First draft of Unified Stepper / E Advance ISR
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@ -547,14 +547,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -547,14 +547,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -547,14 +547,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -547,14 +547,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -530,14 +530,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -560,14 +560,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -547,14 +547,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -547,14 +547,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -547,14 +547,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -555,14 +555,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -547,14 +547,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -549,14 +549,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -549,14 +549,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -549,14 +549,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -554,14 +554,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -549,14 +549,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -547,14 +547,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -547,14 +547,7 @@
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*
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* Assumption: advance = k * (delta velocity)
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* K=0 means advance disabled.
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* To get a rough start value for calibration, measure your "free filament length"
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* between the hobbed bolt and the nozzle (in cm). Use the formula below that fits
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* your setup, where L is the "free filament length":
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*
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* Filament diameter | 1.75mm | 3.0mm |
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* ----------------------------|-----------|------------|
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* Stiff filament (PLA) | K=47*L/10 | K=139*L/10 |
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* Softer filament (ABS, nGen) | K=88*L/10 | K=260*L/10 |
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* See Marlin documentation for calibration instructions.
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*/
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//#define LIN_ADVANCE
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@ -91,8 +91,9 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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uint8_t Stepper::old_OCR0A = 0;
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volatile uint8_t Stepper::eISR_Rate = 200; // Keep the ISR at a low rate until needed
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uint16_t Stepper::nextMainISR = 0,
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Stepper::nextAdvanceISR = 65535,
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Stepper::eISR_Rate = 65535;
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#if ENABLED(LIN_ADVANCE)
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volatile int Stepper::e_steps[E_STEPPERS];
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@ -328,16 +329,23 @@ void Stepper::set_directions() {
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* 2000 1 KHz - sleep rate
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* 4000 500 Hz - init rate
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*/
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ISR(TIMER1_COMPA_vect) { Stepper::isr(); }
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ISR(TIMER1_COMPA_vect) {
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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Stepper::advance_isr_scheduler();
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#else
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Stepper::isr();
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#endif
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}
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void Stepper::isr() {
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//Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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CBI(TIMSK0, OCIE0A); //estepper ISR
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#define _ENABLE_ISRs() cli(); SBI(TIMSK0, OCIE0B); ENABLE_STEPPER_DRIVER_INTERRUPT()
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#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
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//Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
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CBI(TIMSK0, OCIE0B); //Temperature ISR
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DISABLE_STEPPER_DRIVER_INTERRUPT();
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sei();
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#endif
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CBI(TIMSK0, OCIE0B); //Temperature ISR
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DISABLE_STEPPER_DRIVER_INTERRUPT();
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sei();
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if (cleaning_buffer_counter) {
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--cleaning_buffer_counter;
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@ -346,13 +354,8 @@ void Stepper::isr() {
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#ifdef SD_FINISHED_RELEASECOMMAND
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if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
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#endif
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OCR1A = 200; // Run at max speed - 10 KHz
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//re-enable ISRs
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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SBI(TIMSK0, OCIE0A);
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#endif
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SBI(TIMSK0, OCIE0B);
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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_NEXT_ISR(200); // Run at max speed - 10 KHz
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_ENABLE_ISRs(); // re-enable ISRs
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return;
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}
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@ -381,12 +384,8 @@ void Stepper::isr() {
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#if ENABLED(Z_LATE_ENABLE)
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if (current_block->steps[Z_AXIS] > 0) {
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enable_z();
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OCR1A = 2000; // Run at slow speed - 1 KHz
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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SBI(TIMSK0, OCIE0A);
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#endif
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SBI(TIMSK0, OCIE0B);
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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_NEXT_ISR(2000); // Run at slow speed - 1 KHz
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_ENABLE_ISRs(); // re-enable ISRs
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return;
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}
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#endif
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@ -396,12 +395,8 @@ void Stepper::isr() {
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// #endif
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}
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else {
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OCR1A = 2000; // Run at slow speed - 1 KHz
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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SBI(TIMSK0, OCIE0A);
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#endif
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SBI(TIMSK0, OCIE0B);
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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_NEXT_ISR(2000); // Run at slow speed - 1 KHz
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_ENABLE_ISRs(); // re-enable ISRs
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return;
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}
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}
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@ -586,7 +581,7 @@ void Stepper::isr() {
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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// If we have esteps to execute, fire the next advance_isr "now"
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if (e_steps[TOOL_E_INDEX]) OCR0A = TCNT0 + 2;
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if (e_steps[TOOL_E_INDEX]) nextAdvanceISR = 0;
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#endif
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// Calculate new timer value
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@ -600,7 +595,7 @@ void Stepper::isr() {
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// step_rate to timer interval
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uint16_t timer = calc_timer(acc_step_rate);
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OCR1A = timer;
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_NEXT_ISR(timer);
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acceleration_time += timer;
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#if ENABLED(LIN_ADVANCE)
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@ -637,7 +632,7 @@ void Stepper::isr() {
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#endif // ADVANCE or LIN_ADVANCE
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#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
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eISR_Rate = (timer >> 3) * step_loops / abs(e_steps[TOOL_E_INDEX]); //>> 3 is divide by 8. Reason: Timer 1 runs at 16/8=2MHz, Timer 0 at 16/64=0.25MHz. ==> 2/0.25=8.
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eISR_Rate = !e_steps[TOOL_E_INDEX] ? 65535 : timer * step_loops / abs(e_steps[TOOL_E_INDEX]);
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#endif
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}
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else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
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@ -653,7 +648,7 @@ void Stepper::isr() {
|
||||
|
||||
// step_rate to timer interval
|
||||
uint16_t timer = calc_timer(step_rate);
|
||||
OCR1A = timer;
|
||||
_NEXT_ISR(timer);
|
||||
deceleration_time += timer;
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
@ -688,7 +683,7 @@ void Stepper::isr() {
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
eISR_Rate = (timer >> 3) * step_loops / abs(e_steps[TOOL_E_INDEX]);
|
||||
eISR_Rate = !e_steps[TOOL_E_INDEX] ? 65535 : timer * step_loops / abs(e_steps[TOOL_E_INDEX]);
|
||||
#endif
|
||||
}
|
||||
else {
|
||||
@ -698,40 +693,37 @@ void Stepper::isr() {
|
||||
if (current_block->use_advance_lead)
|
||||
current_estep_rate[TOOL_E_INDEX] = final_estep_rate;
|
||||
|
||||
eISR_Rate = (OCR1A_nominal >> 3) * step_loops_nominal / abs(e_steps[TOOL_E_INDEX]);
|
||||
eISR_Rate = !e_steps[TOOL_E_INDEX] ? 65535 : OCR1A_nominal * step_loops_nominal / abs(e_steps[TOOL_E_INDEX]);
|
||||
|
||||
#endif
|
||||
|
||||
OCR1A = OCR1A_nominal;
|
||||
_NEXT_ISR(OCR1A_nominal);
|
||||
// ensure we're running at the correct step rate, even if we just came off an acceleration
|
||||
step_loops = step_loops_nominal;
|
||||
}
|
||||
|
||||
NOLESS(OCR1A, TCNT1 + 16);
|
||||
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
|
||||
NOLESS(OCR1A, TCNT1 + 16);
|
||||
#endif
|
||||
|
||||
// If current block is finished, reset pointer
|
||||
if (all_steps_done) {
|
||||
current_block = NULL;
|
||||
planner.discard_current_block();
|
||||
}
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
SBI(TIMSK0, OCIE0A);
|
||||
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
|
||||
_ENABLE_ISRs(); // re-enable ISRs
|
||||
#endif
|
||||
SBI(TIMSK0, OCIE0B);
|
||||
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
||||
}
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
|
||||
// Timer interrupt for E. e_steps is set in the main routine;
|
||||
// Timer 0 is shared with millies
|
||||
ISR(TIMER0_COMPA_vect) { Stepper::advance_isr(); }
|
||||
|
||||
void Stepper::advance_isr() {
|
||||
|
||||
old_OCR0A += eISR_Rate;
|
||||
OCR0A = old_OCR0A;
|
||||
|
||||
|
||||
nextAdvanceISR = eISR_Rate;
|
||||
|
||||
#define SET_E_STEP_DIR(INDEX) \
|
||||
if (e_steps[INDEX]) E## INDEX ##_DIR_WRITE(e_steps[INDEX] < 0 ? INVERT_E## INDEX ##_DIR : !INVERT_E## INDEX ##_DIR)
|
||||
|
||||
@ -795,6 +787,46 @@ void Stepper::isr() {
|
||||
|
||||
}
|
||||
|
||||
void Stepper::advance_isr_scheduler() {
|
||||
// Disable Timer0 ISRs and enable global ISR again to capture UART events (incoming chars)
|
||||
CBI(TIMSK0, OCIE0B); // Temperature ISR
|
||||
DISABLE_STEPPER_DRIVER_INTERRUPT();
|
||||
sei();
|
||||
|
||||
// Run main stepping ISR if flagged
|
||||
if (!nextMainISR) isr();
|
||||
|
||||
// Run Advance stepping ISR if flagged
|
||||
if (!nextAdvanceISR) advance_isr();
|
||||
|
||||
// Is the next advance ISR scheduled before the next main ISR?
|
||||
if (nextAdvanceISR <= nextMainISR) {
|
||||
// Set up the next interrupt
|
||||
OCR1A = nextAdvanceISR;
|
||||
// New interval for the next main ISR
|
||||
if (nextMainISR) nextMainISR -= nextAdvanceISR;
|
||||
// Will call Stepper::advance_isr on the next interrupt
|
||||
nextAdvanceISR = 0;
|
||||
}
|
||||
else {
|
||||
// The next main ISR comes first
|
||||
OCR1A = nextMainISR;
|
||||
// New interval for the next advance ISR, if any
|
||||
if (nextAdvanceISR && nextAdvanceISR != 65535)
|
||||
nextAdvanceISR -= nextMainISR;
|
||||
// Will call Stepper::isr on the next interrupt
|
||||
nextMainISR = 0;
|
||||
}
|
||||
|
||||
// Don't run the ISR faster than possible
|
||||
NOLESS(OCR1A, TCNT1 + 16);
|
||||
|
||||
// Restore original ISR settings
|
||||
cli();
|
||||
SBI(TIMSK0, OCIE0B);
|
||||
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
||||
}
|
||||
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
|
||||
void Stepper::init() {
|
||||
@ -981,12 +1013,6 @@ void Stepper::init() {
|
||||
#endif
|
||||
}
|
||||
|
||||
#if defined(TCCR0A) && defined(WGM01)
|
||||
CBI(TCCR0A, WGM01);
|
||||
CBI(TCCR0A, WGM00);
|
||||
#endif
|
||||
SBI(TIMSK0, OCIE0A);
|
||||
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
|
||||
endstops.enable(true); // Start with endstops active. After homing they can be disabled
|
||||
|
@ -105,8 +105,8 @@ class Stepper {
|
||||
static volatile uint32_t step_events_completed; // The number of step events executed in the current block
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
static uint8_t old_OCR0A;
|
||||
static volatile uint8_t eISR_Rate;
|
||||
static uint16_t nextMainISR, nextAdvanceISR, eISR_Rate;
|
||||
#define _NEXT_ISR(T) nextMainISR = T
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
static volatile int e_steps[E_STEPPERS];
|
||||
static int final_estep_rate;
|
||||
@ -119,6 +119,8 @@ class Stepper {
|
||||
static long advance_rate, advance, final_advance;
|
||||
static long old_advance;
|
||||
#endif
|
||||
#else
|
||||
#define _NEXT_ISR(T) OCR1A = T
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
|
||||
static long acceleration_time, deceleration_time;
|
||||
@ -177,6 +179,7 @@ class Stepper {
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
static void advance_isr();
|
||||
static void advance_isr_scheduler();
|
||||
#endif
|
||||
|
||||
//
|
||||
@ -318,8 +321,8 @@ class Stepper {
|
||||
return timer;
|
||||
}
|
||||
|
||||
// Initializes the trapezoid generator from the current block. Called whenever a new
|
||||
// block begins.
|
||||
// Initialize the trapezoid generator from the current block.
|
||||
// Called whenever a new block begins.
|
||||
static FORCE_INLINE void trapezoid_generator_reset() {
|
||||
|
||||
static int8_t last_extruder = -1;
|
||||
@ -357,7 +360,7 @@ class Stepper {
|
||||
step_loops_nominal = step_loops;
|
||||
acc_step_rate = current_block->initial_rate;
|
||||
acceleration_time = calc_timer(acc_step_rate);
|
||||
OCR1A = acceleration_time;
|
||||
_NEXT_ISR(acceleration_time);
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
if (current_block->use_advance_lead) {
|
||||
|
Loading…
Reference in New Issue
Block a user