From 5cf6a062e315e7c0936f60ba6bf11d7f8fb1f20c Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Sat, 9 Dec 2017 18:41:15 -0600
Subject: [PATCH] Reset timer count before first block step

---
 Marlin/src/module/stepper.cpp | 21 +++++++++++++++------
 Marlin/src/module/stepper.h   |  3 ---
 2 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index c3f03cdbe3..cbb227d936 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -408,10 +408,13 @@ void Stepper::isr() {
   }
 
   // If there is no current block, attempt to pop one from the buffer
+  bool first_step = false;
   if (!current_block) {
     // Anything in the buffer?
     if ((current_block = planner.get_current_block())) {
       trapezoid_generator_reset();
+      HAL_timer_set_current_count(STEP_TIMER_NUM, 0);
+      first_step = true;
 
       // Initialize Bresenham counters to 1/2 the ceiling
       counter_X = counter_Y = counter_Z = counter_E = -(current_block->step_event_count >> 1);
@@ -666,12 +669,18 @@ void Stepper::isr() {
   // Calculate new timer value
   if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
 
-    #ifdef CPU_32_BIT
-      MultiU32X24toH32(acc_step_rate, acceleration_time, current_block->acceleration_rate);
-    #else
-      MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
-    #endif
-    acc_step_rate += current_block->initial_rate;
+    if (first_step) {
+      acc_step_rate = current_block->initial_rate;
+      acceleration_time = 0;
+    }
+    else {
+      #ifdef CPU_32_BIT
+        MultiU32X24toH32(acc_step_rate, acceleration_time, current_block->acceleration_rate);
+      #else
+        MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
+      #endif
+      acc_step_rate += current_block->initial_rate;
+    }
 
     // upper limit
     NOMORE(acc_step_rate, current_block->nominal_rate);
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index b15d699872..b1e73bf053 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -362,9 +362,6 @@ class Stepper {
       OCR1A_nominal = calc_timer_interval(current_block->nominal_rate);
       // make a note of the number of step loops required at nominal speed
       step_loops_nominal = step_loops;
-      acc_step_rate = current_block->initial_rate;
-      acceleration_time = calc_timer_interval(acc_step_rate);
-      _NEXT_ISR(acceleration_time);
 
       #if ENABLED(LIN_ADVANCE)
         if (current_block->use_advance_lead) {