diff options
| -rw-r--r-- | klippy/chelper/itersolve.c | 72 |
1 files changed, 44 insertions, 28 deletions
diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c index 28a337ad..3aadd5af 100644 --- a/klippy/chelper/itersolve.c +++ b/klippy/chelper/itersolve.c @@ -167,42 +167,58 @@ itersolve_generate_steps(struct stepper_kinematics *sk, double flush_time) while (last_flush_time >= m->print_time + m->move_t) m = list_next_entry(m, node); double force_steps_time = sk->last_move_time + sk->gen_steps_post_active; + int skip_count = 0; for (;;) { - if (last_flush_time >= flush_time) - return 0; - double start = m->print_time, end = start + m->move_t; - if (start < last_flush_time) - start = last_flush_time; - if (end > flush_time) - end = flush_time; + double move_start = m->print_time, move_end = move_start + m->move_t; if (check_active(sk, m)) { - if (sk->gen_steps_pre_active - && start > last_flush_time + .000000001) { + if (skip_count && sk->gen_steps_pre_active) { // Must generate steps leading up to stepper activity - force_steps_time = start; - if (last_flush_time < start - sk->gen_steps_pre_active) - last_flush_time = start - sk->gen_steps_pre_active; - while (m->print_time > last_flush_time) - m = list_prev_entry(m, node); - continue; + double abs_start = move_start - sk->gen_steps_pre_active; + if (abs_start < last_flush_time) + abs_start = last_flush_time; + if (abs_start < force_steps_time) + abs_start = force_steps_time; + struct move *pm = list_prev_entry(m, node); + while (--skip_count && pm->print_time > abs_start) + pm = list_prev_entry(pm, node); + do { + int32_t ret = itersolve_gen_steps_range(sk, pm, abs_start + , flush_time); + if (ret) + return ret; + pm = list_next_entry(pm, node); + } while (pm != m); } // Generate steps for this move - int32_t ret = itersolve_gen_steps_range(sk, m, start, end); - if (ret) - return ret; - sk->last_move_time = last_flush_time = end; - force_steps_time = end + sk->gen_steps_post_active; - } else if (start < force_steps_time) { - // Must generates steps just past stepper activity - if (end > force_steps_time) - end = force_steps_time; - int32_t ret = itersolve_gen_steps_range(sk, m, start, end); + int32_t ret = itersolve_gen_steps_range(sk, m, last_flush_time + , flush_time); if (ret) return ret; - last_flush_time = end; + if (move_end >= flush_time) { + sk->last_move_time = flush_time; + return 0; + } + skip_count = 0; + sk->last_move_time = move_end; + force_steps_time = sk->last_move_time + sk->gen_steps_post_active; + } else { + if (move_start < force_steps_time) { + // Must generates steps just past stepper activity + double abs_end = force_steps_time; + if (abs_end > flush_time) + abs_end = flush_time; + int32_t ret = itersolve_gen_steps_range(sk, m, last_flush_time + , abs_end); + if (ret) + return ret; + skip_count = 1; + } else { + // This move doesn't impact this stepper - skip it + skip_count++; + } + if (flush_time + sk->gen_steps_pre_active <= move_end) + return 0; } - if (flush_time + sk->gen_steps_pre_active <= m->print_time + m->move_t) - return 0; m = list_next_entry(m, node); } } |