From 31b24212541a0bfde3e45833c26fe78ac6f99066 Mon Sep 17 00:00:00 2001
From: Trammell Hudson <hudson@trmm.net>
Date: Mon, 25 Nov 2024 16:45:37 +0100
Subject: [PATCH] L3 fixes

This patch fixes #235 and #236 to correctly validate L3 commands
with non-zero jerk2 and also flips the gJerk1 and gJerk2 globals
if the sign on gSteps1 or gSteps2 is negative in legacy mode.
---
 EBB_firmware/app.X/source/ebb.c | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/EBB_firmware/app.X/source/ebb.c b/EBB_firmware/app.X/source/ebb.c
index 0d4792a..40a9523 100644
--- a/EBB_firmware/app.X/source/ebb.c
+++ b/EBB_firmware/app.X/source/ebb.c
@@ -2068,7 +2068,7 @@ void parse_L3_packet(void)
       )
       &&
       (
-        ((gRate2 == 0) && (gAccel2 == 0) && (gJerk1 == 0))
+        ((gRate2 == 0) && (gAccel2 == 0) && (gJerk2 == 0))
         ||
         (gSteps2 == 0)
       )
@@ -2349,6 +2349,7 @@ void process_low_level_move(BOOL TimedMove, ExtractReturnType ClearRet)
         gSteps1 = -gSteps1;
         gRate1 = -gRate1;
         gAccel1 = -gAccel1;
+        gJerk1 = -gJerk1;
       }
     }
     if (gSteps2 < 0)
@@ -2363,6 +2364,7 @@ void process_low_level_move(BOOL TimedMove, ExtractReturnType ClearRet)
         gSteps2 = -gSteps2;
         gRate2 = -gRate2;
         gAccel2 = -gAccel2;
+        gJerk2 = -gJerk2;
       }
     }
   }