gistfile1.txt

stepper interrupt
        
        do the steps we decided to do from last interrupt ( we don't execute steps immediately but at the beginning of next interrupt, grbl does this too )
        
        for each axis
        
                store the new position for this axis based on the step just taken ( or not taken )
        
        find the current block
        
        for each axis in this block
        
                find the move corresponding to that axis in that block
                
                vel0 = velocity for this move ( this is pre-computed, and changes per-step )
                acc = acceleration for this move ( this is pre-computed )
                
                position for this axis += velocity + acceleration
                
                this move's velocity = vel0 + acc ( this is per-step acceleration, note acc is pre-computed )
                
                decide if we do a step for this axis, based on new position and bresenham