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Minor "optimizations" in stepper ISR

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This commit is contained in:
Scott Lahteine 2016-08-30 14:21:43 -05:00
parent 4ec3d1ea58
commit 9725bcd099
1 changed files with 3 additions and 3 deletions
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6
Marlin/stepper.cpp
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@ -386,7 +386,7 @@ void Stepper::isr() {
#if DISABLED(MIXING_EXTRUDER)
// Don't step E here for mixing extruder
count_position[E_AXIS] += count_direction[E_AXIS];
e_steps[TOOL_E_INDEX] += motor_direction(E_AXIS) ? -1 : 1;
motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
#endif
}
@ -599,7 +599,7 @@ void Stepper::isr() {
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
if (step_rate <= acc_step_rate) { // Still decelerating?
if (step_rate < acc_step_rate) { // Still decelerating?
step_rate = acc_step_rate - step_rate;
NOLESS(step_rate, current_block->final_rate);
}
@ -662,7 +662,7 @@ void Stepper::isr() {
step_loops = step_loops_nominal;
}
OCR1A = (OCR1A < (TCNT1 + 16)) ? (TCNT1 + 16) : OCR1A;
NOLESS(OCR1A, TCNT1 + 16);
// If current block is finished, reset pointer
if (all_steps_done) {