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DDA: don't bit-shift dda->end_c either. 

Next babystep. All changes in ACCELERATION_REPRAP, which isn't
part of current test procedures, so let's cross fingers it was
done right.
This commit is contained in:
Markus Hitter 2014-07-15 17:43:25 +02:00
parent 2541eaf335
commit 6880f05f7e
1 changed files with 13 additions and 13 deletions
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26
dda.c
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@ -317,14 +317,14 @@ void dda_create(DDA *dda, TARGET *target) {
dda->c = (move_duration / startpoint.F) << 8; dda->c = (move_duration / startpoint.F) << 8;
if (dda->c < (c_limit << 8)) if (dda->c < (c_limit << 8))
dda->c = (c_limit << 8); dda->c = (c_limit << 8);
dda->end_c = (move_duration / target->F) << 8; dda->end_c = move_duration / target->F;
if (dda->end_c < (c_limit << 8)) if (dda->end_c < c_limit)
dda->end_c = (c_limit << 8); dda->end_c = c_limit;
if (DEBUG_DDA && (debug_flags & DEBUG_DDA)) if (DEBUG_DDA && (debug_flags & DEBUG_DDA))
sersendf_P(PSTR(",md:%lu,c:%lu"), move_duration, dda->c >> 8); sersendf_P(PSTR(",md:%lu,c:%lu"), move_duration, dda->c >> 8);
if (dda->c != dda->end_c) { if (dda->c != (dda->end_c << 8)) {
uint32_t stF = startpoint.F / 4; uint32_t stF = startpoint.F / 4;
uint32_t enF = target->F / 4; uint32_t enF = target->F / 4;
// now some constant acceleration stuff, courtesy of http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time // now some constant acceleration stuff, courtesy of http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time
@ -359,7 +359,7 @@ void dda_create(DDA *dda, TARGET *target) {
} }
if (DEBUG_DDA && (debug_flags & DEBUG_DDA)) if (DEBUG_DDA && (debug_flags & DEBUG_DDA))
sersendf_P(PSTR("\n{DDA:CA end_c:%lu, n:%ld, md:%lu, ssq:%lu, esq:%lu, dsq:%lu, msbssq:%u, msbtot:%u}\n"), dda->end_c >> 8, dda->n, move_duration, ssq, esq, dsq, msb_ssq, msb_tot); sersendf_P(PSTR("\n{DDA:CA end_c:%lu, n:%ld, md:%lu, ssq:%lu, esq:%lu, dsq:%lu, msbssq:%u, msbtot:%u}\n"), dda->end_c, dda->n, move_duration, ssq, esq, dsq, msb_ssq, msb_tot);
dda->accel = 1; dda->accel = 1;
} }
@ -609,26 +609,26 @@ void dda_step(DDA *dda) {
#ifdef ACCELERATION_REPRAP #ifdef ACCELERATION_REPRAP
// linear acceleration magic, courtesy of http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time // linear acceleration magic, courtesy of http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time
if (dda->accel) { if (dda->accel) {
if ((dda->c > dda->end_c) && (dda->n > 0)) { if ((dda->c > (dda->end_c << 8)) && (dda->n > 0)) {
uint32_t new_c = dda->c - (dda->c * 2) / dda->n; uint32_t new_c = dda->c - (dda->c * 2) / dda->n;
if (new_c <= dda->c && new_c > dda->end_c) { if (new_c <= dda->c && new_c > (dda->end_c << 8)) {
dda->c = new_c; dda->c = new_c;
dda->n += 4; dda->n += 4;
} }
else else
dda->c = dda->end_c; dda->c = dda->end_c << 8;
} }
else if ((dda->c < dda->end_c) && (dda->n < 0)) { else if ((dda->c < (dda->end_c << 8)) && (dda->n < 0)) {
uint32_t new_c = dda->c + ((dda->c * 2) / -dda->n); uint32_t new_c = dda->c + ((dda->c * 2) / -dda->n);
if (new_c >= dda->c && new_c < dda->end_c) { if (new_c >= dda->c && new_c < (dda->end_c << 8)) {
dda->c = new_c; dda->c = new_c;
dda->n += 4; dda->n += 4;
} }
else else
dda->c = dda->end_c; dda->c = dda->end_c << 8;
} }
else if (dda->c != dda->end_c) { else if (dda->c != (dda->end_c << 8)) {
dda->c = dda->end_c; dda->c = (dda->end_c << 8);
} }
// else we are already at target speed // else we are already at target speed
} }