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Merge pull request #2342 from vintagepc/2306-hard-reset-homing-fails

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Fix #2306 hard reset homing fails
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DRracer 2019-12-15 10:51:52 +01:00 committed by GitHub
commit d6ac9e4638
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1 changed files with 6 additions and 6 deletions
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10
Firmware/tmc2130.cpp
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@ -807,16 +807,16 @@ 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 > static_cast<int>(cnt / 2))
{
dir ^= 1;
steps = cnt - steps; // This can create a negative step value
}
if (steps < 0)
{
dir ^= 1;
steps = -steps;
}
if (steps > static_cast<int>(cnt / 2))
{
dir ^= 1;
steps = cnt - steps;
}
cnt = steps;
}
tmc2130_set_dir(axis, dir);