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Merge pull request #1 from illuminarti/Fix_E_Speed 

Fix step rate bug (especially for retraction)
hackerspace-green
daid 2013-03-15 01:03:53 -07:00 committed by Dirk Eichel
parent 9a78f321a4
commit af78d0cbfa
1 changed files with 5 additions and 0 deletions
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5
Marlin/stepper.cpp
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@ -62,6 +62,7 @@ static long acceleration_time, deceleration_time;
static unsigned short acc_step_rate; // needed for deccelaration start point
static char step_loops;
static unsigned short OCR1A_nominal;
static unsigned short step_loops_nominal;
volatile long endstops_trigsteps[3]={0,0,0};
volatile long endstops_stepsTotal,endstops_stepsDone;
@ -288,6 +289,8 @@ FORCE_INLINE void trapezoid_generator_reset() {
deceleration_time = 0;
// step_rate to timer interval
OCR1A_nominal = calc_timer(current_block->nominal_rate);
// make a note of the number of step loops required at nominal speed
step_loops_nominal = step_loops;
acc_step_rate = current_block->initial_rate;
acceleration_time = calc_timer(acc_step_rate);
OCR1A = acceleration_time;
@ -665,6 +668,8 @@ ISR(TIMER1_COMPA_vect)
}
else {
OCR1A = OCR1A_nominal;
// ensure we're running at the correct step rate, even if we just came off an acceleration
step_loops = step_loops_nominal;
}
// If current block is finished, reset pointer