3DPrinting/Prusa-Firmware
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Also change MUL24x24R24 to the new format and fix rounding

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This commit is contained in:
Alex Voinea 2022-02-06 01:07:10 +01:00
parent d06e74dd6f
commit 70cb30208c
2 changed files with 59 additions and 51 deletions
Firmware
stepper.cpp

5
Firmware/stepper.cpp
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@ -818,7 +818,7 @@ FORCE_INLINE void isr() {
//WRITE_NC(LOGIC_ANALYZER_CH1, true);
if (step_events_completed.wide <= current_block->accelerate_until) {
// v = t * a -> acc_step_rate = acceleration_time * current_block->acceleration_rate
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
acc_step_rate = MUL24x24R24(acceleration_time, current_block->acceleration_rate);
acc_step_rate += uint16_t(current_block->initial_rate);
// upper limit
if(acc_step_rate > uint16_t(current_block->nominal_rate))
@ -838,8 +838,7 @@ FORCE_INLINE void isr() {
#endif
}
else if (step_events_completed.wide > current_block->decelerate_after) {
uint16_t step_rate;
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
uint16_t step_rate = MUL24x24R24(deceleration_time, current_block->acceleration_rate);
if (step_rate > acc_step_rate) { // Check step_rate stays positive
step_rate = uint16_t(current_block->final_rate);