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match samd51 to others

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This commit is contained in:
Scott Lahteine
2022-06-10 20:09:05 -05:00
parent 9bb87da816
commit a03ee01cee
3 changed files with 18 additions and 27 deletions
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Marlin/src/HAL/AVR/Servo.cpp
+2 -2
View File
@@ -76,8 +76,8 @@ static inline void handle_interrupts(const timer16_Sequence_t timer, volatile ui
Channel[timer] = ++cho; // Handle the next channel (or 0)
if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
*OCRnA = *TCNTn + SERVO(timer, cho).ticks; // set compare to current ticks plus duration
if (SERVO(timer, cho).Pin.isActive) // check if activated
extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // if active, set HIGH. (set LOW next interrupt)
if (SERVO(timer, cho).Pin.isActive) // activated?
extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH
}
else {
// finished all channels so wait for the refresh period to expire before starting over
Marlin/src/HAL/DUE/Servo.cpp
+1 -1
View File
@@ -79,7 +79,7 @@ void Servo_Handler(const timer16_Sequence_t timer, Tc *tc, const uint8_t channel
extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW
Channel[timer] = ++cho; // go to the next channel (or 0)
if (SERVO_INDEX(timer, cho) < ServoCount && cho < SERVOS_PER_TIMER) {
if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer, cho).ticks;
if (SERVO(timer, cho).Pin.isActive) // activated?
extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH
Marlin/src/HAL/SAMD51/Servo.cpp
+15 -24
View File
@@ -77,8 +77,8 @@ HAL_SERVO_TIMER_ISR() {
;
const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
int8_t cho = currentServoIndex[timer];
if (cho < 0) {
int8_t cho = currentServoIndex[timer]; // Handle the prior servo first
if (cho < 0) { // Servo -1 indicates the refresh interval completed...
#if defined(_useTimer1) && defined(_useTimer2)
if (currentServoIndex[timer ^ 1] >= 0) {
// Wait for both channels
@@ -87,42 +87,33 @@ HAL_SERVO_TIMER_ISR() {
return;
}
#endif
tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL;
tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL; // ...so reset the timer
SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT);
}
else if (SERVO_INDEX(timer, cho) < ServoCount && SERVO(timer, cho).Pin.isActive)
digitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse this channel low if activated
else if (SERVO_INDEX(timer, cho) < ServoCount && SERVO(timer, cho).Pin.isActive) // prior channel... handled and activated?
digitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW
// Select the next servo controlled by this timer
currentServoIndex[timer] = ++cho;
if (SERVO_INDEX(timer, cho) < ServoCount && cho < SERVOS_PER_TIMER) {
if (SERVO(timer, cho).Pin.isActive) // check if activated
digitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // it's an active channel so pulse it high
currentServoIndex[timer] = ++cho; // go to the next channel (or 0)
if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) {
if (SERVO(timer, cho).Pin.isActive) // activated?
digitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH
tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, cho).ticks;
}
else {
// finished all channels so wait for the refresh period to expire before starting over
currentServoIndex[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
const uint16_t tcCounterValue = getTimerCount(), ival = (uint16_t)usToTicks(REFRESH_INTERVAL);
constexpr uint16_t minticks = 256 / (SERVO_TIMER_PRESCALER);
if ((TC_COUNTER_START_VAL - tcCounterValue) + minticks < ival) // allow 256 cycles to ensure the next OCR1A not missed
tc->COUNT16.CC[tcChannel].reg = TC_COUNTER_START_VAL - ival;
else
tc->COUNT16.CC[tcChannel].reg = (uint16_t)(tcCounterValue - minticks); // at least REFRESH_INTERVAL has elapsed
currentServoIndex[timer] = -1; // reset the timer COUNT.reg on the next call
const uint16_t cval = getTimerCount() - 256 / (SERVO_TIMER_PRESCALER), // allow 256 cycles to ensure the next CV not missed
ival = (TC_COUNTER_START_VAL) - (uint16_t)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed
tc->COUNT16.CC[tcChannel].reg = min(cval, ival);
}
if (tcChannel == 0) {
SYNC(tc->COUNT16.SYNCBUSY.bit.CC0);
// Clear the interrupt
tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0;
tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0; // Clear the interrupt
}
else {
SYNC(tc->COUNT16.SYNCBUSY.bit.CC1);
// Clear the interrupt
tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1;
tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1; // Clear the interrupt
}
}