diff options
Diffstat (limited to 'src/Movement/DDA.cpp')
| -rw-r--r-- | src/Movement/DDA.cpp | 25 |
1 files changed, 14 insertions, 11 deletions
diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp index 6217d5fe..220bc93a 100644 --- a/src/Movement/DDA.cpp +++ b/src/Movement/DDA.cpp @@ -9,6 +9,7 @@ #include "RepRap.h" #include "Platform.h" #include "Move.h" +#include "Kinematics/LinearDeltaKinematics.h" // for DELTA_AXES #ifdef DUET_NG # define DDA_MOVE_DEBUG (1) @@ -195,12 +196,6 @@ void DDA::Init() // Set up a real move. Return true if it represents real movement, else false. bool DDA::Init(const GCodes::RawMove &nextMove, bool doMotorMapping) { - // 0. Try to push any new babystepping forward through the lookahead queue - if (nextMove.newBabyStepping != 0.0 && nextMove.moveType == 0 && nextMove.endStopsToCheck == 0) - { - AdvanceBabyStepping(nextMove.newBabyStepping); - } - // 1. Compute the new endpoints and the movement vector const int32_t * const positionNow = prev->DriveCoordinates(); const Move& move = reprap.GetMove(); @@ -301,6 +296,10 @@ bool DDA::Init(const GCodes::RawMove &nextMove, bool doMotorMapping) usePressureAdvance = nextMove.usePressureAdvance; hadLookaheadUnderrun = false; +#if SUPPORT_IOBITS + ioBits = nextMove.ioBits; +#endif + // The end coordinates will be valid at the end of this move if it does not involve endstop checks and is not a special move on a delta printer endCoordinatesValid = (endStopsToCheck == 0) && (doMotorMapping || !move.IsDeltaMode()); @@ -511,8 +510,8 @@ pre(state == provisional) } } -// Try to push babystepping earlier in the move queue -void DDA::AdvanceBabyStepping(float amount) +// Try to push babystepping earlier in the move queue, returning the amount we pushed +float DDA::AdvanceBabyStepping(float amount) { DDA *cdda = this; while (cdda->prev->state == DDAState::provisional) @@ -608,6 +607,8 @@ void DDA::AdvanceBabyStepping(float amount) // Now do the next move cdda = cdda->next; } + + return babySteppingDone; } // Recalculate the top speed, acceleration distance and deceleration distance, and whether we can pause after this move @@ -968,7 +969,7 @@ void DDA::Prepare() } } - if (reprap.Debug(moduleDda) && reprap.Debug(moduleMove)) // temp show the prepared DDA if debug enabled for both modules + if (reprap.Debug(moduleDda) && reprap.Debug(moduleMove)) // temp show the prepared DDA if debug enabled for both modules { DebugPrint(); } @@ -1137,8 +1138,9 @@ void DDA::CheckEndstops(Platform& platform) { case EndStopHit::lowHit: endStopsToCheck &= ~(1 << drive); // clear this check so that we can check for more - if (endStopsToCheck == 0 || reprap.GetMove().IsCoreXYAxis(drive)) // if no more endstops to check, or this axis uses shared motors + if (endStopsToCheck == 0 || reprap.GetMove().GetKinematics().DriveIsShared(drive)) { + // No more endstops to check, or this axis uses shared motors, so stop the entire move MoveAborted(); } else @@ -1150,8 +1152,9 @@ void DDA::CheckEndstops(Platform& platform) case EndStopHit::highHit: endStopsToCheck &= ~(1 << drive); // clear this check so that we can check for more - if (endStopsToCheck == 0 || reprap.GetMove().IsCoreXYAxis(drive)) // if no more endstops to check, or this axis uses shared motors + if (endStopsToCheck == 0 || reprap.GetMove().GetKinematics().DriveIsShared(drive)) { + // No more endstops to check, or this axis uses shared motors, so stop the entire move MoveAborted(); } else |