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dda.c: get endstops back working 

In the endstop_trigger case, we look, if will are cruising.
-> Yes: Take the rampdown_steps for calculation
-> No: We are still accelerating. So we want to decelerate the same amount of steps.
This commit is contained in:
Nico Tonnhofer 2017-10-27 20:16:27 +02:00
parent e976f2bdf3
commit 301c5ed149
1 changed files with 7 additions and 7 deletions
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14
dda.c
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@ -829,16 +829,16 @@ void dda_clock() {
// For always smooth operations, don't halt apruptly,
// but start deceleration here.
ATOMIC_START
move_state.endstop_stop = 1;
move_step_no = dda->total_steps - move_state.steps[dda->fast_axis];
move_state.endstop_stop = 1;
if (move_step_no < dda->rampup_steps) // still accelerating
dda->total_steps = move_step_no * 2;
else
// A "-=" would overflow earlier.
dda->total_steps = dda->total_steps - dda->rampdown_steps +
move_step_no;
if (move_step_no > dda->rampup_steps) { // cruising?
move_step_no = dda->total_steps - dda->rampdown_steps;
}
dda->rampdown_steps = move_step_no;
dda->total_steps = move_step_no * 2;
move_state.steps[dda->fast_axis] = move_step_no;
ATOMIC_END
// Not atomic, because not used in dda_step().
dda->rampup_steps = 0; // in case we're still accelerating