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Fix SAMD51 Step Timer (#17692)

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Giuliano Zaro 2020-04-25 05:27:58 +02:00 committed by GitHub
parent 4af83430b5
commit d7f90c36df
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GPG key ID: 4AEE18F83AFDEB23
2 changed files with 7 additions and 6 deletions
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7
Marlin/src/HAL/SAMD51/timers.cpp
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@ -121,14 +121,15 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
tc->COUNT32.CTRLA.bit.SWRST = true; tc->COUNT32.CTRLA.bit.SWRST = true;
SYNC(tc->COUNT32.SYNCBUSY.bit.SWRST); SYNC(tc->COUNT32.SYNCBUSY.bit.SWRST);
// Wave mode, reset counter on overflow on 0 (I use count down to prevent double buffer use) // Wave mode, reset counter on compare match
tc->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ; tc->COUNT32.WAVE.reg = TC_WAVE_WAVEGEN_MFRQ;
tc->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCALER_DIV1; tc->COUNT32.CTRLA.reg = TC_CTRLA_MODE_COUNT32 | TC_CTRLA_PRESCALER_DIV1;
tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_DIR; tc->COUNT32.CTRLBCLR.reg = TC_CTRLBCLR_DIR;
SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB); SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB);
// Set compare value // Set compare value
tc->COUNT32.COUNT.reg = tc->COUNT32.CC[0].reg = (HAL_TIMER_RATE) / frequency; tc->COUNT32.CC[0].reg = (HAL_TIMER_RATE) / frequency;
tc->COUNT32.COUNT.reg = 0;
// Enable interrupt on compare // Enable interrupt on compare
tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF; // reset pending interrupt tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF; // reset pending interrupt

6
Marlin/src/HAL/SAMD51/timers.h
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@ -97,13 +97,13 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
// Should never be called with timer RTC_TIMER_NUM // Should never be called with timer RTC_TIMER_NUM
Tc * const tc = TimerConfig[timer_num].pTc; Tc * const tc = TimerConfig[timer_num].pTc;
tc->COUNT32.CC[0].reg = HAL_TIMER_TYPE_MAX - compare; tc->COUNT32.CC[0].reg = compare;
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
// Should never be called with timer RTC_TIMER_NUM // Should never be called with timer RTC_TIMER_NUM
Tc * const tc = TimerConfig[timer_num].pTc; Tc * const tc = TimerConfig[timer_num].pTc;
return (hal_timer_t)(HAL_TIMER_TYPE_MAX - tc->COUNT32.CC[0].reg); return (hal_timer_t)tc->COUNT32.CC[0].reg;
} }
FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
@ -111,7 +111,7 @@ FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
Tc * const tc = TimerConfig[timer_num].pTc; Tc * const tc = TimerConfig[timer_num].pTc;
tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC; tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC;
SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB || tc->COUNT32.SYNCBUSY.bit.COUNT); SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB || tc->COUNT32.SYNCBUSY.bit.COUNT);
return HAL_TIMER_TYPE_MAX - tc->COUNT32.COUNT.reg; return tc->COUNT32.COUNT.reg;
} }
void HAL_timer_enable_interrupt(const uint8_t timer_num); void HAL_timer_enable_interrupt(const uint8_t timer_num);