Update planner.h

Added calc for MINIMAL_STEP_RATE
2024-03-17 16:19:06 +00:00
parent d88953d03e
commit 471924e7fd
1 changed files with 1 additions and 1 deletions
@@ -261,7 +261,7 @@ typedef struct PlannerBlock {
             final_adv_steps;               // Advance steps for exit speed pressure
  #endif

-  #define MINIMAL_STEP_RATE 120              // to prevent timer overflow?
+  #define MINIMAL_STEP_RATE _MIN((1 / (STEPPER_TIMER_RATE / HAL_TIMER_TYPE_MAX), 1)   // to prevent timer overflow?
  uint32_t nominal_rate,                    // The nominal step rate for this block in step_events/sec
           initial_rate,                    // The jerk-adjusted step rate at start of block
           final_rate,                      // The minimal rate at exit