Improved M569 T parameter support on MB6XD

4 files changed, 38 insertions, 17 deletions

diff --git a/src/GCodes/GCodes3.cpp b/src/GCodes/GCodes3.cpp
index 26f5c711..05b0dea1 100644
--- a/src/GCodes/GCodes3.cpp
+++ b/src/GCodes/GCodes3.cpp
@@ -1567,15 +1567,21 @@ GCodeResult GCodes::ConfigureLocalDriverBasicParameters(GCodeBuffer& gb, const S
 						drive,
 						(platform.GetDirectionValue(drive)) ? "forwards" : "in reverse",
 						(platform.GetEnableValue(drive) > 0) ? "high" : "low");
-		float timings[4];
-		const bool isSlowDriver = platform.GetDriverStepTiming(drive, timings);
-		if (isSlowDriver)
 		{
-			reply.catf("%.1f:%.1f:%.1f:%.1fus", (double)timings[0], (double)timings[1], (double)timings[2], (double)timings[3]);
-		}
-		else
-		{
-			reply.cat("fast");
+			float timings[4];
+			const bool isSlowDriver = platform.GetDriverStepTiming(drive, timings);
+			if (isSlowDriver)
+			{
+				reply.catf("%.1f:%.1f:%.1f:%.1fus", (double)timings[0], (double)timings[1], (double)timings[2], (double)timings[3]);
+#ifdef DUET3_MB6XD
+				platform.GetActualDriverTimings(timings);
+				reply.catf(" (actual %.1f:%.1f:%.1f:%.1fus)", (double)timings[0], (double)timings[1], (double)timings[2], (double)timings[3]);
+#endif
+			}
+			else
+			{
+				reply.cat("fast");
+			}
 		}
 
 #if HAS_SMART_DRIVERS
diff --git a/src/Movement/DriveMovement.h b/src/Movement/DriveMovement.h
index 473091d3..18e2eb38 100644
--- a/src/Movement/DriveMovement.h
+++ b/src/Movement/DriveMovement.h
@@ -165,11 +165,11 @@ inline bool DriveMovement::CalcNextStepTime(const DDA &dda) noexcept
 	{
 		if (stepsTillRecalc != 0)
 		{
-			--stepsTillRecalc;			// we are doing double/quad/octal stepping
+			--stepsTillRecalc;				// we are doing double/quad/octal stepping
 #if EVEN_STEPS
 			nextStepTime += stepInterval;
 #endif
-#if SAME70
+#ifdef DUET3_MB6HC							// we need to increase the minimum step pulse length to be long enough for the TMC5160
 			asm volatile("nop");
 			asm volatile("nop");
 			asm volatile("nop");
@@ -183,7 +183,7 @@ inline bool DriveMovement::CalcNextStepTime(const DDA &dda) noexcept
 	}
 
 	state = DMState::idle;
-#if SAME70
+#ifdef DUET3_MB6HC							// we need to increase the minimum step pulse length to be long enough for the TMC5160
 			asm volatile("nop");
 			asm volatile("nop");
 			asm volatile("nop");
diff --git a/src/Platform/Platform.cpp b/src/Platform/Platform.cpp
index f89bc9f0..10089590 100644
--- a/src/Platform/Platform.cpp
+++ b/src/Platform/Platform.cpp
@@ -2799,11 +2799,10 @@ GCodeResult Platform::SetMotorCurrent(size_t axisOrExtruder, float currentOrPerc
 #ifdef DUET3_MB6XD
 
 // Fetch the worst (longest) timings of any driver, set up the step pulse width timer, and convert the other timings from microseconds to step clocks
-void Platform::UpdateDriverTimings()
+void Platform::UpdateDriverTimings() noexcept
 {
-	float worstTimings[4];
-	memcpyf(worstTimings, driverTimingMicroseconds[0], 4);
-	for (size_t driver = 1; driver < NumDirectDrivers; ++driver)
+	float worstTimings[4] = { 0.1, 0.1, 0.0, 0.0 };					// minimum 100ns step high/step low time, zero direction setup/hold time
+	for (size_t driver = 0; driver < NumDirectDrivers; ++driver)
 	{
 		for (size_t i = 0; i < 4; ++i)
 		{
@@ -2833,6 +2832,17 @@ void Platform::UpdateDriverTimings()
 //	debugPrintf("Clocks: %" PRIu32 " %" PRIu32 " %" PRIu32 "\n", stepPulseMinimumPeriodClocks, directionSetupClocks, directionHoldClocksFromLeadingEdge);
 }
 
+void Platform::GetActualDriverTimings(float timings[4]) noexcept
+{
+	constexpr uint32_t StepGateTcClockFrequency = (SystemCoreClockFreq/2)/8;
+	constexpr float MicrosecondsPerStepGateClock = 1.0e6/(float)StepGateTcClockFrequency;
+	constexpr float StepClocksToMicroseconds = 1.0e6/(float)StepClockRate;
+	timings[0] = (float)STEP_GATE_TC->TC_CHANNEL[STEP_GATE_TC_CHAN].TC_RC * MicrosecondsPerStepGateClock;
+	timings[1] = stepPulseMinimumPeriodClocks * StepClocksToMicroseconds - timings[0];
+	timings[2] = directionSetupClocks * StepClocksToMicroseconds;
+	timings[3] = directionHoldClocksFromLeadingEdge * StepClocksToMicroseconds - timings[0];
+}
+
 #endif
 
 // This must not be called from an ISR, or with interrupts disabled.
diff --git a/src/Platform/Platform.h b/src/Platform/Platform.h
index 4035aeb5..b6c0226d 100644
--- a/src/Platform/Platform.h
+++ b/src/Platform/Platform.h
@@ -470,6 +470,11 @@ public:
 	unsigned int GetMicrostepping(size_t axisOrExtruder, bool& interpolation) const noexcept;
 	void SetDriverStepTiming(size_t driver, const float microseconds[4]) noexcept;
 	bool GetDriverStepTiming(size_t driver, float microseconds[4]) const noexcept;
+
+#ifdef DUET3_MB6XD
+	void GetActualDriverTimings(float timings[4]) noexcept;
+#endif
+
 	float DriveStepsPerUnit(size_t axisOrExtruder) const noexcept;
 	const float *_ecv_array GetDriveStepsPerUnit() const noexcept
 		{ return driveStepsPerUnit; }
@@ -702,11 +707,11 @@ private:
 	// Convert microseconds to step clocks, rounding up to the next step clock
 	static constexpr uint32_t MicrosecondsToStepClocks(float us) noexcept
 	{
-		return (uint32_t)(((float)StepClockRate * 0.000001 * us) + 0.99);
+		return (uint32_t)ceilf((float)StepClockRate * 0.000001 * us);
 	}
 
 #ifdef DUET3_MB6XD
-	void UpdateDriverTimings();
+	void UpdateDriverTimings() noexcept;
 #endif
 
 #if HAS_MASS_STORAGE