, MotorMode mode) {
+    axisData[axis].drv.SetMode(axisParams[axis].params, mode);
+}
+
+void Motion::SetMode(MotorMode mode) {
     for (uint8_t i = 0; i != NUM_AXIS; ++i)
-        axisData[axis].drv.SetMode(axisParams[axis].params, mode);
+        axisData[i].drv.SetMode(axisParams[i].params, mode);
 }
 
 bool Motion::StallGuard(Axis axis) {
diff --git a/src/modules/motion.h b/src/modules/motion.h
index 472b9b7..d78924b 100644
--- a/src/modules/motion.h
+++ b/src/modules/motion.h
@@ -92,6 +92,9 @@ public:
     /// being performed by calling QueueEmpty().
     void SetMode(Axis axis, MotorMode mode);
 
+    /// Set the same mode of TMC/motors operation for all axes. @see SetMode
+    void SetMode(MotorMode mode);
+
     /// @returns true if a stall guard event occurred recently on the axis
     bool StallGuard(Axis axis);