From 12f01a783a174b1b00466a564facb2cde9db27ca Mon Sep 17 00:00:00 2001 From: Markus Hitter Date: Thu, 16 Oct 2014 21:04:34 +0200 Subject: [PATCH] CoreXY, dda.c: calculate delta steps separately. This will allow us to use it's sign to set direction. No binary size increase, optimizer can handle this. --- dda.c | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/dda.c b/dda.c index cac55c6..49b268b 100644 --- a/dda.c +++ b/dda.c @@ -190,10 +190,13 @@ void dda_create(DDA *dda, TARGET *target) { #endif for (i = X; i < E; i++) { + int32_t delta_steps; + delta_um[i] = (uint32_t)abs32(target->axis[i] - startpoint.axis[i]); steps[i] = um_to_steps(target->axis[i], i); - dda->delta[i] = (uint32_t)abs32(steps[i] - startpoint_steps.axis[i]); + delta_steps = steps[i] - startpoint_steps.axis[i]; + dda->delta[i] = (uint32_t)abs32(delta_steps); startpoint_steps.axis[i] = steps[i]; set_direction(dda, i, (target->axis[i] >= startpoint.axis[i])?1:0); @@ -208,10 +211,13 @@ void dda_create(DDA *dda, TARGET *target) { } if ( ! target->e_relative) { + int32_t delta_steps; + delta_um[E] = (uint32_t)abs32(target->axis[E] - startpoint.axis[E]); steps[E] = um_to_steps(target->axis[E], E); - dda->delta[E] = (uint32_t)abs32(steps[E] - startpoint_steps.axis[E]); + delta_steps = steps[E] - startpoint_steps.axis[E]; + dda->delta[E] = (uint32_t)abs32(delta_steps); startpoint_steps.axis[E] = steps[E]; set_direction(dda, E, (target->axis[E] >= startpoint.axis[E]) ? 1 : 0);