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Diffstat (limited to 'src/RepRapFirmware.h')
| -rw-r--r-- | src/RepRapFirmware.h | 6 |
1 files changed, 6 insertions, 0 deletions
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 { |