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Use nominal rate for phase calculations 

The local interval calculated by advance_spread() might oscillate too
much in narrow intervals.
This commit is contained in:
Yuri D'Elia 2020-06-24 16:56:25 +02:00
parent f1efce7e52
commit c08f37da96
1 changed files with 4 additions and 2 deletions
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6
Firmware/stepper.cpp
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@ -883,11 +883,13 @@ FORCE_INLINE void isr() {
advance_spread(main_Rate); advance_spread(main_Rate);
if (LA_phase >= 0) { if (LA_phase >= 0) {
if (step_loops == e_step_loops) if (step_loops == e_step_loops)
LA_phase = (eISR_Rate > main_Rate); LA_phase = (current_block->advance_rate > main_Rate);
else { else {
// avoid overflow through division. warning: we need to _guarantee_ step_loops // avoid overflow through division. warning: we need to _guarantee_ step_loops
// and e_step_loops are <= 4 due to fastdiv's limit // and e_step_loops are <= 4 due to fastdiv's limit
LA_phase = (fastdiv(eISR_Rate, step_loops) > fastdiv(main_Rate, e_step_loops)); auto adv_rate_n = fastdiv(current_block->advance_rate, step_loops);
auto main_rate_n = fastdiv(main_Rate, e_step_loops);
LA_phase = (adv_rate_n > main_rate_n);
} }
} }
} }