reich full system walkthrough

embedded/mkstepper-v011/mkstepper-v011/stepper.c

@@ -61,9 +61,12 @@ void stepper_targetspeed_float(stepper_t *stepper, float speed){
 
 void stepper_targetspeed_steps(stepper_t *stepper, uint32_t speed){
 	uint32_t speedmin = ((speed / (stepper->position_per_200_steps / 200)) * stepper->microsteps); // enforce no division by 0
+	// minimum of 1 step / s
+	// if speed is 0, we leave speed at minimum and set state to not step?
 	(speedmin < 1) ? speedmin = 1 : (0);
 	// timing not accurate to real-world yet
-	stepper->speed_period = 300000000 / speedmin;
+	// timer is 48MHz clock on a DIV16, so we have 3 000 000 ticks / s (333ns resolution, wow)
+	stepper->speed_period = 60000000 / speedmin;
 }
 
 void stepper_update(stepper_t *stepper){