Fixes for MB6XD

5 files changed, 26 insertions, 5 deletions

diff --git a/src/Config/Pins_Duet3_MB6HC.h b/src/Config/Pins_Duet3_MB6HC.h
index 7ca8a7ba..8b4c2b63 100644
--- a/src/Config/Pins_Duet3_MB6HC.h
+++ b/src/Config/Pins_Duet3_MB6HC.h
@@ -152,9 +152,9 @@ constexpr bool DiagOnPolarity = true;
 
 // SD cards
 constexpr size_t NumSdCards = 2;											// we now allow one SPI-connected SD card to be configured at boot time
-constexpr Pin SdCardDetectPins[NumSdCards] = { PortAPin(29), NoPin };
+constexpr Pin SdCardDetectPins[NumSdCards] = { PortAPin(29), NoPin };		// the CD pin for the second SD card is allocated using M950
 constexpr Pin SdWriteProtectPins[NumSdCards] = { NoPin, NoPin };
-constexpr Pin SdSpiCSPins[NumSdCards] = { NoPin, NoPin };
+constexpr Pin SdSpiCSPins[1] = { NoPin };									// this one is allocated using M950
 constexpr uint32_t ExpectedSdCardSpeed = 25000000;
 constexpr IRQn SdhcIRQn = HSMCI_IRQn;
 
diff --git a/src/Config/Pins_Duet3_MB6XD.h b/src/Config/Pins_Duet3_MB6XD.h
index b15c82a1..5e06f4f7 100644
--- a/src/Config/Pins_Duet3_MB6XD.h
+++ b/src/Config/Pins_Duet3_MB6XD.h
@@ -136,7 +136,7 @@ constexpr bool DiagOnPolarity = false;
 constexpr size_t NumSdCards = 2;
 constexpr Pin SdCardDetectPins[NumSdCards] = { PortAPin(29), PortDPin(18) };
 constexpr Pin SdWriteProtectPins[NumSdCards] = { NoPin, NoPin };
-constexpr Pin SdSpiCSPins[NumSdCards] = { NoPin, PortDPin(19) };
+constexpr Pin SdSpiCSPins[1] = { PortDPin(19) };
 constexpr uint32_t ExpectedSdCardSpeed = 25000000;
 constexpr IRQn SdhcIRQn = HSMCI_IRQn;
 
diff --git a/src/Hardware/SAME70/Devices.cpp b/src/Hardware/SAME70/Devices.cpp
index 008ac348..19f14226 100644
--- a/src/Hardware/SAME70/Devices.cpp
+++ b/src/Hardware/SAME70/Devices.cpp
@@ -78,8 +78,18 @@ void DeviceInit() noexcept
 	SdhcInit();
 	EthernetInit();
 
+#if defined(DUET3_MB6HC)
 	// Set up PB4..PB5 as normal I/O, not JTAG
 	matrix_set_system_io(CCFG_SYSIO_SYSIO4 | CCFG_SYSIO_SYSIO5);
+#elif defined(DUET3_MB6XD)
+# ifdef DEBUG
+	// Set up PB4..PB5 as normal I/O, not JTAG. Leave PB6/7 pins as SWD. STATUS and ACT LEDs will not work.
+	matrix_set_system_io(CCFG_SYSIO_SYSIO4 | CCFG_SYSIO_SYSIO5);
+# else
+	// Set up PB4..PB7 as normal I/O, not JTAG or SWD
+	matrix_set_system_io(CCFG_SYSIO_SYSIO4 | CCFG_SYSIO_SYSIO5 | CCFG_SYSIO_SYSIO6 | CCFG_SYSIO_SYSIO7);
+# endif
+#endif
 }
 
 void StopAnalogTask() noexcept
diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp
index e728f14a..74c4a05f 100644
--- a/src/Movement/DDA.cpp
+++ b/src/Movement/DDA.cpp
@@ -2009,6 +2009,7 @@ void DDA::StepDrivers(Platform& p, uint32_t now) noexcept
 	}
 
 	driversStepping &= p.GetSteppingEnabledDrivers();
+
 #ifdef DUET3_MB6XD
 	if (driversStepping != 0)
 	{
@@ -2026,6 +2027,12 @@ void DDA::StepDrivers(Platform& p, uint32_t now) noexcept
 		// Trigger the TC so that it generates a step pulse
 		STEP_GATE_TC->TC_CHANNEL[STEP_GATE_TC_CHAN].TC_CCR = TC_CCR_SWTRG;
 		lastStepHighTime = StepTimer::GetTimerTicks();
+
+		// Calculate the next step times
+		for (DriveMovement *dm2 = activeDMs; dm2 != dm; dm2 = dm2->nextDM)
+		{
+			(void)dm2->CalcNextStepTime(*this);						// calculate next step times
+		}
 	}
 #else
 # if SUPPORT_SLOW_DRIVERS											// if supporting slow drivers
diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp
index 0ae91ba1..4856c970 100644
--- a/src/Platform/Platform.cpp
+++ b/src/Platform/Platform.cpp
@@ -685,13 +685,16 @@ void Platform::Init() noexcept
 
 	// Set up the step gate timer
 	pmc_enable_periph_clk(STEP_GATE_TC_ID);
+	STEP_GATE_TC->TC_CHANNEL[STEP_GATE_TC_CHAN].TC_CCR = TC_CCR_CLKDIS;
 	STEP_GATE_TC->TC_CHANNEL[STEP_GATE_TC_CHAN].TC_CMR =  TC_CMR_BSWTRG_SET				// software trigger sets TIOB
 														| TC_CMR_BCPC_CLEAR				// RC compare clears TIOB
 														| TC_CMR_WAVE					// waveform mode
 														| TC_CMR_WAVSEL_UP				// count up
 														| TC_CMR_CPCSTOP				// counter clock is stopped when counter reaches RC
+														| TC_CMR_EEVT_XC0   			// set external events from XC0 (this allows TIOB to be an output)
 														| TC_CMR_TCCLKS_TIMER_CLOCK2;	// divide MCLK (150MHz) by 8 = 18.75MHz
 	SetPinFunction(StepGatePin, StepGatePinFunction);
+	STEP_GATE_TC->TC_CHANNEL[STEP_GATE_TC_CHAN].TC_CCR = TC_CCR_CLKEN;
 #endif
 
 	// Set up the axis+extruder arrays
@@ -2809,19 +2812,20 @@ void Platform::UpdateDriverTimings()
 	// Convert the step pulse width to clocks of the step pulse gate timer. First define some constants.
 	constexpr uint32_t StepGateTcClockFrequency = (SystemCoreClockFreq/2)/8;
 	constexpr float StepGateClocksPerMicrosecond = (float)StepGateTcClockFrequency/1.0e6;
-	constexpr float MicrosecondsPerStepGateClock = 1.0e6/(float)StepGateTcClockFrequency;
 
 	const float fclocks = ceilf(worstTimings[0] * StepGateClocksPerMicrosecond);
 	const uint32_t gateClocks = (uint32_t)fclocks;
 	STEP_GATE_TC->TC_CHANNEL[STEP_GATE_TC_CHAN].TC_RC = gateClocks;
 
 	// Convert the quantised step pulse width back to microseconds
-	const float actualStepPulseMicroseconds = fclocks * MicrosecondsPerStepGateClock;
+	const float actualStepPulseMicroseconds = fclocks/StepGateClocksPerMicrosecond;
 
 	// Now convert the other values from microseconds to step clocks
 	stepPulseMinimumPeriodClocks = MicrosecondsToStepClocks(worstTimings[1] + actualStepPulseMicroseconds);
 	directionSetupClocks = MicrosecondsToStepClocks(worstTimings[2]);
 	directionHoldClocksFromLeadingEdge = MicrosecondsToStepClocks(worstTimings[3] + actualStepPulseMicroseconds);
+//DEBUG
+//	debugPrintf("Clocks: %" PRIu32 " %" PRIu32 " %" PRIu32 "\n", stepPulseMinimumPeriodClocks, directionSetupClocks, directionHoldClocksFromLeadingEdge);
 }
 
 #endif