From aab670e923640fea82525e20b2af98c21e8b2239 Mon Sep 17 00:00:00 2001
From: markmaker <mark@makr.zone>
Date: Thu, 29 Oct 2020 22:08:25 +0100
Subject: [PATCH] * changed it to 201.3 (from 204.3) as this seems a better
 match for axis limits rather than tool-path (Euclidean) limits.

---
 firmware/tinyg/Debug/tinyg.hex     | 2 +-
 firmware/tinyg/canonical_machine.c | 2 +-
 firmware/tinyg/canonical_machine.h | 4 ++--
 firmware/tinyg/default/tinyg.hex   | 2 +-
 firmware/tinyg/gcode_parser.c      | 2 +-
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/firmware/tinyg/Debug/tinyg.hex b/firmware/tinyg/Debug/tinyg.hex
index 5798d4e0e..1b8a88748 100755
--- a/firmware/tinyg/Debug/tinyg.hex
+++ b/firmware/tinyg/Debug/tinyg.hex
@@ -3878,7 +3878,7 @@
 :10F2500009F479C020F46E31710551F106C46133AF
 :10F26000710509F47AC06233710509F480C0FDC3E9
 :10F270006337710509F495C040F46C33710571F082
-:10F280006237710509F487C0F0C36C3C710509F45D
+:10F280006237710509F487C0F0C3693C710509F460
 :10F290008EC06039714009F4B7C0E7C31092EC2CFE
 :10F2A0005092472D8091F9378F5F8093F937B2C123
 :10F2B0005092EC2C5092472D8091F9378F5F8093BC
diff --git a/firmware/tinyg/canonical_machine.c b/firmware/tinyg/canonical_machine.c
index 13c560344..2f8ae7571 100755
--- a/firmware/tinyg/canonical_machine.c
+++ b/firmware/tinyg/canonical_machine.c
@@ -846,7 +846,7 @@ stat_t cm_get_firmware()
 
 stat_t cm_set_jerk(float offset[], float flag[])
 {
-	// M204.3: Set axes jerk limits, transiently.
+	// M201.3: Set axes jerk limits, transiently.
 	for (uint8_t axis = AXIS_X; axis < AXES; axis++) {
 		if (fp_TRUE(flag[axis])) {
 			// convert from unit/s^3 to unit/min^3 and divide by the multiplier.
diff --git a/firmware/tinyg/canonical_machine.h b/firmware/tinyg/canonical_machine.h
index 97868ced7..1d7953a29 100755
--- a/firmware/tinyg/canonical_machine.h
+++ b/firmware/tinyg/canonical_machine.h
@@ -392,7 +392,7 @@ enum cmNextAction {						// these are in order to optimized CASE statement
 	NEXT_ACTION_STRAIGHT_PROBE,			// G38.2
 	NEXT_ACTION_GET_POSITION,			// M114
 	NEXT_ACTION_GET_FIRMWARE,			// M115
-	NEXT_ACTION_SET_JERK,				// M204.3
+	NEXT_ACTION_SET_JERK,				// M201.3
 	NEXT_ACTION_WAIT_FOR_COMPLETION		// M400
 
 };
@@ -601,7 +601,7 @@ stat_t cm_resume_origin_offsets(void);				 			// G92.3
 
 stat_t cm_get_position(void);									// M114
 stat_t cm_get_firmware(void);									// M115
-stat_t cm_set_jerk(float offset[], float flag[]);				// M204.3
+stat_t cm_set_jerk(float offset[], float flag[]);				// M201.3
 stat_t cm_wait_for_completion(void);							// M400
 
 // Free Space Motion (4.3.4)
diff --git a/firmware/tinyg/default/tinyg.hex b/firmware/tinyg/default/tinyg.hex
index 5798d4e0e..1b8a88748 100755
--- a/firmware/tinyg/default/tinyg.hex
+++ b/firmware/tinyg/default/tinyg.hex
@@ -3878,7 +3878,7 @@
 :10F2500009F479C020F46E31710551F106C46133AF
 :10F26000710509F47AC06233710509F480C0FDC3E9
 :10F270006337710509F495C040F46C33710571F082
-:10F280006237710509F487C0F0C36C3C710509F45D
+:10F280006237710509F487C0F0C3693C710509F460
 :10F290008EC06039714009F4B7C0E7C31092EC2CFE
 :10F2A0005092472D8091F9378F5F8093F937B2C123
 :10F2B0005092EC2C5092472D8091F9378F5F8093BC
diff --git a/firmware/tinyg/gcode_parser.c b/firmware/tinyg/gcode_parser.c
index 0254c96d5..4425c207e 100755
--- a/firmware/tinyg/gcode_parser.c
+++ b/firmware/tinyg/gcode_parser.c
@@ -367,7 +367,7 @@ static stat_t _parse_gcode_block(char_t *buf)
 				case 51: SET_MODAL (MODAL_GROUP_M9, spindle_override_enable, true);	  // conditionally true
 				case 114: SET_NON_MODAL (next_action, NEXT_ACTION_GET_POSITION);
 				case 115: SET_NON_MODAL (next_action, NEXT_ACTION_GET_FIRMWARE);
-				case 204: {
+				case 201: {
 					switch (_point(value)) { 
 						case 3: SET_NON_MODAL (next_action, NEXT_ACTION_SET_JERK);
 						default: status = STAT_MCODE_COMMAND_UNSUPPORTED;