fix samd51 pwm glitch and enable same51 support

Author: runger1101001

src/drivers/hardware_specific/generic_mcu.cpp

@@ -12,9 +12,11 @@
 
 #elif defined(_STM32_DEF_) // or stm32
 
-#elif defined(_SAMD21_)  // samd21 for the moment, samd51 in progress...
+#elif defined(_SAMD21_)  // samd21
 
-#elif defined(_SAMD51_)  // samd21 for the moment, samd51 in progress...
+#elif defined(_SAMD51_)  // samd51
+
+#elif defined(__SAME51J19A__) || defined(__ATSAME51J19A__)  // samd51
 
 #else
 

src/drivers/hardware_specific/samd51_mcu.cpp

@@ -3,7 +3,7 @@
 #include "./samd_mcu.h"
 
 
-#ifdef _SAMD51_
+#if defined(_SAMD51_)||defined(_SAME51_)
 
 
 
@@ -129,12 +129,13 @@ void writeSAMDDutyCycle(int chaninfo, float dc) {
 	uint8_t chan = GetTCChannelNumber(chaninfo);
 	if (tccn<TCC_INST_NUM) {
 		Tcc* tcc = (Tcc*)GetTC(chaninfo);
-		// set via CCBUF]
+		// set via CCBUF
+		while ( (tcc->SYNCBUSY.vec.CC & (0x1<<chan)) > 0 );
 		tcc->CCBUF[chan].reg = (uint32_t)((SIMPLEFOC_SAMD_PWM_RESOLUTION-1) * dc); // TODO pwm frequency!
-		tcc->STATUS.vec.CCBUFV |= (0x1<<chan);
-		while ( tcc->SYNCBUSY.bit.STATUS > 0 );
-		tcc->CTRLBSET.reg |= TCC_CTRLBSET_CMD(TCC_CTRLBSET_CMD_UPDATE_Val);
-		while ( tcc->SYNCBUSY.bit.CTRLB > 0 );
+//		tcc->STATUS.vec.CCBUFV |= (0x1<<chan);
+//		while ( tcc->SYNCBUSY.bit.STATUS > 0 );
+//		tcc->CTRLBSET.reg |= TCC_CTRLBSET_CMD(TCC_CTRLBSET_CMD_UPDATE_Val);
+//		while ( tcc->SYNCBUSY.bit.CTRLB > 0 );
 	}
 	else {
 		// Tc* tc = (Tc*)GetTC(chaninfo);

src/drivers/hardware_specific/samd_mcu.cpp

@@ -3,7 +3,7 @@
 
 #include "./samd_mcu.h"
 
-#if defined(_SAMD21_)||defined(_SAMD51_)
+#if defined(_SAMD21_)||defined(_SAMD51_)||defined(_SAME51_)
 
 
 
@@ -90,7 +90,7 @@ tccConfiguration getTCCChannelNr(int pin, EPioType peripheral) {
 		result.tcc.chaninfo = association.tccF;
 		result.wo = association.woF;
 	}
-#ifdef _SAMD51_
+#if defined(_SAMD51_)||defined(_SAME51_)
 	else if (peripheral==PIO_TCC_PDEC) {
 		result.tcc.chaninfo = association.tccG;
 		result.wo = association.woG;
@@ -758,7 +758,7 @@ void printAllPinInfos() {
 			case PORTA: Serial.print("  PA"); break;
 			case PORTB: Serial.print("  PB"); break;
 			case PORTC: Serial.print("  PC"); break;
-#ifdef _SAMD51_
+#if defined(_SAMD51_)||defined(_SAME51_)
 			case PORTD: Serial.print("  PD"); break;
 #endif
 		}
@@ -803,7 +803,7 @@ void printAllPinInfos() {
 		else
 			Serial.print("  None    ");
 
-#ifdef _SAMD51_
+#if defined(_SAMD51_)||defined(_SAME51_)
 		Serial.print(" G=");
 		if (association.tccG>=0) {
 			int tcn = GetTCNumber(association.tccG);
@@ -842,7 +842,7 @@ void printTCCConfiguration(tccConfiguration& info) {
 		Serial.print(" E "); break;
 	case PIO_TIMER_ALT:
 		Serial.print(" F "); break;
-#ifdef _SAMD51_
+#if defined(_SAMD51_)||defined(_SAME51_)
 	case PIO_TCC_PDEC:
 		Serial.print(" G "); break;
 #endif

src/drivers/hardware_specific/samd_mcu.h

@@ -9,7 +9,14 @@
 #include "../hardware_api.h"
 
 
-#if defined(_SAMD21_)||defined(_SAMD51_)
+#if defined(__SAME51J19A__) || defined(__ATSAME51J19A__)
+#ifndef _SAME51_
+#define _SAME51_
+#endif
+#endif
+
+
+#if defined(_SAMD21_)||defined(_SAMD51_)||defined(_SAME51_)
 
 
 #include "Arduino.h"
@@ -53,7 +60,7 @@ struct wo_association {
 	uint8_t woE;
 	ETCChannel tccF;
 	uint8_t woF;
-#if defined(_SAMD51_)
+#if defined(_SAMD51_)||defined(_SAME51_)
 	ETCChannel tccG;
 	uint8_t woG;
 #endif
@@ -63,7 +70,7 @@ struct wo_association {
 
 #if defined(_SAMD21_)
 #define NUM_PIO_TIMER_PERIPHERALS 2
-#elif defined(_SAMD51_)
+#elif defined(_SAMD51_)||defined(_SAME51_)
 #define NUM_PIO_TIMER_PERIPHERALS 3
 #endif