[Bugfix-1.1.x] initial step correction (#8735)

* tested

* forgot one item
master
Bob-the-Kuhn 7 years ago committed by Scott Lahteine
parent 009920f393
commit ec028bf747

@ -447,10 +447,13 @@ void Stepper::isr() {
} }
// If there is no current block, attempt to pop one from the buffer // If there is no current block, attempt to pop one from the buffer
bool first_step = false;
if (!current_block) { if (!current_block) {
// Anything in the buffer? // Anything in the buffer?
if ((current_block = planner.get_current_block())) { if ((current_block = planner.get_current_block())) {
trapezoid_generator_reset(); trapezoid_generator_reset();
TCNT1 = 0; // make sure first pulse is not truncated
first_step = true;
// Initialize Bresenham counters to 1/2 the ceiling // Initialize Bresenham counters to 1/2 the ceiling
counter_X = counter_Y = counter_Z = counter_E = -(current_block->step_event_count >> 1); counter_X = counter_Y = counter_Z = counter_E = -(current_block->step_event_count >> 1);
@ -705,8 +708,14 @@ void Stepper::isr() {
// Calculate new timer value // Calculate new timer value
if (step_events_completed <= (uint32_t)current_block->accelerate_until) { if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
if (first_step) {
acc_step_rate = current_block->initial_rate;
acceleration_time = 0;
}
else {
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate); MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
acc_step_rate += current_block->initial_rate; acc_step_rate += current_block->initial_rate;
}
// upper limit // upper limit
NOMORE(acc_step_rate, current_block->nominal_rate); NOMORE(acc_step_rate, current_block->nominal_rate);

@ -359,9 +359,6 @@ class Stepper {
OCR1A_nominal = calc_timer_interval(current_block->nominal_rate); OCR1A_nominal = calc_timer_interval(current_block->nominal_rate);
// make a note of the number of step loops required at nominal speed // make a note of the number of step loops required at nominal speed
step_loops_nominal = step_loops; step_loops_nominal = step_loops;
acc_step_rate = current_block->initial_rate;
acceleration_time = calc_timer_interval(acc_step_rate);
_NEXT_ISR(acceleration_time);
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead) { if (current_block->use_advance_lead) {

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