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Teacup_Firmware
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always set timer after step as timer works differently now

This commit is contained in:
Michael Moon 2010-11-07 17:12:13 +11:00
parent 278a41ce79
commit be92a09db2
1 changed files with 5 additions and 7 deletions
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12
dda.c
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@ -491,11 +491,9 @@ void dda_step(DDA *dda) {
) {
dda->c = (int32_t) dda->c - ((int32_t) (dda->c * 2) / dda->n);
dda->n += 4;
setTimer(dda->c >> 8);
}
else if (dda->c != dda->end_c) {
dda->c = dda->end_c;
setTimer(dda->c >> 8);
}
// else we are already at target speed
}
@ -525,18 +523,17 @@ void dda_step(DDA *dda) {
dda->ramp_state = RAMP_MAX;
dda->ramp_steps = dda->total_steps - dda->step_no;
}
setTimer(dda->c >> 8);
break;
}
dda->step_no++;
#endif
if (did_step) {
// we stepped, reset timeout
steptimeout = 0;
// if we could do anything at all, we're still running
// otherwise, must have finished
// if we could do anything at all, we're still running
// otherwise, must have finished
}
else {
dda->live = 0;
@ -546,7 +543,8 @@ void dda_step(DDA *dda) {
// in theory, we *could* update F every step, but that would require a divide in interrupt context which should be avoided if at all possible
current_position.F = dda->endpoint.F;
}
setTimer(dda->c >> 8);
// turn off step outputs, hopefully they've been on long enough by now to register with the drivers
// if not, too bad. or insert a (very!) small delay here, or fire up a spare timer or something.
// we also hope that we don't step before the drivers register the low- limit maximum speed if you think this is a problem.