MPCNC/Firmware
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Revert "[1.1.x] Fix missing deceleration steps"

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Bob-the-Kuhn 2018-01-16 11:31:27 -06:00 committed by GitHub
parent ec028faa1b
commit ba9aa47260
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2 changed files with 2 additions and 5 deletions
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2
Marlin/planner.cpp
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@ -218,7 +218,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
// Steps required for acceleration, deceleration to/from nominal rate // Steps required for acceleration, deceleration to/from nominal rate
int32_t accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)), int32_t accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
decelerate_steps = CEIL(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel)), decelerate_steps = FLOOR(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel)),
// Steps between acceleration and deceleration, if any // Steps between acceleration and deceleration, if any
plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps; plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;

5
Marlin/stepper.cpp
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@ -733,11 +733,8 @@ void Stepper::isr() {
#endif // LIN_ADVANCE #endif // LIN_ADVANCE
} }
else if (step_events_completed >= (uint32_t)current_block->decelerate_after && current_block->step_event_count != (uint32_t)current_block->decelerate_after) { else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
uint16_t step_rate; uint16_t step_rate;
// If we are entering the deceleration phase for the first time, we have to see how long we have been decelerating up to now. Equals last acceleration time interval.
if (!deceleration_time)
deceleration_time = calc_timer_interval(acc_step_rate);
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate); MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
if (step_rate < acc_step_rate) { // Still decelerating? if (step_rate < acc_step_rate) { // Still decelerating?