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Reintroduce/fix check for step_rate underflow during deceleration 

Check for negative results and results under the final_rate
This commit is contained in:
Yuri D'Elia 2020-08-03 18:42:40 +02:00
parent 4654283f54
commit 8108d50b59
1 changed files with 11 additions and 4 deletions
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15
Firmware/stepper.cpp
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@ -819,11 +819,18 @@ FORCE_INLINE void isr() {
else if (step_events_completed.wide > current_block->decelerate_after) { else if (step_events_completed.wide > current_block->decelerate_after) {
uint16_t step_rate; uint16_t step_rate;
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate); MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
if (step_rate < uint16_t(current_block->final_rate)) { if (step_rate > acc_step_rate) { // Check step_rate stays positive
// Result is too small. step_rate = uint16_t(current_block->final_rate);
step_rate = uint16_t(current_block->final_rate);
} }
else {
step_rate = acc_step_rate - step_rate; // Decelerate from acceleration end point.
// lower limit
if (step_rate < current_block->final_rate)
step_rate = uint16_t(current_block->final_rate);
}
// Step_rate to timer interval. // Step_rate to timer interval.
uint16_t timer = calc_timer(step_rate, step_loops); uint16_t timer = calc_timer(step_rate, step_loops);
_NEXT_ISR(timer); _NEXT_ISR(timer);