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Also fix delay instances inside unused BACKLASH_[XY]

This commit is contained in:
Yuri D'Elia 2021-01-26 16:18:23 +01:00
parent b17cdcd4d7
commit d3734b02cc
1 changed files with 6 additions and 6 deletions
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12
Firmware/stepper.cpp
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@ -352,13 +352,13 @@ FORCE_INLINE void stepper_next_block()
WRITE_NC(X_DIR_PIN, INVERT_X_DIR); WRITE_NC(X_DIR_PIN, INVERT_X_DIR);
else else
WRITE_NC(X_DIR_PIN, !INVERT_X_DIR); WRITE_NC(X_DIR_PIN, !INVERT_X_DIR);
_delay_us(100); delayMicroseconds(STEPPER_SET_DIR_DELAY);
for (uint8_t i = 0; i < st_backlash_x; i++) for (uint8_t i = 0; i < st_backlash_x; i++)
{ {
STEP_NC_HI(X_AXIS); STEP_NC_HI(X_AXIS);
_delay_us(100); STEPPER_MINIMUM_DELAY;
STEP_NC_LO(X_AXIS); STEP_NC_LO(X_AXIS);
_delay_us(900); _delay_us(900); // hard-coded jerk! *bad*
} }
} }
last_dir_bits &= ~1; last_dir_bits &= ~1;
@ -375,13 +375,13 @@ FORCE_INLINE void stepper_next_block()
WRITE_NC(Y_DIR_PIN, INVERT_Y_DIR); WRITE_NC(Y_DIR_PIN, INVERT_Y_DIR);
else else
WRITE_NC(Y_DIR_PIN, !INVERT_Y_DIR); WRITE_NC(Y_DIR_PIN, !INVERT_Y_DIR);
_delay_us(100); delayMicroseconds(STEPPER_SET_DIR_DELAY);
for (uint8_t i = 0; i < st_backlash_y; i++) for (uint8_t i = 0; i < st_backlash_y; i++)
{ {
STEP_NC_HI(Y_AXIS); STEP_NC_HI(Y_AXIS);
_delay_us(100); STEPPER_MINIMUM_DELAY;
STEP_NC_LO(Y_AXIS); STEP_NC_LO(Y_AXIS);
_delay_us(900); _delay_us(900); // hard-coded jerk! *bad*
} }
} }
last_dir_bits &= ~2; last_dir_bits &= ~2;