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dda.c: Update links to 'Generate stepper-motor speed profiles in real time' David Austin 2004 Embedded article.

This commit is contained in:
David Forrest 2014-05-09 14:27:08 -04:00 committed by Markus Hitter
parent d2b1df6a93
commit dd72f9c1d6
1 changed files with 3 additions and 3 deletions
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6
dda.c
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@ -303,7 +303,7 @@ void dda_create(DDA *dda, TARGET *target) {
if (dda->c != dda->end_c) {
uint32_t stF = startpoint.F / 4;
uint32_t enF = target->F / 4;
// now some constant acceleration stuff, courtesy of http://www.embedded.com/columns/technicalinsights/56800129?printable=true
// now some constant acceleration stuff, courtesy of http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time
uint32_t ssq = (stF * stF);
uint32_t esq = (enF * enF);
int32_t dsq = (int32_t) (esq - ssq) / 4;
@ -584,7 +584,7 @@ void dda_step(DDA *dda) {
#endif
#ifdef ACCELERATION_REPRAP
// linear acceleration magic, courtesy of http://www.embedded.com/columns/technicalinsights/56800129?printable=true
// linear acceleration magic, courtesy of http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time
if (dda->accel) {
if ((dda->c > dda->end_c) && (dda->n > 0)) {
uint32_t new_c = dda->c - (dda->c * 2) / dda->n;
@ -817,7 +817,7 @@ void dda_clock() {
#ifdef ACCELERATION_RAMPING
// For maths about stepper speed profiles, see
// http://www.embedded.com/columns/technicalinsights/56800129?printable=true
// http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time
// and http://www.atmel.com/images/doc8017.pdf (Atmel app note AVR446)
ATOMIC_START
move_step_no = move_state.step_no;