Correction to PrepareExtruder

3 files changed, 8 insertions, 8 deletions

diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp
index 29630ea6..7859545e 100644
--- a/src/Movement/DDA.cpp
+++ b/src/Movement/DDA.cpp
@@ -655,7 +655,7 @@ bool DDA::InitFromRemote(const CanMessageMovementLinear& msg) noexcept
 	params.topSpeedTimesCdivD = (uint32_t)roundU32(topSpeed/deceleration);
 	afterPrepare.topSpeedTimesCdivDPlusDecelStartClocks = params.topSpeedTimesCdivD + msg.accelerationClocks + msg.steadyClocks;
 	afterPrepare.extraAccelerationClocks = msg.accelerationClocks - roundS32(params.accelDistance/topSpeed);
-	params.compFactor = (topSpeed - startSpeed)/topSpeed;
+	params.accelCompFactor = (topSpeed - startSpeed)/topSpeed;
 
 	activeDMs = nullptr;
 
@@ -1302,9 +1302,9 @@ void DDA::Prepare(uint8_t simMode, float extrusionPending[]) noexcept
 		params.decelTime = (topSpeed - endSpeed)/deceleration;
 		params.initialSpeedFraction = startSpeed/topSpeed;
 		params.finalSpeedFraction = endSpeed/topSpeed;
-		params.compFactor = 1.0 - params.initialSpeedFraction;
+		params.accelCompFactor = 1.0 - params.initialSpeedFraction;
 #else
-		params.compFactor = (topSpeed - startSpeed)/topSpeed;
+		params.accelCompFactor = (topSpeed - startSpeed)/topSpeed;
 #endif
 		const float decelStartTime = accelStopTime + steadyTime;
 		afterPrepare.startSpeedTimesCdivA = (uint32_t)roundU32((startSpeed * StepTimer::StepClockRate)/acceleration);
diff --git a/src/Movement/DriveMovement.cpp b/src/Movement/DriveMovement.cpp
index 0f5cb627..f3de6447 100644
--- a/src/Movement/DriveMovement.cpp
+++ b/src/Movement/DriveMovement.cpp
@@ -223,7 +223,7 @@ bool DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, fl
 		compensationTime = reprap.GetPlatform().GetPressureAdvance(extruder);
 		const float compensationClocks = compensationTime * (float)StepTimer::StepClockRate;
 		mp.cart.compensationClocks = roundU32(compensationClocks);
-		mp.cart.accelCompensationClocks = roundU32(compensationClocks * params.compFactor);
+		mp.cart.accelCompensationClocks = roundU32(compensationClocks * params.accelCompFactor);
 
 #ifdef COMPENSATE_SPEED_CHANGES
 		// If there is a speed change at the start of the move, theoretically we should instantly advance or retard the filament by the associated compensation amount.
@@ -267,7 +267,7 @@ bool DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, fl
 	if (params.decelDistance * effectiveStepsPerMm < 0.5)		// if less than 1 deceleration step
 	{
 		totalSteps = (uint32_t)max<int32_t>(netSteps, 0);
-		mp.cart.decelStartStep = reverseStartStep = netSteps + 1;
+		mp.cart.decelStartStep = reverseStartStep = totalSteps + 1;
 		mp.cart.fourMaxStepDistanceMinusTwoDistanceToStopTimesCsquaredDivD = 0;
 		twoDistanceToStopTimesCsquaredDivD = 0;
 	}
@@ -298,8 +298,8 @@ bool DriveMovement::PrepareExtruder(const DDA& dda, const PrepParams& params, fl
 			{
 				netSteps = (int32_t)stepsBeforeReverse;
 			}
-			reverseStartStep = netSteps + 1;
 			totalSteps = (uint32_t)max<int32_t>(netSteps, 0);
+			reverseStartStep = totalSteps + 1;
 			mp.cart.fourMaxStepDistanceMinusTwoDistanceToStopTimesCsquaredDivD = 0;
 		}
 	}
@@ -323,7 +323,7 @@ bool DriveMovement::PrepareRemoteExtruder(const DDA& dda, const PrepParams& para
 	const float compensationTime = reprap.GetPlatform().EutGetRemotePressureAdvance(drive);
 	const float compensationClocks = compensationTime * (float)StepTimer::StepClockRate;
 	mp.cart.compensationClocks = roundU32(compensationClocks);
-	mp.cart.accelCompensationClocks = roundU32(compensationClocks * params.compFactor);
+	mp.cart.accelCompensationClocks = roundU32(compensationClocks * params.accelCompFactor);
 
 	// Recalculate the net total step count to allow for compensation. It may be negative.
 	const float compensationDistance = (dda.endSpeed - dda.startSpeed) * compensationTime;
diff --git a/src/Movement/DriveMovement.h b/src/Movement/DriveMovement.h
index 1816898d..3223844f 100644
--- a/src/Movement/DriveMovement.h
+++ b/src/Movement/DriveMovement.h
@@ -102,7 +102,7 @@ struct PrepParams
 	uint32_t topSpeedTimesCdivD;
 
 	// Parameters used only for extruders
-	float compFactor;
+	float accelCompFactor;
 
 #if SUPPORT_CAN_EXPANSION
 	// Parameters used by CAN expansion