From 4d1093b3868a37ee0def13dbe2785f3ce98fcf6d Mon Sep 17 00:00:00 2001
From: Mark Zachmann <MZachmann@users.noreply.github.com>
Date: Sun, 3 Feb 2019 02:29:00 -0500
Subject: [PATCH] Fix init of last_direction_bits (#13067)
---
Marlin/src/inc/Conditionals_LCD.h | 13 +++++++++++++
Marlin/src/module/stepper.cpp | 16 +++++++++++-----
2 files changed, 24 insertions(+), 5 deletions(-)
diff --git a/Marlin/src/inc/Conditionals_LCD.h b/Marlin/src/inc/Conditionals_LCD.h
index 654db63f05..7a657efae8 100644
--- a/Marlin/src/inc/Conditionals_LCD.h
+++ b/Marlin/src/inc/Conditionals_LCD.h
@@ -534,3 +534,16 @@
#define IS_CARTESIAN !IS_KINEMATIC
#define HAS_ACTION_COMMANDS (defined(ACTION_ON_KILL) || defined(ACTION_ON_PAUSE) || defined(ACTION_ON_PAUSED) || defined(ACTION_ON_RESUME) || defined(ACTION_ON_RESUMED) || defined(ACTION_ON_CANCEL) || defined(G29_ACTION_ON_RECOVER) || defined(G29_ACTION_ON_FAILURE) || defined(ACTION_ON_FILAMENT_RUNOUT))
+
+#ifndef INVERT_X_DIR
+ #define INVERT_X_DIR false
+#endif
+#ifndef INVERT_Y_DIR
+ #define INVERT_Y_DIR false
+#endif
+#ifndef INVERT_Z_DIR
+ #define INVERT_Z_DIR false
+#endif
+#ifndef INVERT_E_DIR
+ #define INVERT_E_DIR false
+#endif
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 10c524bdc8..72032dcb60 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -129,10 +129,10 @@ Stepper stepper; // Singleton
// private:
-block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
+block_t* Stepper::current_block; // (= NULL) A pointer to the block currently being traced
-uint8_t Stepper::last_direction_bits = 0,
- Stepper::axis_did_move;
+uint8_t Stepper::last_direction_bits, // = 0
+ Stepper::axis_did_move; // = 0
bool Stepper::abort_current_block;
@@ -2143,14 +2143,20 @@ void Stepper::init() {
E_AXIS_INIT(5);
#endif
- set_directions();
-
// Init Stepper ISR to 122 Hz for quick starting
HAL_timer_start(STEP_TIMER_NUM, 122);
ENABLE_STEPPER_DRIVER_INTERRUPT();
sei();
+
+ // Init direction bits for first moves
+ last_direction_bits = 0
+ | (INVERT_X_DIR ? _BV(X_AXIS) : 0)
+ | (INVERT_Y_DIR ? _BV(Y_AXIS) : 0)
+ | (INVERT_Z_DIR ? _BV(Z_AXIS) : 0);
+
+ set_directions();
}
/**