diff options
Diffstat (limited to 'klippy/chelper/itersolve.c')
| -rw-r--r-- | klippy/chelper/itersolve.c | 15 |
1 files changed, 14 insertions, 1 deletions
diff --git a/klippy/chelper/itersolve.c b/klippy/chelper/itersolve.c index 1094e5f3..9cae55fd 100644 --- a/klippy/chelper/itersolve.c +++ b/klippy/chelper/itersolve.c @@ -13,6 +13,11 @@ #include "stepcompress.h" // queue_append_start #include "trapq.h" // struct move + +/**************************************************************** + * Main iterative solver + ****************************************************************/ + struct timepos { double time, position; }; @@ -66,7 +71,7 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m double start = move_start - m->print_time, end = move_end - m->print_time; struct timepos last = { start, sk->commanded_pos }, low = last, high = last; double seek_time_delta = SEEK_TIME_RESET; - int sdir = !!stepcompress_get_step_dir(sk->sc), is_dir_change = 0; + int sdir = stepcompress_get_step_dir(sk->sc), is_dir_change = 0; for (;;) { double diff = high.position - last.position, dist = sdir ? diff : -diff; if (dist >= half_step) { @@ -90,6 +95,9 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m if (low.time < high.time) // The existing search range is still valid continue; + } else if (dist > 0.) { + // Avoid rollback if stepper fully reaches target position + stepcompress_commit(sk->sc); } else if (unlikely(dist < -(half_step + .000000001))) { // Found direction change is_dir_change = 1; @@ -127,6 +135,11 @@ itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m return 0; } + +/**************************************************************** + * Interface functions + ****************************************************************/ + // Check if a move is likely to cause movement on a stepper static inline int check_active(struct stepper_kinematics *sk, struct move *m) |