Merge remote-tracking branch 'origin/3.3-dev' into wil-convert-same70-to-coren2g

4 files changed, 21 insertions, 12 deletions

diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp
index 6cf3fd34..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;
 
@@ -1299,12 +1299,12 @@ void DDA::Prepare(uint8_t simMode, float extrusionPending[]) noexcept
 #if SUPPORT_CAN_EXPANSION
 		params.accelTime = accelStopTime;
 		params.steadyTime = steadyTime;
-		params.decelTime = (topSpeed - endSpeed)/acceleration;
+		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);
@@ -1578,7 +1578,13 @@ void DDA::Prepare(uint8_t simMode, float extrusionPending[]) noexcept
 		}
 
 #if SUPPORT_CAN_EXPANSION
-		CanMotion::FinishMovement(afterPrepare.moveStartTime);
+		const uint32_t canClocksNeeded = CanMotion::FinishMovement(afterPrepare.moveStartTime);
+		if (canClocksNeeded > clocksNeeded)
+		{
+			// Due to rounding error in the calculations, we quite often calculate the CAN move as being longer than our previously-calculated value, normally by just one clock.
+			// Extend our move time in this case so that the expansion boards don't need to catch up.
+			clocksNeeded = canClocksNeeded;
+		}
 #endif
 		if (reprap.Debug(moduleDda) && reprap.Debug(moduleMove))		// temp show the prepared DDA if debug enabled for both modules
 		{
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
diff --git a/src/Movement/StepperDrivers/TMC22xx.cpp b/src/Movement/StepperDrivers/TMC22xx.cpp
index 27623a33..7236a3fc 100644
--- a/src/Movement/StepperDrivers/TMC22xx.cpp
+++ b/src/Movement/StepperDrivers/TMC22xx.cpp
@@ -1023,7 +1023,9 @@ pre(!driversPowered)
 
 void TmcDriverState::SetStallDetectThreshold(int sgThreshold) noexcept
 {
-	const uint32_t sgthrs = (uint32_t)(constrain<int>(sgThreshold, -64, 63) + 64);
+	// M915 was originally defined for Stallguard 2, which uses values of -64 (most sensitive) to +63 (least sensitive)
+	// Stallguard 4 on the TMC2209 uses 0 (least sensitive) to 255 (most sensitive). So we map values -128..+127 to 255..0
+	const uint32_t sgthrs = (uint32_t)(127 - constrain<int>(sgThreshold, -128, 127));
 	UpdateRegister(WriteSgthrs, sgthrs);
 }
 
@@ -1034,7 +1036,8 @@ void TmcDriverState::SetStallMinimumStepsPerSecond(unsigned int stepsPerSecond)
 
 void TmcDriverState::AppendStallConfig(const StringRef& reply) const noexcept
 {
-	const int threshold = (int)(writeRegisters[WriteSgthrs] - 64);
+	// Map stall sensitivity value 0..255 to 128..-128
+	const int threshold = 127 - (int)writeRegisters[WriteSgthrs];
 	reply.catf("stall threshold %d, steps/sec %" PRIu32 ", coolstep %" PRIx32,
 				threshold, 12000000 / (256 * writeRegisters[WriteTcoolthrs]), writeRegisters[WriteCoolconf] & 0xFFFF);
 }