RoCoN: stop TUMBL coprocessor when switching from coprocessor supported mode.

Signed-off-by: Pavel Pisa <ppisa@pikron.com>

diff --git a/sw/app/rocon/appl_pxmc.c b/sw/app/rocon/appl_pxmc.c
index 99c652f10050797d7ce47a7d0335d6782ae37ccf..993ec7436f010a2815907ed1df6a9783a7cdbf19 100644 (file)
--- a/sw/app/rocon/appl_pxmc.c
+++ b/sw/app/rocon/appl_pxmc.c
@@ -2304,7 +2304,8 @@ pxmc_axis_mode(pxmc_state_t *mcs, int mode)
     mode = PXMC_AXIS_MODE_DC;
 
   if ((prev_mode == PXMC_AXIS_MODE_BLDC_PXMCC) ||
-      (prev_mode == PXMCC_MODE_STEPPER_WITH_IRC))
+      (prev_mode == PXMC_AXIS_MODE_STEPPER_WITH_IRC_PXMCC) ||
+      (prev_mode == PXMC_AXIS_MODE_STEPPER_PXMCC))
     pxmcc_axis_setup(mcs, PXMCC_MODE_IDLE);
 
   res = pxmc_axis_pt4mode(mcs, mode);