PulseGen: store/return the last segment speed

src/modules/motion.h

@@ -216,6 +216,14 @@ public:
         return axisData[axis].ctrl.SetJerk(max_jerk);
     }
 
+    /// Fetch the target rate of the last planned segment for the requested axis, or the
+    /// current effective rate when the move has been aborted.
+    /// @param axis axis affected
+    /// @returns last rate
+    steps_t Rate(Axis axis) const {
+        return axisData[axis].ctrl.Rate();
+    }
+
     /// State machine doing all the planning and stepping. Called by the stepping ISR.
     /// @returns the interval for the next tick
     st_timer_t Step();

src/modules/pulse_gen.cpp

@@ -6,6 +6,7 @@ namespace pulse_gen {
 PulseGen::PulseGen(steps_t max_jerk, steps_t acceleration) {
     // Axis status
     position = 0;
+    last_rate = 0;
     this->max_jerk = max_jerk;
     this->acceleration = acceleration;
 
@@ -107,9 +108,10 @@ bool PulseGen::PlanMoveTo(pos_t target, steps_t feed_rate) {
     block->acceleration_rate = block->acceleration * (rate_t)((float)F_CPU / (F_CPU / config::stepTimerFrequencyDivider));
 
     // Perform the trapezoid calculations
-    CalculateTrapezoid(block, max_jerk, max_jerk);
+    CalculateTrapezoid(block, entry_speed, end_rate);
+    last_rate = block->final_rate;
 
-    // Move forward
+    // Move forward and update the state
     block_index.push();
     position = target;
     return true;

src/modules/pulse_gen.h

@@ -60,6 +60,10 @@ public:
     /// @param x position to set
     void SetPosition(pos_t x) { position = x; }
 
+    /// Fetch the target rate of the last planned segment, or the current effective rate
+    /// when the move has been aborted.
+    steps_t Rate() const { return last_rate; }
+
     /// @returns true if all planned moves have been finished
     bool QueueEmpty() const { return block_index.empty(); }
 
@@ -173,6 +177,7 @@ private:
     pos_t position; ///< Current axis position
     steps_t max_jerk; ///< Axis jerk (could be constant)
     steps_t acceleration; ///< Current axis acceleration
+    steps_t last_rate; ///< Target speed at the last junction
 
     // Step parameters
     rate_t acceleration_time, deceleration_time;