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A bit of documentation.

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bubnikv 2018-02-02 20:45:45 +01:00
parent c2950b01a6
commit 9379430f8c
1 changed files with 4 additions and 0 deletions
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Firmware/planner.cpp
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@ -186,12 +186,16 @@ FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, f
} }
} }
// Minimum stepper rate 120Hz.
#define MINIMAL_STEP_RATE 120 #define MINIMAL_STEP_RATE 120
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors. // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed) void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed)
{ {
// These two lines are the only floating point calculations performed in this routine. // These two lines are the only floating point calculations performed in this routine.
// initial_rate, final_rate in Hz.
// Minimum stepper rate 120Hz, maximum 40kHz. If the stepper rate goes above 10kHz,
// the stepper interrupt routine groups the pulses by 2 or 4 pulses per interrupt tick.
uint32_t initial_rate = ceil(entry_speed * block->speed_factor); // (step/min) uint32_t initial_rate = ceil(entry_speed * block->speed_factor); // (step/min)
uint32_t final_rate = ceil(exit_speed * block->speed_factor); // (step/min) uint32_t final_rate = ceil(exit_speed * block->speed_factor); // (step/min)