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itersolve: Fix numeric stability of flush range times 

Don't assume the times passed to itersolve_gen_steps_range() are
contained within the move.  It's possible the checks in
itersolve_generate_steps() may round to different values when
converting the times to a relative move time.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-05-04 10:24:46 -04:00
parent dac42efbd9
commit 7843c23b8c
1 changed files with 6 additions and 2 deletions
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8
klippy/chelper/itersolve.c
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@ -64,11 +64,15 @@ itersolve_find_step(struct stepper_kinematics *sk, struct move *m
// Generate step times for a portion of a move // Generate step times for a portion of a move
static int32_t static int32_t
itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m itersolve_gen_steps_range(struct stepper_kinematics *sk, struct move *m
, double move_start, double move_end) , double abs_start, double abs_end)
{ {
sk_calc_callback calc_position_cb = sk->calc_position_cb; sk_calc_callback calc_position_cb = sk->calc_position_cb;
double half_step = .5 * sk->step_dist; double half_step = .5 * sk->step_dist;
double start = move_start - m->print_time, end = move_end - m->print_time; double start = abs_start - m->print_time, end = abs_end - m->print_time;
if (start < 0.)
start = 0.;
if (end > m->move_t)
end = m->move_t;
struct timepos last = { start, sk->commanded_pos }, low = last, high = last; struct timepos last = { start, sk->commanded_pos }, low = last, high = last;
double seek_time_delta = SEEK_TIME_RESET; double seek_time_delta = SEEK_TIME_RESET;
int sdir = stepcompress_get_step_dir(sk->sc), is_dir_change = 0; int sdir = stepcompress_get_step_dir(sk->sc), is_dir_change = 0;