From c6233b1ea8701026d7605be79c0609fdf96c2aca Mon Sep 17 00:00:00 2001 From: Giuliano Zaro <3684609+GMagician@users.noreply.github.com> Date: Mon, 20 Jul 2020 04:41:23 +0200 Subject: [PATCH] SAMD51: More reliable Servo/BLTouch PWM (#18710) --- Marlin/src/HAL/SAMD51/timers.cpp | 4 +++- Marlin/src/HAL/SAMD51/timers.h | 5 +++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/Marlin/src/HAL/SAMD51/timers.cpp b/Marlin/src/HAL/SAMD51/timers.cpp index a404e35dac87..3b73f196f7a7 100644 --- a/Marlin/src/HAL/SAMD51/timers.cpp +++ b/Marlin/src/HAL/SAMD51/timers.cpp @@ -23,7 +23,9 @@ // -------------------------------------------------------------------------- // Includes // -------------------------------------------------------------------------- + #include "../../inc/MarlinConfig.h" +#include "ServoTimers.h" // for SERVO_TC // -------------------------------------------------------------------------- // Local defines @@ -39,7 +41,7 @@ const tTimerConfig TimerConfig[NUM_HARDWARE_TIMERS+1] = { { {.pTc=TC0}, TC0_IRQn, TC_PRIORITY(0) }, // 0 - stepper (assigned priority 2) { {.pTc=TC1}, TC1_IRQn, TC_PRIORITY(1) }, // 1 - stepper (needed by 32 bit timers) { {.pTc=TC2}, TC2_IRQn, 5 }, // 2 - tone (reserved by framework and fixed assigned priority 5) - { {.pTc=TC3}, TC3_IRQn, TC_PRIORITY(3) }, // 3 - servo (no interrupts used) + { {.pTc=TC3}, TC3_IRQn, TC_PRIORITY(3) }, // 3 - servo (assigned priority 1) { {.pTc=TC4}, TC4_IRQn, TC_PRIORITY(4) }, // 4 - software serial (no interrupts used) { {.pTc=TC5}, TC5_IRQn, TC_PRIORITY(5) }, { {.pTc=TC6}, TC6_IRQn, TC_PRIORITY(6) }, diff --git a/Marlin/src/HAL/SAMD51/timers.h b/Marlin/src/HAL/SAMD51/timers.h index 392b8946f5fa..40ad910cb896 100644 --- a/Marlin/src/HAL/SAMD51/timers.h +++ b/Marlin/src/HAL/SAMD51/timers.h @@ -59,8 +59,9 @@ typedef uint32_t hal_timer_t; #define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM) #define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) -#define TC_PRIORITY(t) (t == STEP_TIMER_NUM || t == PULSE_TIMER_NUM) ? 2 \ - : (t == TEMP_TIMER_NUM) ? 6 \ +#define TC_PRIORITY(t) t == SERVO_TC ? 1 \ + : (t == STEP_TIMER_NUM || t == PULSE_TIMER_NUM) ? 2 \ + : (t == TEMP_TIMER_NUM) ? 6 \ : 7 #define _TC_HANDLER(t) void TC##t##_Handler()