Reduce acceleration when homing using stall detection

3 files changed, 24 insertions, 20 deletions

diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 8ba9a2c8..874088c3 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -1604,7 +1604,7 @@ bool GCodes::LockMovementAndWaitForStandstill(GCodeBuffer& gb) noexcept
 }
 
 // Save (some of) the state of the machine for recovery in the future.
-bool GCodes::Push(GCodeBuffer& gb, bool withinSameFile)
+bool GCodes::Push(GCodeBuffer& gb, bool withinSameFile) noexcept
 {
 	const bool ok = gb.PushState(withinSameFile);
 	if (!ok)
@@ -1616,7 +1616,7 @@ bool GCodes::Push(GCodeBuffer& gb, bool withinSameFile)
 }
 
 // Recover a saved state
-void GCodes::Pop(GCodeBuffer& gb)
+void GCodes::Pop(GCodeBuffer& gb) noexcept
 {
 	// FIXME If withinSameFile is false, we should pop all stack levels that have the same file (ID)
 	// and output a warning message is the stack is popped more than once
@@ -1631,7 +1631,7 @@ void GCodes::Pop(GCodeBuffer& gb)
 // 'moveBuffer.moveType' and 'moveBuffer.isCoordinated' must be set up before calling this
 // 'isPrintingMove' is true if there is any axis movement
 // Returns nullptr if this gcode is valid so far, or an error message if it should be discarded
-const char * GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb, bool isPrintingMove)
+const char * GCodes::LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb, bool isPrintingMove) THROWS(GCodeException)
 {
 	// Deal with feed rate, also determine whether M220 and M221 speed and extrusion factors apply to this move
 	if (moveState.isCoordinated || machineType == MachineType::fff)
@@ -1804,7 +1804,7 @@ bool GCodes::CheckEnoughAxesHomed(AxesBitmap axesMoved) noexcept
 // If we can't execute the move, return true with 'err' set to the error message
 // Else return true with 'err' left alone (it is set to nullptr on entry)
 // We have already acquired the movement lock and waited for the previous move to be taken.
-bool GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated, const char *& err)
+bool GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated, const char *& err) THROWS(GCodeException)
 {
 	if (moveFractionToSkip > 0.0)
 	{
@@ -1997,10 +1997,14 @@ bool GCodes::DoStraightMove(GCodeBuffer& gb, bool isCoordinated, const char *& e
 		// no break
 	case 1:
 	case 4:
-		if (!platform.GetEndstops().EnableAxisEndstops(axesMentioned & AxesBitmap::MakeLowestNBits(numTotalAxes), moveState.moveType == 1))
 		{
-			err = "Failed to enable endstops";
-			return true;
+			bool reduceAcceleration;
+			if (!platform.GetEndstops().EnableAxisEndstops(axesMentioned & AxesBitmap::MakeLowestNBits(numTotalAxes), moveState.moveType == 1, reduceAcceleration))
+			{
+				err = "Failed to enable endstops";
+				return true;
+			}
+			moveState.reduceAcceleration = reduceAcceleration;
 		}
 		moveState.checkEndstops = true;
 		break;
diff --git a/src/GCodes/GCodes.h b/src/GCodes/GCodes.h
index add5506e..e06bf300 100644
--- a/src/GCodes/GCodes.h
+++ b/src/GCodes/GCodes.h
@@ -377,8 +377,8 @@ private:
 
 	GCodeResult TryMacroFile(GCodeBuffer& gb) noexcept;								// Try to find a macro file that implements a G or M command
 
-	bool DoStraightMove(GCodeBuffer& gb, bool isCoordinated, const char *& err) SPEED_CRITICAL;	// Execute a straight move
-	bool DoArcMove(GCodeBuffer& gb, bool clockwise, const char *& err)				// Execute an arc move
+	bool DoStraightMove(GCodeBuffer& gb, bool isCoordinated, const char *& err) THROWS(GCodeException) SPEED_CRITICAL;	// Execute a straight move
+	bool DoArcMove(GCodeBuffer& gb, bool clockwise, const char *& err) THROWS(GCodeException)				// Execute an arc move
 		pre(segmentsLeft == 0; resourceOwners[MoveResource] == &gb);
 	void FinaliseMove(GCodeBuffer& gb) noexcept;									// Adjust the move parameters to account for segmentation and/or part of the move having been done already
 	bool CheckEnoughAxesHomed(AxesBitmap axesMoved) noexcept;						// Check that enough axes have been homed
@@ -414,12 +414,12 @@ private:
 
 	bool ProcessWholeLineComment(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);	// Process a whole-line comment
 
-	const char *LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb, bool isPrintingMove);			// Set up the extrusion of a move
+	const char *LoadExtrusionAndFeedrateFromGCode(GCodeBuffer& gb, bool isPrintingMove) THROWS(GCodeException);	// Set up the extrusion of a move
 
-	bool Push(GCodeBuffer& gb, bool withinSameFile);								// Push feedrate etc on the stack
-	void Pop(GCodeBuffer& gb);														// Pop feedrate etc
-	void DisableDrives() noexcept;													// Turn the motors off
-	bool SendConfigToLine();														// Deal with M503
+	bool Push(GCodeBuffer& gb, bool withinSameFile) noexcept;										// Push feedrate etc on the stack
+	void Pop(GCodeBuffer& gb) noexcept;																// Pop feedrate etc
+	void DisableDrives() noexcept;																	// Turn the motors off
+	bool SendConfigToLine();																		// Deal with M503
 
 	GCodeResult OffsetAxes(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);			// Set/report offsets
 
diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp
index 13a72f9e..b5ac630d 100644
--- a/src/GCodes/GCodes3.cpp
+++ b/src/GCodes/GCodes3.cpp
@@ -960,6 +960,7 @@ GCodeResult GCodes::ProbeTool(GCodeBuffer& gb, const StringRef& reply) THROWS(GC
 // Return true if successful, else SetError has been called to save the error message
 bool GCodes::SetupM585ProbingMove(GCodeBuffer& gb) noexcept
 {
+	bool reduceAcceleration;
 	if (m585Settings.useProbe)
 	{
 		const auto zp = platform.GetZProbeOrDefault(currentZProbeNumber);
@@ -973,20 +974,19 @@ bool GCodes::SetupM585ProbingMove(GCodeBuffer& gb) noexcept
 			gb.LatestMachineState().SetError("Failed to enable probe");
 			return false;
 		}
+		reduceAcceleration = true;
 	}
-	else
+	else if (!platform.GetEndstops().EnableAxisEndstops(AxesBitmap::MakeFromBits(m585Settings.axisNumber), false, reduceAcceleration))
 	{
-		if (!platform.GetEndstops().EnableAxisEndstops(AxesBitmap::MakeFromBits(m585Settings.axisNumber), false))
-		{
-			gb.LatestMachineState().SetError("Failed to enable endstop");
-			return false;
-		}
+		gb.LatestMachineState().SetError("Failed to enable endstop");
+		return false;
 	}
 
 	SetMoveBufferDefaults();
 	ToolOffsetTransform(moveState.currentUserPosition, moveState.coords);
 	moveState.feedRate = m585Settings.feedRate;
 	moveState.coords[m585Settings.axisNumber] = m585Settings.probingLimit;
+	moveState.reduceAcceleration = reduceAcceleration;
 	moveState.checkEndstops = true;
 	moveState.canPauseAfter = false;
 	zProbeTriggered = false;