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dda.c: reset ramping after an endstop stop. 

As the new homing code ramps up, but not down, we have to reset
move_state.c before starting the next move.
This commit is contained in:
Markus Hitter 2011-10-08 17:11:35 +02:00
parent 2f04a9e58c
commit 7a458486ed
1 changed files with 7 additions and 2 deletions
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9
dda.c
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@ -169,7 +169,8 @@ const uint8_t msbloc (uint32_t v) {
*/ */
void dda_init(void) { void dda_init(void) {
// set up default feedrate // set up default feedrate
startpoint.F = next_target.target.F = SEARCH_FEEDRATE_Z; if (startpoint.F == 0)
startpoint.F = next_target.target.F = SEARCH_FEEDRATE_Z;
#ifdef ACCELERATION_RAMPING #ifdef ACCELERATION_RAMPING
move_state.n = 1; move_state.n = 1;
@ -633,8 +634,12 @@ void dda_step(DDA *dda) {
// sersendf_P(PSTR("\r\nc %lu c_min %lu n %d"), dda->c, dda->c_min, move_state.n); // sersendf_P(PSTR("\r\nc %lu c_min %lu n %d"), dda->c, dda->c_min, move_state.n);
#endif #endif
if (dda->endstop_check != 0x0 && endstop_not_done == 0x0) // TODO: If we stop axes individually, could we home two or more axes at the same time?
if (dda->endstop_check != 0x0 && endstop_not_done == 0x0) {
move_state.x_steps = move_state.y_steps = move_state.z_steps = move_state.e_steps = 0; move_state.x_steps = move_state.y_steps = move_state.z_steps = move_state.e_steps = 0;
// as we stop without ramping down, we have to re-init our ramping here
dda_init();
}
// TODO: did_step is obsolete ... // TODO: did_step is obsolete ...
if (did_step) { if (did_step) {