docs: Note the release of v0.9.1

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

docs/Releases.md

@@ -35,6 +35,11 @@ Available on 20201020. Major changes in this release:
   graph_temp_sensor, whconsole
 * Several bug fixes and code cleanups.
 
+Klipper 0.9.1
+--------------
+
+Available on 20201028. Release containing only bug fixes.
+
 Klipper 0.8.0
 =============
 

klippy/chelper/kin_extruder.c

@@ -52,7 +52,8 @@ extruder_integrate_time(double base, double start_v, double half_accel
 
 // Calculate the definitive integral of extruder for a given move
 static double
-pa_move_integrate(struct move *m, double start, double end, double time_offset)
+pa_move_integrate(struct move *m, double base, double start, double end,
+                  double time_offset)
 {
     if (start < 0.)
         start = 0.;
@@ -60,7 +61,7 @@ pa_move_integrate(struct move *m, double start, double end, double time_offset)
         end = m->move_t;
     // Calculate base position and velocity with pressure advance
     double pressure_advance = m->axes_r.y;
-    double base = m->start_pos.x + pressure_advance * m->start_v;
+    base += pressure_advance * m->start_v;
     double start_v = m->start_v + pressure_advance * 2. * m->half_accel;
     // Calculate definitive integral
     double ha = m->half_accel;
@@ -75,20 +76,23 @@ pa_range_integrate(struct move *m, double move_time, double hst)
 {
     // Calculate integral for the current move
     double res = 0., start = move_time - hst, end = move_time + hst;
-    res += pa_move_integrate(m, start, move_time, start);
+    double start_base = m->start_pos.x;
-    res -= pa_move_integrate(m, move_time, end, end);
+    res += pa_move_integrate(m, 0., start, move_time, start);
+    res -= pa_move_integrate(m, 0., move_time, end, end);
     // Integrate over previous moves
     struct move *prev = m;
     while (unlikely(start < 0.)) {
         prev = list_prev_entry(prev, node);
         start += prev->move_t;
-        res += pa_move_integrate(prev, start, prev->move_t, start);
+        double base = prev->start_pos.x - start_base;
+        res += pa_move_integrate(prev, base, start, prev->move_t, start);
     }
     // Integrate over future moves
     while (unlikely(end > m->move_t)) {
         end -= m->move_t;
         m = list_next_entry(m, node);
-        res -= pa_move_integrate(m, 0., end, end);
+        double base = m->start_pos.x - start_base;
+        res -= pa_move_integrate(m, base, 0., end, end);
     }
     return res;
 }
@@ -109,7 +113,7 @@ extruder_calc_position(struct stepper_kinematics *sk, struct move *m
         return m->start_pos.x + move_get_distance(m, move_time);
     // Apply pressure advance and average over smooth_time
     double area = pa_range_integrate(m, move_time, hst);
-    return area * es->inv_half_smooth_time2;
+    return m->start_pos.x + area * es->inv_half_smooth_time2;
 }
 
 void __visible

klippy/extras/bltouch.py

@@ -173,6 +173,7 @@ class BLTouchEndstopWrapper:
     def multi_probe_end(self):
         if self.stow_on_each_sample:
             return
+        self.sync_print_time()
         self.raise_probe()
         self.sync_print_time()
         self.multi = 'OFF'

src/linux/spidev.c

@@ -57,6 +57,7 @@ spi_open(uint32_t bus, uint32_t dev)
     devices[devices_count].bus = bus;
     devices[devices_count].dev = dev;
     devices[devices_count].fd = fd;
+    devices_count++;
     return fd;
 }