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@ -590,29 +590,29 @@ void Stepper::set_directions() {
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* uint16_t t;
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* uint16_t t;
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* umul24x24to16hi(t, bezier_AV, curr_step); // t: Range 0 - 1^16 = 16 bits
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* umul24x24to16hi(t, bezier_AV, curr_step); // t: Range 0 - 1^16 = 16 bits
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* uint16_t f = t;
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* uint16_t f = t;
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* umul16x16to16hi(f, f, t); // Range 16 bits (unsigned)
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* umul16x16to16hi(f, f, t); // Range 16 bits (unsigned)
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* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^3 (unsigned)
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* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^3 (unsigned)
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* uint24_t acc = bezier_F; // Range 20 bits (unsigned)
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* uint24_t acc = bezier_F; // Range 20 bits (unsigned)
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* if (A_negative) {
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* if (A_negative) {
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* uint24_t v;
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* uint24_t v;
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* umul16x24to24hi(v, f, bezier_C); // Range 21bits
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* umul16x24to24hi(v, f, bezier_C); // Range 21bits
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* acc -= v;
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* acc -= v;
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* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^4 (unsigned)
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* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^4 (unsigned)
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* umul16x24to24hi(v, f, bezier_B); // Range 22bits
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* umul16x24to24hi(v, f, bezier_B); // Range 22bits
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* acc += v;
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* acc += v;
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* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^5 (unsigned)
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* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^5 (unsigned)
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* umul16x24to24hi(v, f, bezier_A); // Range 21bits + 15 = 36bits (plus sign)
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* umul16x24to24hi(v, f, bezier_A); // Range 21bits + 15 = 36bits (plus sign)
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* acc -= v;
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* acc -= v;
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* }
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* }
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* else {
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* else {
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* uint24_t v;
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* uint24_t v;
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* umul16x24to24hi(v, f, bezier_C); // Range 21bits
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* umul16x24to24hi(v, f, bezier_C); // Range 21bits
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* acc += v;
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* acc += v;
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* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^4 (unsigned)
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* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^4 (unsigned)
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* umul16x24to24hi(v, f, bezier_B); // Range 22bits
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* umul16x24to24hi(v, f, bezier_B); // Range 22bits
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* acc -= v;
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* acc -= v;
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* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^5 (unsigned)
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* umul16x16to16hi(f, f, t); // Range 16 bits : f = t^5 (unsigned)
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* umul16x24to24hi(v, f, bezier_A); // Range 21bits + 15 = 36bits (plus sign)
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* umul16x24to24hi(v, f, bezier_A); // Range 21bits + 15 = 36bits (plus sign)
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* acc += v;
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* acc += v;
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* }
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* }
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* return acc;
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* return acc;
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