diff options
| author | David Crocker <dcrocker@eschertech.com> | 2021-07-02 17:47:25 +0300 |
|---|---|---|
| committer | David Crocker <dcrocker@eschertech.com> | 2021-07-07 10:54:14 +0300 |
| commit | d253bb7b92326761b2c764aff264c8fa7eae02cd (patch) | |
| tree | 0499f85fde59d83539d4992c9764522ddcb168d5 | |
| parent | 32eddd9999db8ecfdca32f14e86c04b8979c31d7 (diff) | |
Fixed issue with remote-only moves being scheduled too early
| -rw-r--r-- | src/CAN/CanInterface.cpp | 3 | ||||
| -rw-r--r-- | src/Movement/DDA.cpp | 2 | ||||
| -rw-r--r-- | src/Movement/Move.h | 2 |
3 files changed, 4 insertions, 3 deletions
diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp index daf73f13..89c4919a 100644 --- a/src/CAN/CanInterface.cpp +++ b/src/CAN/CanInterface.cpp @@ -635,6 +635,9 @@ static GCodeResult SetRemoteDriverStates(const CanDriversList& drivers, const St void CanInterface::SendMotion(CanMessageBuffer *buf) noexcept { buf->next = nullptr; +#if 0 + buf->msg.moveLinear.DebugPrint(); +#endif { TaskCriticalSectionLocker lock; diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp index 89959ee0..1ff3fa12 100644 --- a/src/Movement/DDA.cpp +++ b/src/Movement/DDA.cpp @@ -2073,7 +2073,7 @@ void DDA::StepDrivers(Platform& p, uint32_t now) noexcept // We need to make sure it has really started, or we can get arithmetic wrap round in the case that there are no local drivers stepping. const uint32_t timeRunning = StepTimer::GetTimerTicks() - afterPrepare.moveStartTime; if ( timeRunning + WakeupTime >= clocksNeeded // if it looks like the move has almost finished - && timeRunning < 0 - MovementStartDelayClocks // and it really has started + && timeRunning < 0 - AbsoluteMinimumPreparedTime // and it really has started ) { state = completed; diff --git a/src/Movement/Move.h b/src/Movement/Move.h index 940cfe8b..bf891f1e 100644 --- a/src/Movement/Move.h +++ b/src/Movement/Move.h @@ -46,8 +46,6 @@ const unsigned int NumDms = 20 * 5; // suitable for e.g. a delta + 2- #endif -constexpr uint32_t MovementStartDelayClocks = StepTimer::StepClockRate/100; // 10ms delay between preparing the first move and starting it - // This is the master movement class. It controls all movement in the machine. class Move INHERIT_OBJECT_MODEL { |