|
|
@ -52,7 +52,7 @@ static volatile int8_t Channel[_Nbr_16timers]; // counter for the s |
|
|
|
// ------------------------
|
|
|
|
/// Interrupt handler for the TC0 channel 1.
|
|
|
|
// ------------------------
|
|
|
|
void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel); |
|
|
|
void Servo_Handler(const timer16_Sequence_t, Tc*, const uint8_t); |
|
|
|
|
|
|
|
#ifdef _useTimer1 |
|
|
|
void HANDLER_FOR_TIMER1() { Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); } |
|
|
@ -70,7 +70,7 @@ void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel); |
|
|
|
void HANDLER_FOR_TIMER5() { Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); } |
|
|
|
#endif |
|
|
|
|
|
|
|
void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) { |
|
|
|
void Servo_Handler(const timer16_Sequence_t timer, Tc *tc, const uint8_t channel) { |
|
|
|
// clear interrupt
|
|
|
|
tc->TC_CHANNEL[channel].TC_SR; |
|
|
|
if (Channel[timer] < 0) |
|
|
@ -113,26 +113,21 @@ static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) { |
|
|
|
TC_Start(tc, channel); |
|
|
|
} |
|
|
|
|
|
|
|
void initISR(timer16_Sequence_t timer) { |
|
|
|
void initISR(const timer16_Sequence_t timer) { |
|
|
|
#ifdef _useTimer1 |
|
|
|
if (timer == _timer1) |
|
|
|
_initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1); |
|
|
|
if (timer == _timer1) _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1); |
|
|
|
#endif |
|
|
|
#ifdef _useTimer2 |
|
|
|
if (timer == _timer2) |
|
|
|
_initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2); |
|
|
|
if (timer == _timer2) _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2); |
|
|
|
#endif |
|
|
|
#ifdef _useTimer3 |
|
|
|
if (timer == _timer3) |
|
|
|
_initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3); |
|
|
|
if (timer == _timer3) _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3); |
|
|
|
#endif |
|
|
|
#ifdef _useTimer4 |
|
|
|
if (timer == _timer4) |
|
|
|
_initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4); |
|
|
|
if (timer == _timer4) _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4); |
|
|
|
#endif |
|
|
|
#ifdef _useTimer5 |
|
|
|
if (timer == _timer5) |
|
|
|
_initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5); |
|
|
|
if (timer == _timer5) _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5); |
|
|
|
#endif |
|
|
|
} |
|
|
|
|
|
|
|