Changes for ATE firmware build

4 files changed, 20 insertions, 6 deletions

diff --git a/src/CAN/CanMessageGenericConstructor.cpp b/src/CAN/CanMessageGenericConstructor.cpp
index ef61896e..a62f01bd 100644
--- a/src/CAN/CanMessageGenericConstructor.cpp
+++ b/src/CAN/CanMessageGenericConstructor.cpp
@@ -329,6 +329,19 @@ void CanMessageGenericConstructor::AddDriverIdParam(char c, DriverId did) THROWS
 	InsertValue(&did.localDriver, sz, pos);
 }
 
+void CanMessageGenericConstructor::AddFloatArrayParam(char c, const float *v, size_t numV) THROWS(GCodeException)
+{
+	ParamDescriptor::ParamType t;
+	size_t sz;
+	const unsigned int pos = FindInsertPoint(c, t, sz);
+	if (t != ParamDescriptor::float_array || numV != sz)
+	{
+		throw ConstructParseException("fval array wrong parameter type or length");
+	}
+	InsertValue(&numV, sizeof(uint8_t), pos);
+	InsertValue(v, numV * sizeof(float), pos + sizeof(uint8_t));
+}
+
 GCodeResult CanMessageGenericConstructor::SendAndGetResponse(CanMessageType msgType, CanAddress dest, const StringRef& reply) const noexcept
 {
 	CanMessageBuffer * const buf = CanMessageBuffer::Allocate();
diff --git a/src/CAN/CanMessageGenericConstructor.h b/src/CAN/CanMessageGenericConstructor.h
index d23447aa..d8f80f65 100644
--- a/src/CAN/CanMessageGenericConstructor.h
+++ b/src/CAN/CanMessageGenericConstructor.h
@@ -34,6 +34,7 @@ public:
 	void AddCharParam(char c, char v) THROWS(GCodeException);
 	void AddStringParam(char c, const char* v) THROWS(GCodeException);
 	void AddDriverIdParam(char c, DriverId did) THROWS(GCodeException);
+	void AddFloatArrayParam(char c, const float *v, size_t numV) THROWS(GCodeException);
 
 	GCodeResult SendAndGetResponse(CanMessageType msgType, CanAddress dest, const StringRef& reply) const noexcept;
 
diff --git a/src/Platform/Platform.h b/src/Platform/Platform.h
index 585bf64a..a8ae2c27 100644
--- a/src/Platform/Platform.h
+++ b/src/Platform/Platform.h
@@ -705,12 +705,6 @@ private:
 	void ReportDrivers(MessageType mt, DriversBitmap& whichDrivers, const char *_ecv_array text, bool& reported) noexcept;
 #endif
 
-	// Convert microseconds to step clocks, rounding up to the next step clock
-	static constexpr uint32_t MicrosecondsToStepClocks(float us) noexcept
-	{
-		return (uint32_t)ceilf((float)StepClockRate * 0.000001 * us);
-	}
-
 #ifdef DUET3_MB6XD
 	void UpdateDriverTimings() noexcept;
 #endif
diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h
index b47a86d6..179b865a 100644
--- a/src/RepRapFirmware.h
+++ b/src/RepRapFirmware.h
@@ -502,6 +502,12 @@ constexpr uint32_t StepClockRate = SystemCoreClockFreq/128;					// Duet 2 and Ma
 constexpr uint64_t StepClockRateSquared = (uint64_t)StepClockRate * StepClockRate;
 constexpr float StepClocksToMillis = 1000.0/(float)StepClockRate;
 
+// Convert microseconds to step clocks, rounding up to the next step clock
+static inline constexpr uint32_t MicrosecondsToStepClocks(float us) noexcept
+{
+	return (uint32_t)ceilf((float)StepClockRate * 0.000001 * us);
+}
+
 // Functions to convert speeds and accelerations between seconds and step clocks
 static inline constexpr float ConvertSpeedFromMmPerSec(float speed) noexcept
 {