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Detab Arduino sketch

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Blokkendoos
2018-05-15 01:16:39 +02:00
parent 3995dddd08
commit dc1f236e02
7 changed files with 346 additions and 334 deletions
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168
SphereBot Arduino/SphereBot/TimerOne.cpp
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@@ -19,17 +19,17 @@
* - renamed startBottom() to start(). This breaks some old code that expects start to continue counting where it left off
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* See Google Code project http://code.google.com/p/arduino-timerone/ for latest
*/
@@ -54,19 +54,19 @@ void TimerOne::initialize(long microseconds)
}
void TimerOne::setPeriod(long microseconds) // AR modified for atomic access
void TimerOne::setPeriod(long microseconds) // AR modified for atomic access
{
long cycles = (F_CPU / 2000000) * microseconds; // the counter runs backwards after TOP, interrupt is at BOTTOM so divide microseconds by 2
if(cycles < RESOLUTION) clockSelectBits = _BV(CS10); // no prescale, full xtal
else if((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS11); // prescale by /8
else if((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS11) | _BV(CS10); // prescale by /64
else if((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS12); // prescale by /256
else if((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS12) | _BV(CS10); // prescale by /1024
if (cycles < RESOLUTION) clockSelectBits = _BV(CS10); // no prescale, full xtal
else if ((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS11); // prescale by /8
else if ((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS11) | _BV(CS10); // prescale by /64
else if ((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS12); // prescale by /256
else if ((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS12) | _BV(CS10); // prescale by /1024
else cycles = RESOLUTION - 1, clockSelectBits = _BV(CS12) | _BV(CS10); // request was out of bounds, set as maximum
oldSREG = SREG;
cli(); // Disable interrupts for 16 bit register access
oldSREG = SREG;
cli(); // Disable interrupts for 16 bit register access
ICR1 = pwmPeriod = cycles; // ICR1 is TOP in p & f correct pwm mode
SREG = oldSREG;
@@ -83,79 +83,79 @@ void TimerOne::setPwmDuty(char pin, int duty)
oldSREG = SREG;
cli();
if(pin == 1 || pin == 9) OCR1A = dutyCycle;
else if(pin == 2 || pin == 10) OCR1B = dutyCycle;
if (pin == 1 || pin == 9) OCR1A = dutyCycle;
else if (pin == 2 || pin == 10) OCR1B = dutyCycle;
SREG = oldSREG;
}
void TimerOne::pwm(char pin, int duty, long microseconds) // expects duty cycle to be 10 bit (1024)
{
if(microseconds > 0) setPeriod(microseconds);
if(pin == 1 || pin == 9) {
if (microseconds > 0) setPeriod(microseconds);
if (pin == 1 || pin == 9) {
DDRB |= _BV(PORTB1); // sets data direction register for pwm output pin
TCCR1A |= _BV(COM1A1); // activates the output pin
}
else if(pin == 2 || pin == 10) {
else if (pin == 2 || pin == 10) {
DDRB |= _BV(PORTB2);
TCCR1A |= _BV(COM1B1);
}
setPwmDuty(pin, duty);
resume(); // Lex - make sure the clock is running. We don't want to restart the count, in case we are starting the second WGM
// and the first one is in the middle of a cycle
resume(); // Lex - make sure the clock is running. We don't want to restart the count, in case we are starting the second WGM
// and the first one is in the middle of a cycle
}
void TimerOne::disablePwm(char pin)
{
if(pin == 1 || pin == 9) TCCR1A &= ~_BV(COM1A1); // clear the bit that enables pwm on PB1
else if(pin == 2 || pin == 10) TCCR1A &= ~_BV(COM1B1); // clear the bit that enables pwm on PB2
if (pin == 1 || pin == 9) TCCR1A &= ~_BV(COM1A1); // clear the bit that enables pwm on PB1
else if (pin == 2 || pin == 10) TCCR1A &= ~_BV(COM1B1); // clear the bit that enables pwm on PB2
}
void TimerOne::attachInterrupt(void (*isr)(), long microseconds)
{
if(microseconds > 0) setPeriod(microseconds);
if (microseconds > 0) setPeriod(microseconds);
isrCallback = isr; // register the user's callback with the real ISR
TIMSK1 = _BV(TOIE1); // sets the timer overflow interrupt enable bit
// might be running with interrupts disabled (eg inside an ISR), so don't touch the global state
// might be running with interrupts disabled (eg inside an ISR), so don't touch the global state
// sei();
resume();
resume();
}
void TimerOne::detachInterrupt()
{
TIMSK1 &= ~_BV(TOIE1); // clears the timer overflow interrupt enable bit
// timer continues to count without calling the isr
// timer continues to count without calling the isr
}
void TimerOne::resume() // AR suggested
void TimerOne::resume() // AR suggested
{
TCCR1B |= clockSelectBits;
}
void TimerOne::restart() // Depricated - Public interface to start at zero - Lex 10/9/2011
void TimerOne::restart() // Depricated - Public interface to start at zero - Lex 10/9/2011
{
start();
start();
}
void TimerOne::start() // AR addition, renamed by Lex to reflect it's actual role
void TimerOne::start() // AR addition, renamed by Lex to reflect it's actual role
{
unsigned int tcnt1;
TIMSK1 &= ~_BV(TOIE1); // AR added
GTCCR |= _BV(PSRSYNC); // AR added - reset prescaler (NB: shared with all 16 bit timers);
GTCCR |= _BV(PSRSYNC); // AR added - reset prescaler (NB: shared with all 16 bit timers);
oldSREG = SREG; // AR - save status register
cli(); // AR - Disable interrupts
TCNT1 = 0;
SREG = oldSREG; // AR - Restore status register
resume();
do { // Nothing -- wait until timer moved on from zero - otherwise get a phantom interrupt
oldSREG = SREG;
cli();
tcnt1 = TCNT1;
SREG = oldSREG;
oldSREG = SREG; // AR - save status register
cli(); // AR - Disable interrupts
TCNT1 = 0;
SREG = oldSREG; // AR - Restore status register
resume();
do { // Nothing -- wait until timer moved on from zero - otherwise get a phantom interrupt
oldSREG = SREG;
cli();
tcnt1 = TCNT1;
SREG = oldSREG;
} while (tcnt1==0);
// TIFR1 = 0xff; // AR - Clear interrupt flags
// TIFR1 = 0xff; // AR - Clear interrupt flags
// TIMSK1 = _BV(TOIE1); // sets the timer overflow interrupt enable bit
}
@@ -164,46 +164,46 @@ void TimerOne::stop()
TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); // clears all clock selects bits
}
unsigned long TimerOne::read() //returns the value of the timer in microseconds
{ //rember! phase and freq correct mode counts up to then down again
unsigned long tmp; // AR amended to hold more than 65536 (could be nearly double this)
unsigned int tcnt1; // AR added
unsigned long TimerOne::read() //returns the value of the timer in microseconds
{ //rember! phase and freq correct mode counts up to then down again
unsigned long tmp; // AR amended to hold more than 65536 (could be nearly double this)
unsigned int tcnt1; // AR added
oldSREG= SREG;
cli();
tmp=TCNT1;
SREG = oldSREG;
oldSREG= SREG;
cli();
tmp=TCNT1;
SREG = oldSREG;
char scale=0;
switch (clockSelectBits)
{
case 1:// no prescalse
scale=0;
break;
case 2:// x8 prescale
scale=3;
break;
case 3:// x64
scale=6;
break;
case 4:// x256
scale=8;
break;
case 5:// x1024
scale=10;
break;
}
do { // Nothing -- max delay here is ~1023 cycles. AR modified
oldSREG = SREG;
cli();
tcnt1 = TCNT1;
SREG = oldSREG;
} while (tcnt1==tmp); //if the timer has not ticked yet
char scale=0;
switch (clockSelectBits)
{
case 1:// no prescalse
scale = 0;
break;
case 2:// x8 prescale
scale = 3;
break;
case 3:// x64
scale = 6;
break;
case 4:// x256
scale = 8;
break;
case 5:// x1024
scale = 10;
break;
}
//if we are counting down add the top value to how far we have counted down
tmp = ( (tcnt1>tmp) ? (tmp) : (long)(ICR1-tcnt1)+(long)ICR1 ); // AR amended to add casts and reuse previous TCNT1
return ((tmp*1000L)/(F_CPU /1000L))<<scale;
do { // Nothing -- max delay here is ~1023 cycles. AR modified
oldSREG = SREG;
cli();
tcnt1 = TCNT1;
SREG = oldSREG;
} while (tcnt1==tmp); //if the timer has not ticked yet
//if we are counting down add the top value to how far we have counted down
tmp = ( (tcnt1>tmp) ? (tmp) : (long)(ICR1-tcnt1) + (long)ICR1 ); // AR amended to add casts and reuse previous TCNT1
return ((tmp*1000L)/(F_CPU /1000L))<< scale;
}
#endif
#endif