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timer.c: the concept of a "new move" was abandoned long time ago. 

This doesn't matter much, as the timer overflows 300 times/second
worst case, so the very first step of a series of moves is
delayed never more than 30 milliseconds. Hardly recognizeable
by a human.

Saves a nice 40 bytes and improves max step rate by several percent.
This commit is contained in:
Markus Hitter 2013-10-20 22:59:09 +02:00
parent 0c100fe5f8
commit ed6a66c25d
1 changed files with 0 additions and 4 deletions
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4
timer.c
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@ -151,10 +151,6 @@ void setTimer(uint32_t delay)
// as from one step interrupt to the next one. The last step interrupt happend // as from one step interrupt to the next one. The last step interrupt happend
// at OCR1A, so start delay from there. // at OCR1A, so start delay from there.
step_start = OCR1A; step_start = OCR1A;
if (next_step_time == 0) {
// new move, take current time as start value
step_start = TCNT1;
}
next_step_time = delay; next_step_time = delay;
#ifdef ACCELERATION_TEMPORAL #ifdef ACCELERATION_TEMPORAL