diff options
Diffstat (limited to 'src/Platform/Platform.cpp')
| -rw-r--r-- | src/Platform/Platform.cpp | 18 |
1 files changed, 14 insertions, 4 deletions
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. |