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SAMD51 Servo class (#14781)

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This commit is contained in:
Giuliano Zaro
2019-08-02 14:37:41 +02:00
committed by Scott Lahteine
parent 8efa3455c2
commit 21993b75f4
15 changed files with 318 additions and 117 deletions
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58
Marlin/src/HAL/HAL_SAMD51/HAL.cpp
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@@ -193,8 +193,8 @@ uint16_t HAL_adc_result;
uint16_t HAL_adc_results[COUNT(adc_pins)];
#if ADC0_IS_REQUIRED
Adafruit_ZeroDMA adc0ProgramDMA,
adc0ReadDMA;
Adafruit_ZeroDMA adc0DMAProgram,
adc0DMARead;
const HAL_DMA_DAC_Registers adc0_dma_regs_list[] = {
#if GET_TEMP_0_ADC() == 0
@@ -233,8 +233,8 @@ uint16_t HAL_adc_result;
#endif // ADC0_IS_REQUIRED
#if ADC1_IS_REQUIRED
Adafruit_ZeroDMA adc1ProgramDMA,
adc1ReadDMA;
Adafruit_ZeroDMA adc1DMAProgram,
adc1DMARead;
const HAL_DMA_DAC_Registers adc1_dma_regs_list[] = {
#if GET_TEMP_0_ADC() == 1
@@ -284,11 +284,11 @@ uint16_t HAL_adc_result;
DmacDescriptor *descriptor;
#if ADC0_IS_REQUIRED
adc0ProgramDMA.setTrigger(ADC0_DMAC_ID_SEQ);
adc0ProgramDMA.setAction(DMA_TRIGGER_ACTON_BEAT);
adc0ProgramDMA.loop(true);
if (adc0ProgramDMA.allocate() == DMA_STATUS_OK) {
descriptor = adc0ProgramDMA.addDescriptor(
adc0DMAProgram.setTrigger(ADC0_DMAC_ID_SEQ);
adc0DMAProgram.setAction(DMA_TRIGGER_ACTON_BEAT);
adc0DMAProgram.loop(true);
if (adc0DMAProgram.allocate() == DMA_STATUS_OK) {
descriptor = adc0DMAProgram.addDescriptor(
(void *)adc0_dma_regs_list, // SRC
(void *)&ADC0->DSEQDATA.reg, // DEST
sizeof(adc0_dma_regs_list) / 4, // CNT
@@ -300,14 +300,14 @@ uint16_t HAL_adc_result;
);
if (descriptor != nullptr)
descriptor->BTCTRL.bit.EVOSEL = DMA_EVENT_OUTPUT_BEAT;
adc0ProgramDMA.startJob();
adc0DMAProgram.startJob();
}
adc0ReadDMA.setTrigger(ADC0_DMAC_ID_RESRDY);
adc0ReadDMA.setAction(DMA_TRIGGER_ACTON_BEAT);
adc0ReadDMA.loop(true);
if (adc0ReadDMA.allocate() == DMA_STATUS_OK) {
adc0ReadDMA.addDescriptor(
adc0DMARead.setTrigger(ADC0_DMAC_ID_RESRDY);
adc0DMARead.setAction(DMA_TRIGGER_ACTON_BEAT);
adc0DMARead.loop(true);
if (adc0DMARead.allocate() == DMA_STATUS_OK) {
adc0DMARead.addDescriptor(
(void *)&ADC0->RESULT.reg, // SRC
&HAL_adc_results, // DEST
ADC0_AINCOUNT, // CNT
@@ -317,15 +317,15 @@ uint16_t HAL_adc_result;
DMA_ADDRESS_INCREMENT_STEP_SIZE_1, // STEPSIZE
DMA_STEPSEL_DST // STEPSEL
);
adc0ReadDMA.startJob();
adc0DMARead.startJob();
}
#endif
#if ADC1_IS_REQUIRED
adc1ProgramDMA.setTrigger(ADC1_DMAC_ID_SEQ);
adc1ProgramDMA.setAction(DMA_TRIGGER_ACTON_BEAT);
adc1ProgramDMA.loop(true);
if (adc1ProgramDMA.allocate() == DMA_STATUS_OK) {
descriptor = adc1ProgramDMA.addDescriptor(
adc1DMAProgram.setTrigger(ADC1_DMAC_ID_SEQ);
adc1DMAProgram.setAction(DMA_TRIGGER_ACTON_BEAT);
adc1DMAProgram.loop(true);
if (adc1DMAProgram.allocate() == DMA_STATUS_OK) {
descriptor = adc1DMAProgram.addDescriptor(
(void *)adc1_dma_regs_list, // SRC
(void *)&ADC1->DSEQDATA.reg, // DEST
sizeof(adc1_dma_regs_list) / 4, // CNT
@@ -337,14 +337,14 @@ uint16_t HAL_adc_result;
);
if (descriptor != nullptr)
descriptor->BTCTRL.bit.EVOSEL = DMA_EVENT_OUTPUT_BEAT;
adc1ProgramDMA.startJob();
adc1DMAProgram.startJob();
}
adc1ReadDMA.setTrigger(ADC1_DMAC_ID_RESRDY);
adc1ReadDMA.setAction(DMA_TRIGGER_ACTON_BEAT);
adc1ReadDMA.loop(true);
if (adc1ReadDMA.allocate() == DMA_STATUS_OK) {
adc1ReadDMA.addDescriptor(
adc1DMARead.setTrigger(ADC1_DMAC_ID_RESRDY);
adc1DMARead.setAction(DMA_TRIGGER_ACTON_BEAT);
adc1DMARead.loop(true);
if (adc1DMARead.allocate() == DMA_STATUS_OK) {
adc1DMARead.addDescriptor(
(void *)&ADC1->RESULT.reg, // SRC
&HAL_adc_results[ADC0_AINCOUNT], // DEST
ADC1_AINCOUNT, // CNT
@@ -354,11 +354,11 @@ uint16_t HAL_adc_result;
DMA_ADDRESS_INCREMENT_STEP_SIZE_1, // STEPSIZE
DMA_STEPSEL_DST // STEPSEL
);
adc1ReadDMA.startJob();
adc1DMARead.startJob();
}
#endif
DMAC->PRICTRL0.bit.RRLVLEN0 = true; // Activate round robin for DMA channels used by ADCs
DMAC->PRICTRL0.bit.RRLVLEN0 = true; // Activate round robin for DMA channels required by ADCs
}
#endif // DMA_IS_REQUIRED