chamnit/grbl — comment on commit 03e2ca7cd5ef6653de74c242e73be978dfa2fec4
File: stepper.c line 230
By chamnit:

This should be OK, since this interrupt process has NOBLOCK enabled and should allow any other interrupt work over this one. Also, at this point, the stepper interrupt is disabled before the _delay_ms() occurs. Not 100% on all of this, but I haven't run into any issues, nor has anyone else that I know of.

FYI, this stepper algorithm may be going through a makeover at some point. It works and works well for the limited speed/space of the Arduino, but has some problems that show up when trying to drive this at high speeds/accelerations. This is something that will take some time to figure out what's the best path forward. Not planning on touching this until the rest of the new features are integrated.