Reduce acceleration when homing using stall detection

4 files changed, 13 insertions, 4 deletions

diff --git a/src/Endstops/Endstop.h b/src/Endstops/Endstop.h
index cbdcf15e..fbed7ed1 100644
--- a/src/Endstops/Endstop.h
+++ b/src/Endstops/Endstop.h
@@ -94,6 +94,7 @@ public:
 	virtual EndStopType GetEndstopType() const noexcept = 0;
 	virtual bool Prime(const Kinematics& kin, const AxisDriversConfig& axisDrivers) noexcept = 0;
 	virtual void AppendDetails(const StringRef& str) noexcept = 0;
+	virtual bool ShouldReduceAcceleration() const noexcept { return false; }
 
 #if SUPPORT_CAN_EXPANSION
 	// Process a remote endstop input change that relates to this endstop
diff --git a/src/Endstops/EndstopsManager.cpp b/src/Endstops/EndstopsManager.cpp
index 3039fe4a..30000887 100644
--- a/src/Endstops/EndstopsManager.cpp
+++ b/src/Endstops/EndstopsManager.cpp
@@ -179,18 +179,24 @@ void EndstopsManager::AddToActive(EndstopOrZProbe& e) noexcept
 }
 
 // Set up the active endstop list according to the axes commanded to move in a G0/G1 S1/S3 command. Return true if successful.
-bool EndstopsManager::EnableAxisEndstops(AxesBitmap axes, bool forHoming) noexcept
+bool EndstopsManager::EnableAxisEndstops(AxesBitmap axes, bool forHoming, bool& reduceAcceleration) noexcept
 {
 	activeEndstops = nullptr;
+	reduceAcceleration = false;
 	isHomingMove = forHoming && axes.IsNonEmpty();
 	const Kinematics& kin = reprap.GetMove().GetKinematics();
 	while (axes.IsNonEmpty())
 	{
 		const unsigned int axis = axes.LowestSetBit();
 		axes.ClearBit(axis);
-		if (axisEndstops[axis] != nullptr && axisEndstops[axis]->Prime(kin, reprap.GetPlatform().GetAxisDriversConfig(axis)))
+		Endstop * const es = axisEndstops[axis];
+		if (es != nullptr && es->Prime(kin, reprap.GetPlatform().GetAxisDriversConfig(axis)))
 		{
-			AddToActive(*axisEndstops[axis]);
+			AddToActive(*es);
+			if (es->ShouldReduceAcceleration())
+			{
+				reduceAcceleration = true;
+			}
 		}
 		else
 		{
diff --git a/src/Endstops/EndstopsManager.h b/src/Endstops/EndstopsManager.h
index bdfa199d..398c93ee 100644
--- a/src/Endstops/EndstopsManager.h
+++ b/src/Endstops/EndstopsManager.h
@@ -30,7 +30,7 @@ public:
 	void Init() noexcept;
 
 	// Set up the active endstop list according to the axes commanded to move in a G0/G1 S1/S3 command returning true if successful
-	bool EnableAxisEndstops(AxesBitmap axes, bool forHoming) noexcept __attribute__ ((warn_unused_result));
+	bool EnableAxisEndstops(AxesBitmap axes, bool forHoming, bool& reduceAcceleration) noexcept __attribute__ ((warn_unused_result));
 
 	// Set up the active endstops for Z probing returning true if successful
 	bool EnableZProbe(size_t probeNumber, bool probingAway = false) noexcept __attribute__ ((warn_unused_result));
diff --git a/src/Endstops/StallDetectionEndstop.h b/src/Endstops/StallDetectionEndstop.h
index 4bcacf6b..eb0edd3d 100644
--- a/src/Endstops/StallDetectionEndstop.h
+++ b/src/Endstops/StallDetectionEndstop.h
@@ -28,6 +28,8 @@ public:
 	EndstopHitDetails CheckTriggered() noexcept override;
 	bool Acknowledge(EndstopHitDetails what) noexcept override;
 	void AppendDetails(const StringRef& str) noexcept override;
+	bool ShouldReduceAcceleration() const noexcept override { return true; }
+
 	void SetDrivers(DriversBitmap extruderDrivers) noexcept;		// for setting which local extruder drives are active extruder endstops
 
 private: