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dda.c: base rampup_steps calculation on the fast axis, too.

This commit is contained in:
Markus Hitter 2013-12-03 16:17:02 +01:00
parent 730c1836ad
commit 2f1142d461
1 changed files with 16 additions and 7 deletions
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23
dda.c
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@ -349,15 +349,24 @@ void dda_create(DDA *dda, TARGET *target) {
if (dda->endpoint.F > 65535)
dda->endpoint.F = 65535;
// Note: this is inaccurate for several reasons:
// Note: this is inaccurate:
// - ACCELERATE_RAMP_LEN() uses STEPS_PER_M_X, so axes not matching
// this get too much or not enough rampup steps.
// - target->F means the speed of all axes combined, not the speed
// of the fast axis, which is taken into account here.
// The good thing: taking dda->endpoint.F means rampup_steps is always
// equal or larger than the number of steps required for acceleration,
// so we can use it when also limiting max speed according to c_limit.
dda->rampup_steps = ACCELERATE_RAMP_LEN(dda->endpoint.F);
uint32_t fast_um;
if (dda->total_steps == dda->x_delta)
fast_um = x_delta_um;
else if (dda->total_steps == dda->y_delta)
fast_um = y_delta_um;
else if (dda->total_steps == dda->z_delta)
fast_um = z_delta_um;
else if (dda->total_steps == dda->e_delta)
fast_um = e_delta_um;
else {
fast_um = 0;
sersendf_P(PSTR("WTF? No prev fast axis found\n"));
}
dda->rampup_steps = ACCELERATE_RAMP_LEN(muldiv(fast_um, dda->endpoint.F, distance));
// Quick hack: we do not do Z move joins as jerk on the Z axis is undesirable;
// as the ramp length is calculated for XY, its incorrect for Z: apply the original