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Proper AVR preemptive interrupt handling (#10501)

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Co-Authored-By: ejtagle <ejtagle@hotmail.com>
This commit is contained in:
Scott Lahteine
2018-04-23 20:47:31 -05:00
committed by GitHub
parent 0764981aa1
commit 51004e003d
5 changed files with 47 additions and 38 deletions
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Marlin/planner.cpp
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@@ -1436,7 +1436,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
const float v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
// If stepper ISR is disabled, this indicates buffer_segment wants to add a split block.
// In this case start with the max. allowed speed to avoid an interrupted first move.
block->entry_speed = TEST(TIMSK1, OCIE1A) ? MINIMUM_PLANNER_SPEED : min(vmax_junction, v_allowable);
block->entry_speed = STEPPER_ISR_ENABLED() ? MINIMUM_PLANNER_SPEED : min(vmax_junction, v_allowable);
// Initialize planner efficiency flags
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.