From 6cce9d173a8ae1de074cb541e367cc6047443497 Mon Sep 17 00:00:00 2001
From: Markus Hitter <mah@jump-ing.de>
Date: Mon, 27 Jun 2016 13:23:49 +0200
Subject: [PATCH] DDA: extruders aren't subject to kinematics.

As such, move extruder handling out of dda_kinematics.c into
dda.c.
---
 dda.c            | 9 +++++++--
 dda_kinematics.c | 6 ++----
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/dda.c b/dda.c
index 93e56eb..ec16d12 100644
--- a/dda.c
+++ b/dda.c
@@ -118,6 +118,7 @@ void dda_init(void) {
 */
 void dda_new_startpoint(void) {
 	axes_um_to_steps(startpoint.axis, startpoint_steps.axis);
+  startpoint_steps.axis[E] = um_to_steps(startpoint.axis[E], E);
 }
 
 /*! CREATE a dda given current_position and a target, save to passed location so we can write directly into the queue
@@ -184,6 +185,7 @@ void dda_create(DDA *dda, TARGET *target) {
     dda->id = idcnt++;
   #endif
 
+  // Handle bot axes. They're subject to kinematics considerations.
   code_axes_to_stepper_axes(&startpoint, target, delta_um, steps);
   for (i = X; i < E; i++) {
     int32_t delta_steps;
@@ -210,11 +212,14 @@ void dda_create(DDA *dda, TARGET *target) {
     #endif
   }
 
-  // TODO: this can likely be, at least partially, joined with the above for()
-  //       loop. Lots of almost-duplicate code.
+  // Handle extruder axes. They act independently from the bots kinematics
+  // type, but are subject to other special handling.
+  steps[E] = um_to_steps(target->axis[E], E);
+
   if ( ! target->e_relative) {
     int32_t delta_steps;
 
+    delta_um[E] = (uint32_t)labs(target->axis[E] - startpoint.axis[E]);
     delta_steps = steps[E] - startpoint_steps.axis[E];
     dda->delta[E] = (uint32_t)labs(delta_steps);
     startpoint_steps.axis[E] = steps[E];
diff --git a/dda_kinematics.c b/dda_kinematics.c
index a45221d..a8ecc81 100644
--- a/dda_kinematics.c
+++ b/dda_kinematics.c
@@ -13,7 +13,7 @@ carthesian_to_carthesian(TARGET *startpoint, TARGET *target,
                          axes_uint32_t delta_um, axes_int32_t steps) {
   enum axis_e i;
 
-  for (i = X; i < AXIS_COUNT; i++) {
+  for (i = X; i < E; i++) {
     delta_um[i] = (uint32_t)labs(target->axis[i] - startpoint->axis[i]);
     steps[i] = um_to_steps(target->axis[i], i);
   }
@@ -28,14 +28,13 @@ carthesian_to_corexy(TARGET *startpoint, TARGET *target,
   delta_um[Y] = (uint32_t)labs((target->axis[X] - startpoint->axis[X]) -
                                (target->axis[Y] - startpoint->axis[Y]));
   delta_um[Z] = (uint32_t)labs(target->axis[Z] - startpoint->axis[Z]);
-  delta_um[E] = (uint32_t)labs(target->axis[E] - startpoint->axis[E]);
   axes_um_to_steps_corexy(target->axis, steps);
 }
 
 void axes_um_to_steps_cartesian(const axes_int32_t um, axes_int32_t steps) {
   enum axis_e i;
 
-  for (i = X; i < AXIS_COUNT; i++) {
+  for (i = X; i < E; i++) {
     steps[i] = um_to_steps(um[i], i);
   }
 }
@@ -44,5 +43,4 @@ void axes_um_to_steps_corexy(const axes_int32_t um, axes_int32_t steps) {
   steps[X] = um_to_steps(um[X] + um[Y], X);
   steps[Y] = um_to_steps(um[X] - um[Y], Y);
   steps[Z] = um_to_steps(um[Z], Z);
-  steps[E] = um_to_steps(um[E], E);
 }