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@@ -186,12 +186,16 @@ FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, f
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}
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}
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+// Minimum stepper rate 120Hz.
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#define MINIMAL_STEP_RATE 120
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// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
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void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed)
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{
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// These two lines are the only floating point calculations performed in this routine.
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+ // initial_rate, final_rate in Hz.
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+ // Minimum stepper rate 120Hz, maximum 40kHz. If the stepper rate goes above 10kHz,
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+ // the stepper interrupt routine groups the pulses by 2 or 4 pulses per interrupt tick.
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uint32_t initial_rate = ceil(entry_speed * block->speed_factor); // (step/min)
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uint32_t final_rate = ceil(exit_speed * block->speed_factor); // (step/min)
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bubnikv