From fab55c629d74104df1de8c0b6cd4a032d772c7fa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?St=C3=A9phane=20Voltz?= <stef.dev@free.fr>
Date: Sat, 31 May 2014 07:13:46 +0200
Subject: [PATCH] ensure target speed is reached

- in case the motor profile table doesn't contain target speed, add it
  to have accurate scanning resolution
---
 backend/genesys_low.c | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/backend/genesys_low.c b/backend/genesys_low.c
index 23139ed0e..63420e4f0 100644
--- a/backend/genesys_low.c
+++ b/backend/genesys_low.c
@@ -1650,7 +1650,7 @@ Motor_Profile *profile;
         i=0;
 	sum=0;
 
-        /* first step is used unmodified */
+        /* first step is always used unmodified */
         current=profile->table[0];
 
         /* loop on profile copying and apply step type */
@@ -1662,6 +1662,14 @@ Motor_Profile *profile;
             current=profile->table[i]>>step_type;
           }
 
+        /* ensure last step is required speed in case profile doesn't contain it */
+        if(current!=0 && current<target)
+          {
+            slope[i]=target;
+            sum+=slope[i];
+            i++;
+          }
+
         /* range checking */
         if(profile->table[i]==0 && DBG_LEVEL >= DBG_warn && current>target)
           {