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Adjust formatting in stepper.cpp

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Scott Lahteine 2018-05-20 08:36:56 -05:00
parent bf61be8ede
commit ddc1a48844
1 changed files with 249 additions and 247 deletions
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4
Marlin/stepper.cpp
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@ -50,6 +50,8 @@
* Jerk controlled movements planner added Apr 2018 by Eduardo José Tagle.
* Equations based on Synthethos TinyG2 sources, but the fixed-point
* implementation is new, as we are running the ISR with a variable period.
* Also implemented the Bézier velocity curve evaluation in ARM assembler,
* to avoid impacting ISR speed.
*/
#include "Marlin.h"
@ -426,7 +428,7 @@ void Stepper::set_directions() {
*
* Floating point arithmetic execution time cost is prohibitive, so we will transform the math to
* use fixed point values to be able to evaluate it in realtime. Assuming a maximum of 250000 steps
* per second (driver pulses should at least be 2uS hi/2uS lo), and allocating 2 bits to avoid
* per second (driver pulses should at least be 2µS hi/2µS lo), and allocating 2 bits to avoid
* overflows on the evaluation of the Bézier curve, means we can use
*
* t: unsigned Q0.32 (0 <= t < 1) |range 0 to 0xFFFFFFFF unsigned