Simplified fix for babystep pulse width
Alternative to the apparently superfluous double delay
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@ -2136,8 +2136,7 @@ void Stepper::report_positions() {
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#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
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#define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true)
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#if EXTRA_CYCLES_BABYSTEP > 20
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#if EXTRA_CYCLES_BABYSTEP > 20
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hal_timer_t pulse_start;
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#define _SAVE_START const hal_timer_t pulse_start = HAL_timer_get_count(STEP_TIMER_NUM)
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#define _SAVE_START pulse_start = HAL_timer_get_count(STEP_TIMER_NUM)
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#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_count(STEP_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
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#define _PULSE_WAIT while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_count(STEP_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ }
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#else
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#else
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#define _SAVE_START NOOP
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#define _SAVE_START NOOP
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@ -2155,11 +2154,10 @@ void Stepper::report_positions() {
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#define BABYSTEP_AXIS(AXIS, INVERT, DIR) { \
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#define BABYSTEP_AXIS(AXIS, INVERT, DIR) { \
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const uint8_t old_dir = _READ_DIR(AXIS); \
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const uint8_t old_dir = _READ_DIR(AXIS); \
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_ENABLE(AXIS); \
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_ENABLE(AXIS); \
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_SAVE_START; \
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_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INVERT); \
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_APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INVERT); \
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_PULSE_WAIT; \
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DELAY_NS(400); /* DRV8825 */ \
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_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
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_SAVE_START; \
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_SAVE_START; \
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_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), true); \
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_PULSE_WAIT; \
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_PULSE_WAIT; \
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
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_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS), true); \
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_APPLY_DIR(AXIS, old_dir); \
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_APPLY_DIR(AXIS, old_dir); \
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@ -2229,6 +2227,8 @@ void Stepper::report_positions() {
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Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction);
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Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction);
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Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction);
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Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction);
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DELAY_NS(400); // DRV8825
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_SAVE_START;
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_SAVE_START;
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X_STEP_WRITE(!INVERT_X_STEP_PIN);
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X_STEP_WRITE(!INVERT_X_STEP_PIN);
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