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Respect minimum direction change delay

This commit is contained in:
Yuri D'Elia 2019-06-18 17:49:59 +02:00
parent 6717590631
commit 4b3af0d2df
1 changed files with 3 additions and 1 deletions
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4
Firmware/stepper.cpp
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@ -785,6 +785,7 @@ FORCE_INLINE void isr() {
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
WRITE_NC(E0_DIR_PIN, e_steps < 0? INVERT_E0_DIR: !INVERT_E0_DIR);
uint8_t la_state = 0; uint8_t la_state = 0;
#endif #endif
@ -897,6 +898,7 @@ FORCE_INLINE void advance_isr() {
if (step_events_completed.wide > LA_decelerate_after && current_adv_steps > final_adv_steps) { if (step_events_completed.wide > LA_decelerate_after && current_adv_steps > final_adv_steps) {
// decompression // decompression
e_steps -= e_step_loops; e_steps -= e_step_loops;
WRITE_NC(E0_DIR_PIN, e_steps < 0? INVERT_E0_DIR: !INVERT_E0_DIR);
if(current_adv_steps > e_step_loops) if(current_adv_steps > e_step_loops)
current_adv_steps -= e_step_loops; current_adv_steps -= e_step_loops;
else else
@ -906,6 +908,7 @@ FORCE_INLINE void advance_isr() {
else if (step_events_completed.wide < LA_decelerate_after && current_adv_steps < max_adv_steps) { else if (step_events_completed.wide < LA_decelerate_after && current_adv_steps < max_adv_steps) {
// compression // compression
e_steps += e_step_loops; e_steps += e_step_loops;
WRITE_NC(E0_DIR_PIN, e_steps < 0? INVERT_E0_DIR: !INVERT_E0_DIR);
current_adv_steps += e_step_loops; current_adv_steps += e_step_loops;
nextAdvanceISR = eISR_Rate; nextAdvanceISR = eISR_Rate;
} }
@ -961,7 +964,6 @@ FORCE_INLINE void advance_isr_scheduler() {
uint8_t max_ticks = (eisr? e_step_loops: step_loops); uint8_t max_ticks = (eisr? e_step_loops: step_loops);
max_ticks = min(abs(e_steps), max_ticks); max_ticks = min(abs(e_steps), max_ticks);
bool rev = (e_steps < 0); bool rev = (e_steps < 0);
WRITE_NC(E0_DIR_PIN, rev? INVERT_E0_DIR: !INVERT_E0_DIR);
do do
{ {
WRITE_NC(E0_STEP_PIN, !INVERT_E_STEP_PIN); WRITE_NC(E0_STEP_PIN, !INVERT_E_STEP_PIN);