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dda.c: get rid of did_step. 

We want to stop stepping as there are no steps left, not one step later.

Accordingly, we get rid of a small pause between two movements and
also have to decelerate one step earlier.
This commit is contained in:
Markus Hitter 2011-11-16 12:23:35 +01:00
parent 1ee4668e21
commit fcd11a6f24
1 changed files with 6 additions and 15 deletions
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21
dda.c
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@ -486,7 +486,6 @@ void dda_start(DDA *dda) {
\todo take into account the time that interrupt takes to run
*/
void dda_step(DDA *dda) {
uint8_t did_step = 0;
uint8_t endstop_stop; ///< Stop due to endstop trigger
uint8_t endstop_not_done = 0; ///< Which axes haven't finished homing
@ -518,7 +517,6 @@ void dda_step(DDA *dda) {
move_state.x_counter -= dda->x_delta;
if (move_state.x_counter < 0) {
x_step();
did_step = 1;
move_state.x_steps--;
move_state.x_counter += dda->total_steps;
}
@ -552,7 +550,6 @@ void dda_step(DDA *dda) {
move_state.y_counter -= dda->y_delta;
if (move_state.y_counter < 0) {
y_step();
did_step = 1;
move_state.y_steps--;
move_state.y_counter += dda->total_steps;
}
@ -586,7 +583,6 @@ void dda_step(DDA *dda) {
move_state.z_counter -= dda->z_delta;
if (move_state.z_counter < 0) {
z_step();
did_step = 1;
move_state.z_steps--;
move_state.z_counter += dda->total_steps;
}
@ -596,7 +592,6 @@ void dda_step(DDA *dda) {
move_state.e_counter -= dda->e_delta;
if (move_state.e_counter < 0) {
e_step();
did_step = 1;
move_state.e_steps--;
move_state.e_counter += dda->total_steps;
}
@ -653,7 +648,7 @@ void dda_step(DDA *dda) {
move_state.n = -((int32_t)2) - move_state.n;
recalc_speed = 1;
}
else if (move_state.step_no > dda->rampdown_steps) {
else if (move_state.step_no >= dda->rampdown_steps) {
if (move_state.n > 0) // wrong ramp direction
move_state.n = -((int32_t)2) - move_state.n;
recalc_speed = 1;
@ -687,15 +682,9 @@ void dda_step(DDA *dda) {
dda_init();
}
// TODO: did_step is obsolete ...
if (did_step) {
// we stepped, reset timeout
steptimeout = 0;
// if we could do anything at all, we're still running
// otherwise, must have finished
}
else if (move_state.x_steps == 0 && move_state.y_steps == 0 && move_state.z_steps == 0 && move_state.e_steps == 0) {
// If there are no steps left, we have finished.
if (move_state.x_steps == 0 && move_state.y_steps == 0 &&
move_state.z_steps == 0 && move_state.e_steps == 0) {
dda->live = 0;
#ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, 0);
@ -703,6 +692,8 @@ void dda_step(DDA *dda) {
// z stepper is only enabled while moving
z_disable();
}
else
steptimeout = 0;
cli();