3DPrinting/Prusa-Firmware
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

Candidate fix for homing fail hard reset

Browse source
This commit is contained in:
vintagepc 2019-11-21 18:51:02 -05:00 committed by GitHub
parent cf2d71ae44
commit 982c4cbf7b
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 6 additions and 6 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

12
Firmware/tmc2130.cpp
View file

@ -807,15 +807,15 @@ void tmc2130_goto_step(uint8_t axis, uint8_t step, uint8_t dir, uint16_t delay_u
{
dir = tmc2130_get_inv(axis)?0:1;
int steps = (int)step - (int)(mscnt >> shift);
if (steps < 0)
{
dir ^= 1;
steps = -steps;
}
if (steps > static_cast<int>(cnt / 2))
{
dir ^= 1;
steps = cnt - steps;
steps = cnt - steps; // This can create a negative step value
}
if (steps < 0)
{
dir ^= 1;
steps = -steps;
}
cnt = steps;
}