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Fixed SAMD21 PWM configs #958

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Merged
Paciente8159 merged 4 commits into from
Apr 16, 2026
Merged

Fixed SAMD21 PWM configs #958

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084a34f
Fixed SAMD21 PWM configs
Paciente8159 Apr 14, 2026
2d7f560
implemented get pwm
Paciente8159 Apr 14, 2026
5c822b1
pwm configuration macro improvements
Paciente8159 Apr 15, 2026
33f6b13
force TCC WEXCTRL to 0
Paciente8159 Apr 15, 2026
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61 changes: 61 additions & 0 deletions boards/zeroUSB_AU.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,61 @@
{
"build": {
"arduino": {
"ldscript": "flash_with_bootloader.ld"
},
"core": "arduino",
"cpu": "cortex-m0plus",
"extra_flags": "-DARDUINO_SAMD_ZERO -D__SAMD21G18AU__",
"f_cpu": "48000000L",
"hwids": [
[
"0x2341",
"0x804D"
],
[
"0x2341",
"0x004D"
],
[
"0x2341",
"0x824D"
]
],
"mcu": "samd21g18au",
"usb_product": "Arduino Zero",
"variant": "arduino_zero"
},
"debug": {
"jlink_device": "ATSAMD21G18",
"onboard_tools": [
"cmsis-dap"
],
"openocd_chipname": "at91samd21g18",
"openocd_target": "at91samdXX",
"svd_path": "ATSAMD21G18A.svd"
},
"frameworks": [
"arduino"
],
"name": "Arduino Zero (USB Native Port)",
"upload": {
"disable_flushing": true,
"maximum_ram_size": 32768,
"maximum_size": 262144,
"native_usb": true,
"offset_address": "0x2000",
"protocol": "sam-ba",
"protocols": [
"sam-ba",
"blackmagic",
"jlink",
"atmel-ice",
"cmsis-dap"
],
"require_upload_port": true,
"use_1200bps_touch": true,
"wait_for_upload_port": true
},
"url": "https://www.arduino.cc/en/Main/ArduinoBoardZero",
"vendor": "Arduino"
}
Binary file modified docs/mcumap_gen.xlsx
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7 changes: 5 additions & 2 deletions uCNC/src/hal/boards/samd21/samd21.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -4,13 +4,12 @@

[common_samd21]
platform = atmelsam
board = zeroUSB
build_flags = ${env.build_flags} -std=gnu99 -Wall -fdata-sections -ffunction-sections -fno-exceptions -Wl,--gc-sections -nostdlib -fno-exceptions
lib_deps =
${env.lib_deps}
https://github.com/Paciente8159/uCNC-tinyusb.git#v0.15.4
platform_packages = platformio/tool-openocd
build_type = debug
; build_type = debug
debug_build_flags = -Og -g3 -ggdb3 -gdwarf-2
debug_tool = custom
debug_server =
Expand All @@ -30,12 +29,16 @@ debug_init_cmds =

[env:SAMD21-Wemos-M0]
extends = common_samd21
board = zeroUSB_AU
build_flags = ${common_samd21.build_flags} -D BOARDMAP=\"src/hal/boards/samd21/boardmap_mzero.h\"
board_build.mcu = samd21g18au
; upload_protocol = cmsis-dap
board_build.offset = 0x2000
board_upload.offset_address = 0x00002000

[env:SAMD21-Arduino-Zero]
extends = common_samd21
board = zeroUSB
build_flags = ${common_samd21.build_flags} -D BOARDMAP=\"src/hal/boards/samd21/boardmap_zero.h\"
board_build.offset = 0x4000
board_upload.offset_address = 0x00004000
Expand Down
16 changes: 8 additions & 8 deletions uCNC/src/hal/mcus/samd21/mcu_samd21.c
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Original file line number Diff line number Diff line change
Expand Up @@ -188,11 +188,11 @@ void MCU_ITP_ISR(void)
#if (ITP_TIMER < 3)
if (ITP_REG->INTFLAG.bit.MC0)
{
ITP_REG->INTFLAG.bit.MC0 = 1;
ITP_REG->INTFLAG.reg = TCC_INTFLAG_MC0;
#else
if (ITP_REG->COUNT16.INTFLAG.bit.MC0)
{
ITP_REG->COUNT16.INTFLAG.bit.MC0 = 1;
ITP_REG->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0;
#endif
if (!resetstep)
{
Expand All @@ -216,7 +216,7 @@ void mcu_com_isr()

if (COM_UART->USART.INTFLAG.bit.RXC && COM_UART->USART.INTENSET.bit.RXC)
{
COM_UART->USART.INTFLAG.bit.RXC = 1;
COM_UART->USART.INTFLAG.reg = SERCOM_USART_INTFLAG_RXC;
uint8_t c = (0xff & COM_INREG);
#if !defined(DETACH_UART_FROM_MAIN_PROTOCOL)
if (mcu_com_rx_cb(c))
Expand Down Expand Up @@ -256,7 +256,7 @@ void mcu_com2_isr()
{
if (COM2_UART->USART.INTFLAG.bit.RXC && COM2_UART->USART.INTENSET.bit.RXC)
{
COM2_UART->USART.INTFLAG.bit.RXC = 1;
COM2_UART->USART.INTFLAG.reg = SERCOM_USART_INTFLAG_RXC;
uint8_t c = (0xff & COM2_INREG);
#if !defined(DETACH_UART2_FROM_MAIN_PROTOCOL)
if (mcu_com_rx_cb(c))
Expand Down Expand Up @@ -510,11 +510,11 @@ void MCU_SERVO_ISR(void)
#if (SERVO_TIMER < 3)
if (SERVO_REG->INTFLAG.bit.MC0)
{
SERVO_REG->INTFLAG.bit.MC0 = 1;
SERVO_REG->INTFLAG.reg = TCC_INTFLAG_MC0;
#else
if (SERVO_REG->COUNT16.INTFLAG.bit.MC0)
{
SERVO_REG->COUNT16.INTFLAG.bit.MC0 = 1;
SERVO_REG->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0;
#endif
mcu_clear_servos();
NVIC_DisableIRQ(SERVO_IRQ);
Expand Down Expand Up @@ -2106,15 +2106,15 @@ void MCU_ONESHOT_ISR(void)
;
if (ONESHOT_REG->INTFLAG.bit.MC0)
{
ONESHOT_REG->INTFLAG.bit.MC0 = 1;
ONESHOT_REG->INTFLAG.reg = TCC_INTFLAG_MC0;
#else
ONESHOT_REG->COUNT16.INTENSET.bit.MC0 = 0;
ONESHOT_REG->COUNT16.CTRLA.bit.ENABLE = 0;
while (ONESHOT_REG->COUNT16.STATUS.bit.SYNCBUSY)
;
if (ONESHOT_REG->COUNT16.INTFLAG.bit.MC0)
{
ONESHOT_REG->COUNT16.INTFLAG.bit.MC0 = 1;
ONESHOT_REG->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0;
#endif
}

Expand Down
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