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

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* tested

* forgot one item
This commit is contained in:
Bob-the-Kuhn 2017-12-09 18:20:25 -06:00 • committed by Scott Lahteine
parent 009920f393
commit ec028bf747
2 changed files with 11 additions and 5 deletions
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13
Marlin/stepper.cpp
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@ -447,10 +447,13 @@ void Stepper::isr() {
}
// If there is no current block, attempt to pop one from the buffer
bool first_step = false;
if (!current_block) {
// Anything in the buffer?
if ((current_block = planner.get_current_block())) {
trapezoid_generator_reset();
TCNT1 = 0; // make sure first pulse is not truncated
first_step = true;
// Initialize Bresenham counters to 1/2 the ceiling
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
if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
acc_step_rate += current_block->initial_rate;
if (first_step) {
acc_step_rate = current_block->initial_rate;
acceleration_time = 0;
}
else {
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
acc_step_rate += current_block->initial_rate;
}
// upper limit
NOMORE(acc_step_rate, current_block->nominal_rate);