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[SAMD51] fix step timer handling #17692

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Merged
thinkyhead merged 1 commit into from
Apr 25, 2020
+7 −6
Merged

[SAMD51] fix step timer handling #17692

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7 changes: 4 additions & 3 deletions Marlin/src/HAL/SAMD51/timers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,14 +121,15 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
tc->COUNT32.CTRLA.bit.SWRST = true;
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.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);

// 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
tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF; // reset pending interrupt
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6 changes: 3 additions & 3 deletions Marlin/src/HAL/SAMD51/timers.h
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Original file line number Diff line number Diff line change
Expand Up @@ -97,21 +97,21 @@ 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) {
// Should never be called with timer RTC_TIMER_NUM
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) {
// Should never be called with timer RTC_TIMER_NUM
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) {
// Should never be called with timer RTC_TIMER_NUM
Tc * const tc = TimerConfig[timer_num].pTc;
tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC;
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);
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