From d3734b02cc1fbb8ba9a446d9ac5ef83b91756178 Mon Sep 17 00:00:00 2001 From: Yuri D'Elia Date: Tue, 26 Jan 2021 16:18:23 +0100 Subject: [PATCH] Also fix delay instances inside unused BACKLASH_[XY] --- Firmware/stepper.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp index 8684713b..d47dd2dc 100644 --- a/Firmware/stepper.cpp +++ b/Firmware/stepper.cpp @@ -352,13 +352,13 @@ FORCE_INLINE void stepper_next_block() WRITE_NC(X_DIR_PIN, INVERT_X_DIR); else WRITE_NC(X_DIR_PIN, !INVERT_X_DIR); - _delay_us(100); + delayMicroseconds(STEPPER_SET_DIR_DELAY); for (uint8_t i = 0; i < st_backlash_x; i++) { STEP_NC_HI(X_AXIS); - _delay_us(100); + STEPPER_MINIMUM_DELAY; STEP_NC_LO(X_AXIS); - _delay_us(900); + _delay_us(900); // hard-coded jerk! *bad* } } last_dir_bits &= ~1; @@ -375,13 +375,13 @@ FORCE_INLINE void stepper_next_block() WRITE_NC(Y_DIR_PIN, INVERT_Y_DIR); else WRITE_NC(Y_DIR_PIN, !INVERT_Y_DIR); - _delay_us(100); + delayMicroseconds(STEPPER_SET_DIR_DELAY); for (uint8_t i = 0; i < st_backlash_y; i++) { STEP_NC_HI(Y_AXIS); - _delay_us(100); + STEPPER_MINIMUM_DELAY; STEP_NC_LO(Y_AXIS); - _delay_us(900); + _delay_us(900); // hard-coded jerk! *bad* } } last_dir_bits &= ~2;