diff options
Diffstat (limited to 'src/Movement/DriveMovement.h')
| -rw-r--r-- | src/Movement/DriveMovement.h | 12 |
1 files changed, 7 insertions, 5 deletions
diff --git a/src/Movement/DriveMovement.h b/src/Movement/DriveMovement.h index 5e4084ba..0315e808 100644 --- a/src/Movement/DriveMovement.h +++ b/src/Movement/DriveMovement.h @@ -85,14 +85,16 @@ private: uint8_t direction : 1, // true=forwards, false=backwards directionChanged : 1, // set by CalcNextStepTime if the direction is changed isDelta : 1, // true if this DM uses segment-free delta kinematics - isExtruder : 1; // true if this DM is for an extruder (only matters if !isDelta) + isExtruder : 1, // true if this DM is for an extruder (only matters if !isDelta) + : 2, // padding to make the next field last + stepsTakenThisSegment : 2; // how many steps we have taken this phase, counts from 0 to 2. Last field in the byte so that we can increment it efficiently. uint8_t stepsTillRecalc; // how soon we need to recalculate uint32_t totalSteps; // total number of steps for this move // These values change as the step is executed, except for reverseStartStep uint32_t nextStep; // number of steps already done - uint32_t phaseStepLimit; // the first step number of the next phase, or the reverse start step if smaller + uint32_t segmentStepLimit; // the first step number of the next phase, or the reverse start step if smaller uint32_t reverseStartStep; // the step number for which we need to reverse direction due to pressure advance or delta movement uint32_t nextStepTime; // how many clocks after the start of this move the next step is due uint32_t stepInterval; // how many clocks between steps @@ -237,9 +239,9 @@ inline void DriveMovement::Release(DriveMovement *item) noexcept // Get the current full step interval for this axis or extruder inline uint32_t DriveMovement::GetStepInterval(uint32_t microstepShift) const noexcept { - return (nextStep < totalSteps && nextStep > (1u << microstepShift)) // if at least 1 full step done - ? stepInterval << microstepShift // return the interval between steps converted to full steps - : 0; + return (nextStep < totalSteps && nextStep > (1u << microstepShift)) // if at least 1 full step done + ? stepInterval << microstepShift // return the interval between steps converted to full steps + : 0; } #endif |