Fix ATSAMD21 Robus timeout

Luos-io · May 23, 2024 · 8ec6581 · 8ec6581
1 parent aece26b
commit 8ec6581
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Showing 3 changed files with 48 additions and 15 deletions.
diff --git a/network/robus_network/HAL/ATSAMD21/robus_hal.c b/network/robus_network/HAL/ATSAMD21/robus_hal.c
@@ -394,13 +394,24 @@ static void RobusHAL_TimeoutInit(void)
  ******************************************************************************/
 _CRITICAL void RobusHAL_ResetTimeout(uint16_t nbrbit)
 {
-    NVIC_ClearPendingIRQ(ROBUS_TIMER_IRQ);                // clear IT pending
-    ROBUS_TIMER->COUNT16.TC_INTFLAG = TC_INTFLAG_OVF_Msk; // clear flag
-    ROBUS_TIMER->COUNT16.TC_CTRLA &= ~TC_CTRLA_ENABLE_Msk;
+    uint32_t diff;
+    // We use the end of the timer as trigger.
+    diff = (0xFFFF - ROBUS_TIMER->COUNT16.TC_COUNT) / timoutclockcnt; // Compute remaining time before timeout
+
+    if (diff < DEFAULT_TIMEOUT)
+    {
+        ROBUS_TIMER->COUNT16.TC_CTRLA &= ~TC_CTRLA_ENABLE_Msk;                         // Disable timer
+        NVIC_ClearPendingIRQ(ROBUS_TIMER_IRQ);                                         // Clear IT pending
+        ROBUS_TIMER->COUNT16.TC_INTFLAG = TC_INTFLAG_OVF_Msk;                          // clear flag
+        ROBUS_TIMER->COUNT16.TC_COUNT   = 0xFFFF - (timoutclockcnt * DEFAULT_TIMEOUT); // Load the timer with it's default value
+    }
+    if (nbrbit != 0 && nbrbit != DEFAULT_TIMEOUT)
+    {
+        ROBUS_TIMER->COUNT16.TC_COUNT = 0xFFFF - (timoutclockcnt * nbrbit); // Load the timer
+    }
     if (nbrbit != 0)
     {
-        ROBUS_TIMER->COUNT16.TC_COUNT = 0xFFFF - (timoutclockcnt * nbrbit);
-        ROBUS_TIMER->COUNT16.TC_CTRLA |= TC_CTRLA_ENABLE_Msk;
+        ROBUS_TIMER->COUNT16.TC_CTRLA |= TC_CTRLA_ENABLE_Msk; // Enable timer
     }
 }
 /******************************************************************************

diff --git a/network/robus_network/HAL/ATSAMD21_ARDUINO/robus_hal.c b/network/robus_network/HAL/ATSAMD21_ARDUINO/robus_hal.c
@@ -397,13 +397,24 @@ static void RobusHAL_TimeoutInit(void)
  ******************************************************************************/
 _CRITICAL void RobusHAL_ResetTimeout(uint16_t nbrbit)
 {
-    NVIC_ClearPendingIRQ(ROBUS_TIMER_IRQ); // clear IT pending
-    ROBUS_TIMER->COUNT16.INTFLAG.bit.OVF = 1;
-    ROBUS_TIMER->COUNT16.CTRLA.reg &= ~TC_CTRLA_ENABLE;
+    uint32_t diff;
+    // We use the end of the timer as trigger.
+    diff = (0xFFFF - ROBUS_TIMER->COUNT16.COUNT.reg) / timoutclockcnt; // Compute remaining time before timeout
+
+    if (diff < DEFAULT_TIMEOUT)
+    {
+        ROBUS_TIMER->COUNT16.CTRLA.reg &= ~TC_CTRLA_ENABLE;                                 // Disable timer
+        NVIC_ClearPendingIRQ(ROBUS_TIMER_IRQ);                                              // Clear IT pending
+        ROBUS_TIMER->COUNT16.INTFLAG.bit.OVF = 1;                                           // Clear IT flag
+        ROBUS_TIMER->COUNT16.COUNT.reg       = 0xFFFF - (timoutclockcnt * DEFAULT_TIMEOUT); // Load the timer with it's default value
+    }
+    if (nbrbit != 0 && nbrbit != DEFAULT_TIMEOUT)
+    {
+        ROBUS_TIMER->COUNT16.COUNT.reg = 0xFFFF - (timoutclockcnt * nbrbit); // Load the timer
+    }
     if (nbrbit != 0)
     {
-        ROBUS_TIMER->COUNT16.COUNT.reg = 0xFFFF - (timoutclockcnt * nbrbit);
-        ROBUS_TIMER->COUNT16.CTRLA.reg |= TC_CTRLA_ENABLE;
+        ROBUS_TIMER->COUNT16.CTRLA.reg |= TC_CTRLA_ENABLE; // Enable timer
     }
 }
 /******************************************************************************

diff --git a/network/robus_network/HAL/ATSAMD21_MBED/robus_hal.c b/network/robus_network/HAL/ATSAMD21_MBED/robus_hal.c
@@ -396,13 +396,24 @@ static void RobusHAL_TimeoutInit(void)
  ******************************************************************************/
 _CRITICAL void RobusHAL_ResetTimeout(uint16_t nbrbit)
 {
-    NVIC_ClearPendingIRQ(ROBUS_TIMER_IRQ); // clear IT pending
-    ROBUS_TIMER->COUNT16.INTFLAG.bit.OVF = 1;
-    ROBUS_TIMER->COUNT16.CTRLA.reg &= ~TC_CTRLA_ENABLE;
+    uint32_t diff;
+    // We use the end of the timer as trigger.
+    diff = (0xFFFF - ROBUS_TIMER->COUNT16.COUNT.reg) / timoutclockcnt; // Compute remaining time before timeout
+
+    if (diff < DEFAULT_TIMEOUT)
+    {
+        ROBUS_TIMER->COUNT16.CTRLA.reg &= ~TC_CTRLA_ENABLE;                                 // Disable timer
+        NVIC_ClearPendingIRQ(ROBUS_TIMER_IRQ);                                              // Clear IT pending
+        ROBUS_TIMER->COUNT16.INTFLAG.bit.OVF = 1;                                           // Clear IT flag
+        ROBUS_TIMER->COUNT16.COUNT.reg       = 0xFFFF - (timoutclockcnt * DEFAULT_TIMEOUT); // Load the timer with it's default value
+    }
+    if (nbrbit != 0 && nbrbit != DEFAULT_TIMEOUT)
+    {
+        ROBUS_TIMER->COUNT16.COUNT.reg = 0xFFFF - (timoutclockcnt * nbrbit); // Load the timer
+    }
     if (nbrbit != 0)
     {
-        ROBUS_TIMER->COUNT16.COUNT.reg = 0xFFFF - (timoutclockcnt * nbrbit);
-        ROBUS_TIMER->COUNT16.CTRLA.reg |= TC_CTRLA_ENABLE;
+        ROBUS_TIMER->COUNT16.CTRLA.reg |= TC_CTRLA_ENABLE; // Enable timer
     }
 }
 /******************************************************************************