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SAMD51 support #34

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SAMD51 support #34

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9c43df1
SAMD51 WIP (not yet working)
PaintYourDragon Jun 11, 2019
620f0d4
SAMD51 working
PaintYourDragon Jun 11, 2019
cfa468e
move to TC0 for samd51 cause its always available
Oct 4, 2019
6ede93b
typo fix
Oct 4, 2019
e21e26b
yet another typo
Oct 4, 2019
9621924
fix multiple servos
Oct 4, 2019
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98 changes: 95 additions & 3 deletions src/samd/Servo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,19 @@
#include <Arduino.h>
#include <Servo.h>

#define usToTicks(_us) ((clockCyclesPerMicrosecond() * _us) / 16) // converts microseconds to tick
#define ticksToUs(_ticks) (((unsigned) _ticks * 16) / clockCyclesPerMicrosecond()) // converts from ticks back to microseconds
#if defined(__SAMD51__)
// Different prescalers depending on FCPU (avoid overflowing 16-bit counter)
#if(F_CPU > 200000000)
#define usToTicks(_us) ((clockCyclesPerMicrosecond() * _us) / 128)
#define ticksToUs(_ticks) (((unsigned) _ticks * 128) / clockCyclesPerMicrosecond())
#else
#define usToTicks(_us) ((clockCyclesPerMicrosecond() * _us) / 64)
#define ticksToUs(_ticks) (((unsigned) _ticks * 64) / clockCyclesPerMicrosecond())
#endif
#else
#define usToTicks(_us) ((clockCyclesPerMicrosecond() * _us) / 16) // converts microseconds to tick
#define ticksToUs(_ticks) (((unsigned) _ticks * 16) / clockCyclesPerMicrosecond()) // converts from ticks back to microseconds
#endif

#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays

Expand All @@ -41,6 +52,7 @@ static volatile int8_t currentServoIndex[_Nbr_16timers]; // index for the serv
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo

// Referenced in SAMD21 code only, no harm in defining regardless
#define WAIT_TC16_REGS_SYNC(x) while(x->COUNT16.STATUS.bit.SYNCBUSY);

/************ static functions common to all instances ***********************/
Expand All @@ -61,7 +73,11 @@ void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel, uint8_t in
{
if (currentServoIndex[timer] < 0) {
tc->COUNT16.COUNT.reg = (uint16_t) 0;
#if defined(__SAMD51__)
while(tc->COUNT16.SYNCBUSY.bit.COUNT);
#else
WAIT_TC16_REGS_SYNC(tc)
#endif
} else {
if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && SERVO(timer, currentServoIndex[timer]).Pin.isActive == true) {
digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, LOW); // pulse this channel low if activated
Expand All @@ -77,26 +93,57 @@ void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel, uint8_t in
}

// Get the counter value
#if defined(__SAMD51__)
// Note from datasheet: Prior to any read access, this register must be synchronized by user by writing the according TC
// Command value to the Control B Set register (CTRLBSET.CMD=READSYNC)
while (tc->COUNT16.SYNCBUSY.bit.CTRLB);
tc->COUNT16.CTRLBSET.bit.CMD = TC_CTRLBSET_CMD_READSYNC_Val;
while (tc->COUNT16.SYNCBUSY.bit.CTRLB);
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#endif
uint16_t tcCounterValue = tc->COUNT16.COUNT.reg;
#if defined(__SAMD51__)
while(tc->COUNT16.SYNCBUSY.bit.COUNT);
#else
WAIT_TC16_REGS_SYNC(tc)
#endif

tc->COUNT16.CC[channel].reg = (uint16_t) (tcCounterValue + SERVO(timer, currentServoIndex[timer]).ticks);
#if defined(__SAMD51__)
if(channel == 0) {
while(tc->COUNT16.SYNCBUSY.bit.CC0);
} else if(channel == 1) {
while(tc->COUNT16.SYNCBUSY.bit.CC1);
}
#else
WAIT_TC16_REGS_SYNC(tc)
#endif
}
else {
// finished all channels so wait for the refresh period to expire before starting over

// Get the counter value
uint16_t tcCounterValue = tc->COUNT16.COUNT.reg;
#if defined(__SAMD51__)
while(tc->COUNT16.SYNCBUSY.bit.COUNT);
#else
WAIT_TC16_REGS_SYNC(tc)
#endif

if (tcCounterValue + 4UL < usToTicks(REFRESH_INTERVAL)) { // allow a few ticks to ensure the next OCR1A not missed
tc->COUNT16.CC[channel].reg = (uint16_t) usToTicks(REFRESH_INTERVAL);
}
else {
tc->COUNT16.CC[channel].reg = (uint16_t) (tcCounterValue + 4UL); // at least REFRESH_INTERVAL has elapsed
}
#if defined(__SAMD51__)
if(channel == 0) {
while(tc->COUNT16.SYNCBUSY.bit.CC0);
} else if(channel == 1) {
while(tc->COUNT16.SYNCBUSY.bit.CC1);
}
#else
WAIT_TC16_REGS_SYNC(tc)
#endif

currentServoIndex[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
}
Expand All @@ -109,19 +156,34 @@ static inline void resetTC (Tc* TCx)
{
// Disable TCx
TCx->COUNT16.CTRLA.reg &= ~TC_CTRLA_ENABLE;
#if defined(__SAMD51__)
while(TCx->COUNT16.SYNCBUSY.bit.ENABLE);
#else
WAIT_TC16_REGS_SYNC(TCx)
#endif

// Reset TCx
TCx->COUNT16.CTRLA.reg = TC_CTRLA_SWRST;
#if defined(__SAMD51__)
while(TCx->COUNT16.SYNCBUSY.bit.SWRST);
#else
WAIT_TC16_REGS_SYNC(TCx)
#endif
while (TCx->COUNT16.CTRLA.bit.SWRST);
}

static void _initISR(Tc *tc, uint8_t channel, uint32_t id, IRQn_Type irqn, uint8_t gcmForTimer, uint8_t intEnableBit)
{
// Enable GCLK for timer 1 (timer counter input clock)
// Select GCLK0 as timer/counter input clock source
#if defined(__SAMD51__)
int idx = gcmForTimer; // see datasheet Table 14-9
GCLK->PCHCTRL[idx].bit.GEN = 0; // Select GCLK0 as periph clock source
GCLK->PCHCTRL[idx].bit.CHEN = 1; // Enable peripheral
while(!GCLK->PCHCTRL[idx].bit.CHEN);
#else
GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(gcmForTimer));
while (GCLK->STATUS.bit.SYNCBUSY);
#endif

// Reset the timer
// TODO this is not the right thing to do if more than one channel per timer is used by the Servo library
Expand All @@ -130,19 +192,45 @@ static void _initISR(Tc *tc, uint8_t channel, uint32_t id, IRQn_Type irqn, uint8
// Set timer counter mode to 16 bits
tc->COUNT16.CTRLA.reg |= TC_CTRLA_MODE_COUNT16;

#if defined(__SAMD51__)
// Set timer counter mode as normal PWM
tc->COUNT16.WAVE.bit.WAVEGEN = TCC_WAVE_WAVEGEN_NPWM_Val;

// Set the prescaler factor to 64 or 128 depending on FCPU
// (avoid overflowing 16-bit clock counter)
#if(F_CPU > 200000000)
tc->COUNT16.CTRLA.bit.PRESCALER = TCC_CTRLA_PRESCALER_DIV128_Val;
#else
// At 120-200 MHz GCLK this is 1875-3125 ticks per millisecond
tc->COUNT16.CTRLA.bit.PRESCALER = TCC_CTRLA_PRESCALER_DIV64_Val;
#endif
#else
// Set timer counter mode as normal PWM
tc->COUNT16.CTRLA.reg |= TC_CTRLA_WAVEGEN_NPWM;

// Set the prescaler factor to GCLK_TC/16. At nominal 48MHz GCLK_TC this is 3000 ticks per millisecond
tc->COUNT16.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV16;
#endif

// Count up
tc->COUNT16.CTRLBCLR.bit.DIR = 1;
#if defined(__SAMD51__)
while(tc->COUNT16.SYNCBUSY.bit.CTRLB);
#else
WAIT_TC16_REGS_SYNC(tc)
#endif

// First interrupt request after 1 ms
tc->COUNT16.CC[channel].reg = (uint16_t) usToTicks(1000UL);
#if defined(__SAMD51__)
if(channel == 0) {
while(tc->COUNT16.SYNCBUSY.bit.CC0);
} else if(channel == 1) {
while(tc->COUNT16.SYNCBUSY.bit.CC1);
}
#else
WAIT_TC16_REGS_SYNC(tc)
#endif

// Configure interrupt request
// TODO this should be changed if more than one channel per timer is used by the Servo library
Expand All @@ -156,7 +244,11 @@ static void _initISR(Tc *tc, uint8_t channel, uint32_t id, IRQn_Type irqn, uint8

// Enable the timer and start it
tc->COUNT16.CTRLA.reg |= TC_CTRLA_ENABLE;
#if defined(__SAMD51__)
while(tc->COUNT16.SYNCBUSY.bit.ENABLE);
#else
WAIT_TC16_REGS_SYNC(tc)
#endif
}

static void initISR(timer16_Sequence_t timer)
Expand Down
65 changes: 45 additions & 20 deletions src/samd/ServoTimers.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,26 +37,51 @@
//#define _useTimer2 // <- TODO do not activate until the code in Servo.cpp has been changed in order
// to manage more than one channel per timer on the SAMD architecture

#if defined (_useTimer1)
#define TC_FOR_TIMER1 TC4
#define CHANNEL_FOR_TIMER1 0
#define INTENSET_BIT_FOR_TIMER_1 TC_INTENSET_MC0
#define INTENCLR_BIT_FOR_TIMER_1 TC_INTENCLR_MC0
#define INTFLAG_BIT_FOR_TIMER_1 TC_INTFLAG_MC0
#define ID_TC_FOR_TIMER1 ID_TC4
#define IRQn_FOR_TIMER1 TC4_IRQn
#define HANDLER_FOR_TIMER1 TC4_Handler
#define GCM_FOR_TIMER_1 GCM_TC4_TC5
#endif
#if defined (_useTimer2)
#define TC_FOR_TIMER2 TC4
#define CHANNEL_FOR_TIMER2 1
#define INTENSET_BIT_FOR_TIMER_2 TC_INTENSET_MC1
#define INTENCLR_BIT_FOR_TIMER_2 TC_INTENCLR_MC1
#define ID_TC_FOR_TIMER2 ID_TC4
#define IRQn_FOR_TIMER2 TC4_IRQn
#define HANDLER_FOR_TIMER2 TC4_Handler
#define GCM_FOR_TIMER_2 GCM_TC4_TC5
#if defined(__SAMD51__)
#if defined (_useTimer1)
#define TC_FOR_TIMER1 TC0
#define CHANNEL_FOR_TIMER1 0
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#define INTENSET_BIT_FOR_TIMER_1 TC_INTENSET_MC0
#define INTENCLR_BIT_FOR_TIMER_1 TC_INTENCLR_MC0
#define INTFLAG_BIT_FOR_TIMER_1 TC_INTFLAG_MC0
#define ID_TC_FOR_TIMER1 ID_TC0
#define IRQn_FOR_TIMER1 TC0_IRQn
#define HANDLER_FOR_TIMER1 TC0_Handler
#define GCM_FOR_TIMER_1 9 // GCLK_TC0
#endif
#if defined (_useTimer2)
#define TC_FOR_TIMER2 TC0
#define CHANNEL_FOR_TIMER2 1
#define INTENSET_BIT_FOR_TIMER_2 TC_INTENSET_MC1
#define INTENCLR_BIT_FOR_TIMER_2 TC_INTENCLR_MC1
#define INTFLAG_BIT_FOR_TIMER_2 TC_INTFLAG_MC1
#define ID_TC_FOR_TIMER2 ID_TC0
#define IRQn_FOR_TIMER2 TC0_IRQn
#define HANDLER_FOR_TIMER2 TC0_Handler
#define GCM_FOR_TIMER_2 9 // GCLK_TC0
#endif
#else
#if defined (_useTimer1)
#define TC_FOR_TIMER1 TC4
#define CHANNEL_FOR_TIMER1 0
#define INTENSET_BIT_FOR_TIMER_1 TC_INTENSET_MC0
#define INTENCLR_BIT_FOR_TIMER_1 TC_INTENCLR_MC0
#define INTFLAG_BIT_FOR_TIMER_1 TC_INTFLAG_MC0
#define ID_TC_FOR_TIMER1 ID_TC4
#define IRQn_FOR_TIMER1 TC4_IRQn
#define HANDLER_FOR_TIMER1 TC4_Handler
#define GCM_FOR_TIMER_1 GCM_TC4_TC5
#endif
#if defined (_useTimer2)
#define TC_FOR_TIMER2 TC4
#define CHANNEL_FOR_TIMER2 1
#define INTENSET_BIT_FOR_TIMER_2 TC_INTENSET_MC1
#define INTENCLR_BIT_FOR_TIMER_2 TC_INTENCLR_MC1
#define ID_TC_FOR_TIMER2 ID_TC4
#define IRQn_FOR_TIMER2 TC4_IRQn
#define HANDLER_FOR_TIMER2 TC4_Handler
#define GCM_FOR_TIMER_2 GCM_TC4_TC5
#endif
#endif

typedef enum {
Expand Down