ManuelW/grbl-LPC-CoreXY
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bugfix: uninitiallized curr_block->new_entry_speed_sqr lead to step loss

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in some cases
This commit is contained in:
Jens Geisler 2013-02-26 08:40:43 +01:00
parent 74bdc32332
commit a0f430d188
1 changed files with 3 additions and 1 deletions
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4
planner.c
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@ -257,7 +257,7 @@ static uint8_t planner_recalculate()
// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
// check for maximum allowable speed reductions to ensure maximum possible planned speed. // check for maximum allowable speed reductions to ensure maximum possible planned speed.
if (curr_block->entry_speed_sqr != curr_block->max_entry_speed_sqr) { if (curr_block->entry_speed_sqr >= curr_block->max_entry_speed_sqr) {
// default if next_entry_speed_sqr > curr_block->max_entry_speed_sqr || max_entry_speed_sqr > curr_block->max_entry_speed_sqr // default if next_entry_speed_sqr > curr_block->max_entry_speed_sqr || max_entry_speed_sqr > curr_block->max_entry_speed_sqr
curr_block->new_entry_speed_sqr = curr_block->max_entry_speed_sqr; curr_block->new_entry_speed_sqr = curr_block->max_entry_speed_sqr;
@ -268,6 +268,8 @@ static uint8_t planner_recalculate()
curr_block->new_entry_speed_sqr = max_entry_speed_sqr; curr_block->new_entry_speed_sqr = max_entry_speed_sqr;
} }
} }
} else {
curr_block->new_entry_speed_sqr = curr_block->entry_speed_sqr;
} }
next_entry_speed_sqr= curr_block->new_entry_speed_sqr; next_entry_speed_sqr= curr_block->new_entry_speed_sqr;