Resolve DUE Servo pulse issue

This commit is contained in:
InsanityAutomation
2022-06-07 09:11:41 -04:00
parent 3e9fb34892
commit e7a6c77d74
+7 -3
View File
@@ -71,12 +71,15 @@ void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
#endif
void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) {
// clear interrupt
tc->TC_CHANNEL[channel].TC_SR;
if (Channel[timer] < 0)
tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer
else if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
else {
//else if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
}
// clear interrupt
tc->TC_CHANNEL[channel].TC_SR;
Channel[timer]++; // increment to the next channel
if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
@@ -92,6 +95,7 @@ void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) {
: tc->TC_CHANNEL[channel].TC_CV + 4; // at least REFRESH_INTERVAL has elapsed
Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
}
}
static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) {