Push additional updates from @jgeisler0303

planner.c

@@ -259,17 +259,17 @@ static uint8_t planner_recalculate()
       // check for maximum allowable speed reductions to ensure maximum possible planned speed.
       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
-        curr_block->entry_speed_sqr = curr_block->max_entry_speed_sqr;
+        curr_block->new_entry_speed_sqr = curr_block->max_entry_speed_sqr;
 
         if (next_entry_speed_sqr < curr_block->max_entry_speed_sqr) {
           // Computes: v_entry^2 = v_exit^2 + 2*acceleration*distance
           max_entry_speed_sqr = next_entry_speed_sqr + 2*curr_block->acceleration*curr_block->millimeters;
           if (max_entry_speed_sqr < curr_block->max_entry_speed_sqr) {
-            curr_block->entry_speed_sqr = max_entry_speed_sqr;
+            curr_block->new_entry_speed_sqr = max_entry_speed_sqr;
           }
         }
       }
-      next_entry_speed_sqr= curr_block->entry_speed_sqr;
+      next_entry_speed_sqr= curr_block->new_entry_speed_sqr;
 
       current_block_idx= prev_block_index( current_block_idx );
       curr_block= &block_buffer[current_block_idx];
@@ -286,7 +286,7 @@ static uint8_t planner_recalculate()
       // If the current block is an acceleration block, but it is not long enough to complete the
       // full speed change within the block, we need to adjust the exit speed accordingly. Entry
       // speeds have already been reset, maximized, and reverse planned by reverse planner.
-      if (curr_block->entry_speed_sqr < next_block->entry_speed_sqr) {
+      if (curr_block->entry_speed_sqr < next_block->new_entry_speed_sqr) {
         // Compute block exit speed based on the current block speed and distance
         // Computes: v_exit^2 = v_entry^2 + 2*acceleration*distance
         max_exit_speed_sqr = curr_block->entry_speed_sqr + 2*curr_block->acceleration*curr_block->millimeters;
@@ -296,8 +296,8 @@ static uint8_t planner_recalculate()
       }
 
       // adjust max_exit_speed_sqr in case this is a deceleration block or max accel cannot be reached
-      if(max_exit_speed_sqr>next_block->entry_speed_sqr) {
+      if(max_exit_speed_sqr>next_block->new_entry_speed_sqr) {
-        max_exit_speed_sqr= next_block->entry_speed_sqr;
+        max_exit_speed_sqr= next_block->new_entry_speed_sqr;
       } else {
         // this block has reached max acceleration, it is optimal
         planned_block_tail= next_block_idx;

planner.h

@@ -40,6 +40,7 @@ typedef struct {
   float nominal_speed_sqr;           // The nominal speed for this block in mm/min  
   float entry_speed_sqr;             // Entry speed at previous-current block junction in mm/min
   float max_entry_speed_sqr;         // Maximum allowable junction entry speed in mm/min
+  float new_entry_speed_sqr;         // Temporary entry speed used by the planner
   float millimeters;                 // The total travel of this block in mm
   float acceleration;
   uint8_t recalculate_flag;          // Planner flag to recalculate trapezoids on entry junction

stepper.c

@@ -120,6 +120,7 @@ void st_go_idle()
       STEPPERS_DISABLE_PORT |= (1<<STEPPERS_DISABLE_BIT); 
     }   
   }
+  st.ramp_type = ACCEL_RAMP;
 }