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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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7 changes: 7 additions & 0 deletions src/samd/Servo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,13 @@ 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);
#endif
uint16_t tcCounterValue = tc->COUNT16.COUNT.reg;
#if defined(__SAMD51__)
while(tc->COUNT16.SYNCBUSY.bit.COUNT);
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