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Revert "DDA: don't count individual axis steps."

This commit is contained in:
Nico Tonnhofer 2017-01-02 20:59:50 +01:00
parent e52b1d2a69
commit b36aa4168a
2 changed files with 17 additions and 12 deletions
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24
dda.c
View File

@ -496,11 +496,11 @@ void dda_start(DDA *dda) {
move_state.counter[X] = move_state.counter[Y] = move_state.counter[Z] = \ move_state.counter[X] = move_state.counter[Y] = move_state.counter[Z] = \
move_state.counter[E] = -(dda->total_steps >> 1); move_state.counter[E] = -(dda->total_steps >> 1);
move_state.endstop_stop = 0; move_state.endstop_stop = 0;
memcpy(&move_state.steps[X], &dda->delta[X], sizeof(uint32_t) * 4);
#ifdef ACCELERATION_RAMPING #ifdef ACCELERATION_RAMPING
move_state.step_no = 0; move_state.step_no = 0;
#endif #endif
#ifdef ACCELERATION_TEMPORAL #ifdef ACCELERATION_TEMPORAL
memcpy(&move_state.steps[X], &dda->delta[X], sizeof(uint32_t) * 4);
move_state.time[X] = move_state.time[Y] = \ move_state.time[X] = move_state.time[Y] = \
move_state.time[Z] = move_state.time[E] = 0UL; move_state.time[Z] = move_state.time[E] = 0UL;
#endif #endif
@ -535,31 +535,35 @@ void dda_start(DDA *dda) {
void dda_step(DDA *dda) { void dda_step(DDA *dda) {
#if ! defined ACCELERATION_TEMPORAL #if ! defined ACCELERATION_TEMPORAL
if (dda->delta[X]) { if (move_state.steps[X]) {
move_state.counter[X] -= dda->delta[X]; move_state.counter[X] -= dda->delta[X];
if (move_state.counter[X] < 0) { if (move_state.counter[X] < 0) {
x_step(); x_step();
move_state.steps[X]--;
move_state.counter[X] += dda->total_steps; move_state.counter[X] += dda->total_steps;
} }
} }
if (dda->delta[Y]) { if (move_state.steps[Y]) {
move_state.counter[Y] -= dda->delta[Y]; move_state.counter[Y] -= dda->delta[Y];
if (move_state.counter[Y] < 0) { if (move_state.counter[Y] < 0) {
y_step(); y_step();
move_state.steps[Y]--;
move_state.counter[Y] += dda->total_steps; move_state.counter[Y] += dda->total_steps;
} }
} }
if (dda->delta[Z]) { if (move_state.steps[Z]) {
move_state.counter[Z] -= dda->delta[Z]; move_state.counter[Z] -= dda->delta[Z];
if (move_state.counter[Z] < 0) { if (move_state.counter[Z] < 0) {
z_step(); z_step();
move_state.steps[Z]--;
move_state.counter[Z] += dda->total_steps; move_state.counter[Z] += dda->total_steps;
} }
} }
if (dda->delta[E]) { if (move_state.steps[E]) {
move_state.counter[E] -= dda->delta[E]; move_state.counter[E] -= dda->delta[E];
if (move_state.counter[E] < 0) { if (move_state.counter[E] < 0) {
e_step(); e_step();
move_state.steps[E]--;
move_state.counter[E] += dda->total_steps; move_state.counter[E] += dda->total_steps;
} }
} }
@ -672,14 +676,12 @@ void dda_step(DDA *dda) {
// //
// TODO: with ACCELERATION_TEMPORAL this duplicates some code. See where // TODO: with ACCELERATION_TEMPORAL this duplicates some code. See where
// dda->live is zero'd, about 10 lines above. // dda->live is zero'd, about 10 lines above.
#if ! defined ACCELERATION_TEMPORAL if ((move_state.steps[X] == 0 && move_state.steps[Y] == 0 &&
if (move_state.step_no >= dda->total_steps ||
(move_state.endstop_stop && dda->n <= 0))
#else
if (move_state.steps[X] == 0 && move_state.steps[Y] == 0 &&
move_state.steps[Z] == 0 && move_state.steps[E] == 0) move_state.steps[Z] == 0 && move_state.steps[E] == 0)
#ifdef ACCELERATION_RAMPING
|| (move_state.endstop_stop && dda->n <= 0)
#endif #endif
{ ) {
dda->live = 0; dda->live = 0;
dda->done = 1; dda->done = 1;
#ifdef LOOKAHEAD #ifdef LOOKAHEAD

5
dda.h
View File

@ -60,11 +60,14 @@ typedef struct {
/// counts actual steps done /// counts actual steps done
uint32_t step_no; uint32_t step_no;
#else #else
axes_uint32_t steps; ///< number of steps on each axis
axes_uint32_t time; ///< time of the last step on each axis axes_uint32_t time; ///< time of the last step on each axis
uint32_t last_time; ///< time of the last step of any axis uint32_t last_time; ///< time of the last step of any axis
#endif #endif
#if defined ACCELERATION_TEMPORAL || defined ACCELERATION_RAMPING
axes_uint32_t steps; ///< number of steps on each axis
#endif
/// Endstop handling. /// Endstop handling.
uint8_t endstop_stop; ///< Stop due to endstop trigger uint8_t endstop_stop; ///< Stop due to endstop trigger
uint8_t debounce_count_x, debounce_count_y, debounce_count_z; uint8_t debounce_count_x, debounce_count_y, debounce_count_z;