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Teach ACCELERATION_TEMPORAL to respect maximum feedrates.

This commit is contained in:
Markus Hitter 2011-11-27 19:56:25 +01:00
parent e8db35ec76
commit 962209dceb
1 changed files with 15 additions and 1 deletions
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16
dda.c
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@ -288,7 +288,21 @@ void dda_create(DDA *dda, TARGET *target) {
#ifdef ACCELERATION_TEMPORAL
// bracket part of this equation in an attempt to avoid overflow: 60 * 16MHz * 5mm is >32 bits
uint32_t move_duration = distance * ((60 * F_CPU) / (target->F * 1000));
uint32_t move_duration, md_candidate;
move_duration = distance * ((60 * F_CPU) / (target->F * 1000UL));
md_candidate = dda->x_delta * ((60 * F_CPU) / (MAXIMUM_FEEDRATE_X * 1000UL));
if (md_candidate > move_duration)
move_duration = md_candidate;
md_candidate = dda->y_delta * ((60 * F_CPU) / (MAXIMUM_FEEDRATE_Y * 1000UL));
if (md_candidate > move_duration)
move_duration = md_candidate;
md_candidate = dda->z_delta * ((60 * F_CPU) / (MAXIMUM_FEEDRATE_Z * 1000UL));
if (md_candidate > move_duration)
move_duration = md_candidate;
md_candidate = dda->e_delta * ((60 * F_CPU) / (MAXIMUM_FEEDRATE_E * 1000UL));
if (md_candidate > move_duration)
move_duration = md_candidate;
#else
// pre-calculate move speed in millimeter microseconds per step minute for less math in interrupt context
// mm (distance) * 60000000 us/min / step (total_steps) = mm.us per step.min