diff options
Diffstat (limited to 'src/stepper.c')
| -rw-r--r-- | src/stepper.c | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/src/stepper.c b/src/stepper.c index 2e93ccb9..e8dedaf9 100644 --- a/src/stepper.c +++ b/src/stepper.c @@ -154,9 +154,13 @@ stepper_event(struct timer *t) return stepper_event_nodelay(s); // Normal step code - schedule the unstep event + if (!CONFIG_HAVE_STRICT_TIMING) + gpio_out_toggle_noirq(s->step_pin); uint32_t step_delay = timer_from_us(CONFIG_STEP_DELAY); uint32_t min_next_time = timer_read_time() + step_delay; - gpio_out_toggle_noirq(s->step_pin); + if (CONFIG_HAVE_STRICT_TIMING) + // Toggling gpio after reading the time is a micro-optimization + gpio_out_toggle_noirq(s->step_pin); s->count--; if (likely(s->count & 1)) // Schedule unstep event |