int __digitalRead(uint8_t pin)
{
uint8_t timer = digitalPinToTimer(pin);
uint8_t bit = digitalPinToBitMask(pin);
uint8_t port = digitalPinToPort(pin);
if (port == NOT_A_PIN) return LOW;
// If the pin that support PWM output, we need to turn it off
// before getting a digital reading.
//if (timer != NOT_ON_TIMER) turnOffPWM(timer);
if (*portInputRegister(port) & bit) return HIGH;
return LOW;
}
// Right now, PWM output only works on the pins with
// hardware support. These are defined in the appropriate
// pins_*.c file. For the rest of the pins, we default
// to digital output.
void analogWrite(uint8_t pin, int val)
{
// We need to make sure the PWM output is enabled for those pins
// that support it, as we turn it off when digitally reading or
// writing with them. Also, make sure the pin is in output mode
// for consistenty with Wiring, which doesn't require a pinMode
// call for the analog output pins.
pinMode(pin, OUTPUT);
if (digitalPinToTimer(pin) == TIMER1A) {
// connect pwm to pin on timer 1, channel A
sbi(TCCR1A, COM1A1);
// set pwm duty
OCR1A = val;
} else if (digitalPinToTimer(pin) == TIMER1B) {
// connect pwm to pin on timer 1, channel B
sbi(TCCR1A, COM1B1);
// set pwm duty
OCR1B = val;
} else if (digitalPinToTimer(pin) == TIMER1C) {
// connect pwm to pin on timer 1, channel B
sbi(TCCR1A, COM1C1);
// set pwm duty
OCR1C = val;
} else if (digitalPinToTimer(pin) == TIMER2A) {
// connect pwm to pin on timer 2, channel A
sbi(TCCR2A, COM2A1);
// set pwm duty
OCR2A = val;
} else if (digitalPinToTimer(pin) == TIMER3A) {
// connect pwm to pin on timer 3, channel A
sbi(TCCR3A, COM3A1);
// set pwm duty
OCR3A = val;
} else if (digitalPinToTimer(pin) == TIMER3B) {
// connect pwm to pin on timer 3, channel B
sbi(TCCR3A, COM3B1);
// set pwm duty
OCR3B = val;
} else if (digitalPinToTimer(pin) == TIMER3C) {
// connect pwm to pin on timer 3, channel C
sbi(TCCR3A, COM3C1);
// set pwm duty
OCR3C = val;
} else if (val < 128)
digitalWrite(pin, LOW);
else
digitalWrite(pin, HIGH);
}
bool SetPinFrequencySafe(int8_t pin, uint32_t frequency)
{
uint8_t timer = digitalPinToTimer(pin);
if(timer == TIMER1A || timer == TIMER1B)
return Timer1_SetFrequency(frequency);
else if(timer == TIMER2B)
return Timer2_SetFrequency(frequency);
else if(timer == TIMER3A || timer == TIMER3B || timer == TIMER3C)
return Timer3_SetFrequency(frequency);
else if(timer == TIMER4A || timer == TIMER4B || timer == TIMER4C)
return Timer4_SetFrequency(frequency);
else if(timer == TIMER5A || timer == TIMER5B || timer == TIMER5C)
return Timer5_SetFrequency(frequency);
else
return false;
}
void digitalWrite(uint8_t pin, uint8_t val)
{
uint8_t timer = digitalPinToTimer(pin);
uint8_t bit = digitalPinToBitMask(pin);
uint8_t port = digitalPinToPort(pin);
volatile uint8_t *out;
if (port == NOT_A_PIN) return;
// If the pin that support PWM output, we need to turn it off
// before doing a digital write.
if (timer != NOT_ON_TIMER) turnOffPWM(timer);
out = portOutputRegister(port);
if (val == LOW) *out &= ~bit;
else *out |= bit;
}
void DirectAnalogOutput::setPin(uint8_t pin)
{
uint8_t port = digitalPinToPort(pin);
if (port == NOT_A_PIN) return;
volatile uint8_t *modeRegister = portModeRegister(port);
_outputRegister = portOutputRegister(port);
_bitMask = digitalPinToBitMask(pin);
uint8_t oldSREG = SREG;
cli();
*modeRegister |= _bitMask;
SREG = oldSREG;
_timer = digitalPinToTimer(pin);
}
float GetPinResolution(uint8_t pin)
{
TimerData td = timer_to_pwm_data[digitalPinToTimer(pin)];
double baseTenRes = 0;
if(td.ChannelRegLoc)
{
//getting a base 10 resolution
td.Is16Bit? (baseTenRes = _SFR_MEM16(td.TimerTopRegLoc)) : (baseTenRes = _SFR_MEM8(td.TimerTopRegLoc));
//change the base and return
return toBaseTwo(baseTenRes);
}
else
{
return 0;
}
}
void digitalWrite(uint8_t pin, uint8_t value)
{
uint8_t timer = digitalPinToTimer(pin);
uint8_t bit = digitalPinToBitMask(pin);
uint8_t port = digitalPinToPort(pin);
t_SetPortCfg cfg;
if (timer != NOT_ON_TIMER) turnOffPWM(timer);
if(port == NOT_A_PORT)
{
return;
}
cfg.pID = (uint16_t)portModeRegister(port);
setPinValue(value,cfg.pID,bit);
}
int digitalRead(uint8_t pin)
{
if( (pin >= 0) && (pin <= 7) ) //port A outputs!
return -1; //do nothing!
uint8_t timer = digitalPinToTimer(pin);
uint8_t bit = digitalPinToBitMask(pin);
uint8_t port = digitalPinToPort(pin);
if (port == NOT_A_PIN) return LOW;
// If the pin that support PWM output, we need to turn it off
// before getting a digital reading.
if (timer != NOT_ON_TIMER) turnOffPWM(timer);
if (*portInputRegister(port) & bit) return HIGH;
return LOW;
}
/*
* noTone() - Stop outputting the tone on a pin
*/
void noTone(uint8_t _pin)
{
uint8_t timer = digitalPinToTimer(_pin);
if(timer == tone_timer) {
uint32_t timerBase = getTimerBase(timerToOffset(timer));
uint32_t timerAB = TIMER_A << timerToAB(timer);
ROM_TimerIntDisable(timerBase, TIMER_TIMA_TIMEOUT << timerToAB(tone_timer));
ROM_TimerIntClear(timerBase, TIMER_TIMA_TIMEOUT << timerToAB(tone_timer));
ROM_TimerDisable(timerBase, timerAB);
tone_state = 0;
g_duration = 0;
pinMode(_pin, OUTPUT);
digitalWrite(_pin, LOW);
}
}
void DirectOutputPin::setPin(uint8_t pin)
{
uint8_t port = digitalPinToPort(pin);
if (port == NOT_A_PIN) return;
volatile uint8_t *modeRegister = portModeRegister(port);
_outputRegister = portOutputRegister(port);
_bitMask = digitalPinToBitMask(pin);
uint8_t oldSREG = SREG;
cli();
*modeRegister |= _bitMask;
SREG = oldSREG;
uint8_t timer = digitalPinToTimer(pin);
if (timer != NOT_ON_TIMER) turnOffPWM(timer);
}
uint8_t digitalRead(uint8_t pin)
{
uint8_t timer = digitalPinToTimer(pin);
uint8_t bit = digitalPinToBitMask(pin);
uint8_t port = digitalPinToPort(pin);
t_SetPortCfg cfg;
if (timer != NOT_ON_TIMER) turnOffPWM(timer);
if(port == NOT_A_PIN)
{
return 0;
}
cfg.pID = (uint16_t)portModeRegister(port);
return getPinValue(cfg.pID,bit);
}
void analogWrite(uint8_t pin, int val) {
/* duty cycle(%) = val / 255;
* Frequency of 490Hz specified by Arduino API */
uint8_t timer = digitalPinToTimer(pin);
if(timer == NOT_ON_TIMER)
return;
if (val == 0) {
pinMode(pin, OUTPUT);
digitalWrite(pin, LOW);
return;
}
if (val >= 255) {
pinMode(pin, OUTPUT);
digitalWrite(pin, HIGH);
return;
}
PWMWrite(pin, 255, val, 490);
}
float GetPinResolution(uint8_t pin)
{
uint8_t timer = digitalPinToTimer(pin);
uint16_t top;
switch(timer)
{
case TIMER0B:
top = Timer0_GetTop();
break;
case TIMER1A:
top = Timer1_GetTop();
break;
case TIMER1B:
top = Timer1_GetTop();
break;
case TIMER2B:
top = Timer2_GetTop();
default:
return 0;
}
return toBaseTwo(top);
}
void tone(uint8_t _pin, unsigned int frequency, unsigned long duration)
{
uint8_t port = digitalPinToPort(_pin);
if (port == NOT_A_PORT) return;
if (tone_state == 0 || _pin == current_pin) {
//Setup PWM
current_pin = _pin;
tone_timer = digitalPinToTimer(_pin);
uint32_t timerBase = getTimerBase(timerToOffset(tone_timer));
tone_state = 1;
g_duration = duration;
PWMWrite(_pin, 256, 128, frequency);
//Setup interrupts for duration, interrupting at 1kHz
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER4);
ROM_IntMasterEnable();
ROM_TimerConfigure(TIMER4_BASE, TIMER_CFG_PERIODIC);
ROM_TimerLoadSet(TIMER4_BASE, TIMER_A, ROM_SysCtlClockGet()/1000);
ROM_IntEnable(INT_TIMER4A);
ROM_TimerIntEnable(TIMER4_BASE, TIMER_TIMA_TIMEOUT);
ROM_TimerEnable(TIMER4_BASE, TIMER_A);
}
}
void analogWrite(uint8_t pin, int16_t val)
{
uint8_t timer = 0xff;
setPinMode(pin, OUTPUT);
if ((val == 0) || (val <0))
{
digitalWrite(pin, LOW);
}
else if ((val > 255) || (val == 255))
{
digitalWrite(pin, HIGH);
}
else
{
timer = digitalPinToTimer(pin);
initPwm(timer);
setPwmDutyCycle((uint8_t)val, timer);
}
}
// Right now, PWM output only works on the pins with
// hardware support. These are defined in the appropriate
// pins_*.c file. For the rest of the pins, we default
// to digital output.
void analogWrite(uint8_t pin, int val)
{
// We need to make sure the PWM output is enabled for those pins
// that support it, as we turn it off when digitally reading or
// writing with them. Also, make sure the pin is in output mode
// for consistenty with Wiring, which doesn't require a pinMode
// call for the analog output pins.
pinMode(pin, OUTPUT);
if (val <= 0)
{
digitalWrite(pin, LOW);
}
else if (val >= 255)
{
digitalWrite(pin, HIGH);
}
else
{
uint8_t timer = digitalPinToTimer(pin);
#if defined(TCCR0A) && defined(COM0A1)
if( timer == TIMER0A){
// connect pwm to pin on timer 0, channel A
sbi(TCCR0A, COM0A1);
cbi(TCCR0A, COM0A0);
OCR0A = val; // set pwm duty
} else
#endif
#if defined(TCCR0A) && defined(COM0B1)
if( timer == TIMER0B){
// connect pwm to pin on timer 0, channel B
sbi(TCCR0A, COM0B1);
cbi(TCCR0A, COM0B0);
OCR0B = val; // set pwm duty
} else
#endif
#if defined(TCCR1A) && defined(COM1A1) && !defined(TCCR1E)
if( timer == TIMER1A){
// connect pwm to pin on timer 1, channel A
sbi(TCCR1A, COM1A1);
cbi(TCCR1A, COM1A0);
#ifdef OC1AX
cbi(TCCR1D, OC1AV);
cbi(TCCR1D, OC1AU);
cbi(TCCR1D, OC1AW);
sbi(TCCR1D, OC1AX);
#endif
OCR1A = val; // set pwm duty
} else
#endif
#if defined(TCCR1E)
if( timer == TIMER1A){
// connect pwm to pin on timer 1, channel A
cbi(TCCR1C,COM1A1S);
sbi(TCCR1C,COM1A0S);
OCR1A = val; // set pwm duty
} else if (timer == TIMER1B){
// connect pwm to pin on timer 1, channel A
cbi(TCCR1C,COM1B1S);
sbi(TCCR1C,COM1B0S);
OCR1B = val; // set pwm duty
} else if (timer == TIMER1D){
// connect pwm to pin on timer 1, channel A
cbi(TCCR1C,COM1D1);
sbi(TCCR1C,COM1D0);
OCR1D = val; // set pwm duty
} else
#endif
#if defined(TCCR1) && defined(COM1A1)
if(timer == TIMER1A){
// connect pwm to pin on timer 1, channel A
sbi(TCCR1, COM1A1);
cbi(TCCR1, COM1A0);
OCR1A = val; // set pwm duty
} else
#endif
#if defined(TCCR1A) && defined(COM1B1) && !defined(TCCR1E)
if( timer == TIMER1B){
// connect pwm to pin on timer 1, channel B
sbi(TCCR1A, COM1B1);
cbi(TCCR1A, COM1B0);
#ifdef OC1BV
sbi(TCCR1D, OC1BV);
cbi(TCCR1D, OC1BU);
cbi(TCCR1D, OC1BW);
cbi(TCCR1D, OC1BX);
#endif
OCR1B = val; // set pwm duty
} else
#endif
#if defined(TCCR1) && defined(COM1B1)
if( timer == TIMER1B){
// connect pwm to pin on timer 1, channel B
sbi(GTCCR, COM1B1);
cbi(GTCCR, COM1B0);
OCR1B = val; // set pwm duty
} else
#endif
{
if (val < 128)
{
digitalWrite(pin, LOW);
}
else
{
digitalWrite(pin, HIGH);
}
}
}
}
void PWMWrite(uint8_t pin, uint32_t analog_res, uint32_t duty, unsigned int freq)
{
if (duty == 0) {
pinMode(pin, OUTPUT);
digitalWrite(pin, LOW);
}
else if (duty >= analog_res) {
pinMode(pin, OUTPUT);
digitalWrite(pin, HIGH);
}
else {
uint8_t bit = digitalPinToBitMask(pin); // get pin bit
uint8_t port = digitalPinToPort(pin); // get pin port
uint8_t timer = digitalPinToTimer(pin);
uint32_t portBase = (uint32_t) portBASERegister(port);
uint32_t offset = timerToOffset(timer);
uint32_t timerBase = getTimerBase(offset);
uint32_t timerAB = TIMER_A << timerToAB(timer);
uint32_t periodPWM;
if (port == NOT_A_PORT) return; // pin on timer?
periodPWM = ROM_SysCtlClockGet() / freq;
enableTimerPeriph(offset);
ROM_GPIOPinConfigure(timerToPinConfig(timer));
ROM_GPIOPinTypeTimer((long unsigned int) portBase, bit);
//
// Configure for half-width mode, allowing timers A and B to
// operate independently
//
HWREG(timerBase + TIMER_O_CFG) = 0x04;
if (timerAB == TIMER_A) {
HWREG(timerBase + TIMER_O_CTL) &= ~TIMER_CTL_TAEN;
HWREG(timerBase + TIMER_O_TAMR) = PWM_MODE;
}
else {
HWREG(timerBase + TIMER_O_CTL) &= ~TIMER_CTL_TBEN;
HWREG(timerBase + TIMER_O_TBMR) = PWM_MODE;
}
ROM_TimerLoadSet(timerBase, timerAB, periodPWM);
ROM_TimerMatchSet(timerBase, timerAB,
(analog_res - duty)*periodPWM / analog_res);
//
// If using a 16-bit timer, with a periodPWM > 0xFFFF,
// need to use a prescaler
//
if ((offset < WTIMER0) && (periodPWM > 0xFFFF)) {
ROM_TimerPrescaleSet(timerBase, timerAB,
(periodPWM & 0xFFFF0000) >> 16);
ROM_TimerPrescaleMatchSet(timerBase, timerAB,
(((analog_res - duty)*periodPWM / analog_res) & 0xFFFF0000) >> 16);
}
ROM_TimerEnable(timerBase, timerAB);
}
void analogWrite(uint8_t pin, int val)
{
pinMode(pin, OUTPUT); // pin as output
if (val == 0)
{
digitalWrite(pin, LOW); // set pin to LOW when duty cycle is 0
// digitalWrite will take care of invalid pins
}
else if (val == 255)
{
digitalWrite(pin, HIGH); // set pin HIGH when duty cycle is 255
// digitalWrite will take care of invalid pins
}
else
{
uint8_t bit = digitalPinToBitMask(pin); // get pin bit
uint8_t port = digitalPinToPort(pin); // get pin port
volatile uint16_t *sel;
volatile uint16_t *sel2;
if (port == NOT_A_PORT) return; // pin on timer?
sel = portSelRegister(port); // get the port function select register address
*sel |= bit; // set bit in pin function select register
//TODO: Firgure out a better way to determine if SEL2 needs to be set
if(bit == BV(4) && port == P1) {
sel2 = portSel2Register(port); // get the port function select register address
*sel2 |= bit;
}
switch(digitalPinToTimer(pin)) { // which timer and CCR?
//case: T0A0 // CCR0 used as period register
case T0A1: // Timer0 / CCR1
TA0CCR0 = PWM_PERIOD; // PWM Period
TA0CCTL1 = OUTMOD_7; // reset/set
TA0CCR1 = PWM_DUTY(val); // PWM duty cycle
TA0CTL = TASSEL_2 + MC_1 + analog_div; // SMCLK, up mode
break;
#if defined(__MSP430_HAS_TA3__)
case T0A2: // Timer0 / CCR1
TA0CCR0 = PWM_PERIOD; // PWM Period
TA0CCTL2 = OUTMOD_7; // reset/set
TA0CCR2 = PWM_DUTY(val); // PWM duty cycle
TA0CTL = TASSEL_2 + MC_1+ analog_div; // SMCLK, up mode
break;
#endif
#if defined(__MSP430_HAS_T1A3__)
//case: T1A0 // CCR0 used as period register
case T1A1: // Timer0 / CCR1
TA1CCR0 = PWM_PERIOD; // PWM Period
TA1CCTL1 = OUTMOD_7; // reset/set
TA1CCR1 = PWM_DUTY(val); // PWM duty cycle
TA1CTL = TASSEL_2 + MC_1+ analog_div; // SMCLK, up mode
break;
case T1A2: // Timer0 / CCR1
TA1CCR0 = PWM_PERIOD; // PWM Period
TA1CCTL2 = OUTMOD_7; // reset/set
TA1CCR2 = PWM_DUTY(val); // PWM duty cycle
TA1CTL = TASSEL_2 + MC_1+ analog_div; // SMCLK, up mode
break;
#endif
#if defined(__MSP430_HAS_T2A3__)
//case: T2A0 // CCR0 used as period register
case T2A1: // Timer0 / CCR1
TA2CCR0 = PWM_PERIOD; // PWM Period
TA2CCTL1 = OUTMOD_7; // reset/set
TA2CCR1 = PWM_DUTY(val); // PWM duty cycle
TA2CTL = TASSEL_2 + MC_1+ analog_div; // SMCLK, up mode
break;
case T2A2: // Timer0 / CCR1
TA2CCR0 = PWM_PERIOD; // PWM Period
TA2CCTL2 = OUTMOD_7; // reset/set
TA2CCR2 = PWM_DUTY(val); // PWM duty cycle
TA2CTL = TASSEL_2 + MC_1+ analog_div; // SMCLK, up mode
break;
#endif
case NOT_ON_TIMER: // not on a timer output pin
default: // or TxA0 pin
if (val < 128) {
digitalWrite(pin, LOW); //
} else {
digitalWrite(pin, HIGH);
}
}
}
}
uint8_t WatchPin::pinPWM(uint8_t _pin){ //if pin is pwm return its value, if not return 0
switch(digitalPinToTimer(_pin))
{
#if defined(TCCR0) && defined(COM00) && !defined(__AVR_ATmega8__)
case TIMER0A:
return OCR0;
break;
#endif
#if defined(TCCR0A) && defined(COM0A1)
case TIMER0A:
return OCR0A;
break;
#endif
#if defined(TCCR0A) && defined(COM0B1)
case TIMER0B:
return OCR0B;
break;
#endif
#if defined(TCCR1A) && defined(COM1A1)
case TIMER1A:
return OCR1A;
break;
#endif
#if defined(TCCR1A) && defined(COM1B1)
case TIMER1B:
return OCR1B;
break;
#endif
#if defined(TCCR2) && defined(COM21)
case TIMER2:
return OCR2;
break;
#endif
#if defined(TCCR2A) && defined(COM2A1)
case TIMER2A:
return OCR2A;
break;
#endif
#if defined(TCCR2A) && defined(COM2B1)
case TIMER2B:
return OCR2B;
break;
#endif
#if defined(TCCR3A) && defined(COM3A1)
case TIMER3A:
return OCR3A;
break;
#endif
#if defined(TCCR3A) && defined(COM3B1)
case TIMER3B:
return OCR3B;
break;
#endif
#if defined(TCCR3A) && defined(COM3C1)
case TIMER3C:
return OCR3C;
break;
#endif
#if defined(TCCR4A)
case TIMER4A:
return OCR4A;
break;
#endif
#if defined(TCCR4A) && defined(COM4B1)
case TIMER4B:
return OCR4B;
break;
#endif
#if defined(TCCR4A) && defined(COM4C1)
case TIMER4C:
return OCR4C;
break;
#endif
#if defined(TCCR4C) && defined(COM4D1)
case TIMER4D:
return OCR4D;
break;
#endif
#if defined(TCCR5A) && defined(COM5A1)
case TIMER5A:
return OCR5A;
break;
#endif
#if defined(TCCR5A) && defined(COM5B1)
case TIMER5B:
return OCR5B;
break;
#endif
#if defined(TCCR5A) && defined(COM5C1)
case TIMER5C:
return OCR5C;
break;
#endif
case NOT_ON_TIMER:
default:
return NOT_ON_TIMER;
break;
}
}
boolean WatchPin::pinIsPWM(uint8_t _pin){
return (digitalPinToTimer(_pin)==0) ? false:true; //return TRUE if pin requested is PWM, FALSE if not
}
// Right now, PWM output only works on the pins with
// hardware support. These are defined in the appropriate
// pins_*.c file. For the rest of the pins, we default
// to digital output.
void analogWrite(uint8_t pin, int val)
{
// We need to make sure the PWM output is enabled for those pins
// that support it, as we turn it off when digitally reading or
// writing with them. Also, make sure the pin is in output mode
// for consistenty with Wiring, which doesn't require a pinMode
// call for the analog output pins.
pinMode(pin, OUTPUT);
if (digitalPinToTimer(pin) == TIMER1A) {
// connect pwm to pin on timer 1, channel A
sbi(TCCR1A, COM1A1);
// set pwm duty
OCR1A = val;
} else if (digitalPinToTimer(pin) == TIMER1B) {
// connect pwm to pin on timer 1, channel B
sbi(TCCR1A, COM1B1);
// set pwm duty
OCR1B = val;
/* ATMega48/32/324P/644 mod provided by AndreS at robotcraft.ca - START */
#if defined(__AVR_ATmega48__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega324P__) || defined(__AVR_ATmega644__)
} else if (digitalPinToTimer(pin) == TIMER0A) {
// connect pwm to pin on timer 0, channel A
sbi(TCCR0A, COM0A1);
// set pwm duty
OCR0A = val;
} else if (digitalPinToTimer(pin) == TIMER0B) {
// connect pwm to pin on timer 0, channel B
sbi(TCCR0A, COM0B1);
// set pwm duty
OCR0B = val;
} else if (digitalPinToTimer(pin) == TIMER2A) {
// connect pwm to pin on timer 2, channel A
sbi(TCCR2A, COM2A1);
// set pwm duty
OCR2A = val;
} else if (digitalPinToTimer(pin) == TIMER2B) {
// connect pwm to pin on timer 2, channel B
sbi(TCCR2A, COM2B1);
// set pwm duty
OCR2B = val;
#elif defined(__AVR_ATmega32__)
} else if (digitalPinToTimer(pin) == TIMER0) {
// connect pwm to pin on timer 0
sbi(TCCR0, COM01);
// set pwm duty
OCR0 = val;
} else if (digitalPinToTimer(pin) == TIMER2) {
// connect pwm to pin on timer 2
sbi(TCCR2, COM21);
// set pwm duty
OCR2 = val;
/* ATMega48/32/324P/644 mod provided by AndreS at robotcraft.ca - END */
#else
} else if (digitalPinToTimer(pin) == TIMER2) {
// connect pwm to pin on timer 2, channel B
sbi(TCCR2, COM21);
// set pwm duty
OCR2 = val;
#endif
} else if (val < 128)
digitalWrite(pin, LOW);
else
digitalWrite(pin, HIGH);
}
void AdaEncoder::addEncoder(char _id, uint8_t _pinA, uint8_t _pinB)
{
AdaEncoder *tmpencoder;
id=_id;
pinA=_pinA;
pinB=_pinB;
#ifdef DEBUG
printBuffer.putString(getPSTR("addEncoder: "));
printBuffer.put(id);
printBuffer.put('\n');
printBuffer.putHex(pinA); printBuffer.put(' ');
printBuffer.putHex(pinB); printBuffer.put(' ');
printBuffer.putString(getPSTR(" *\n"));
#endif
// error checking
if (pinA == pinB) return; // No! silly
if (pinA < 8 && pinB > 7) return; // No! different ports
if ((pinA > 7 && pinA < 14) && (pinB < 8 || pinB > 13)) return; // No! different ports
if (pinA > 13 && pinB < 14) return; // No! different ports
if (pinA > 19 || pinB > 19) return; // No! out of band
turning=0;
clicks=0;
/* ADD TO THE LIST HERE */
if (firstEncoder==NULL) { firstEncoder=this; }
else {
tmpencoder=firstEncoder;
while (tmpencoder->next != NULL) tmpencoder=tmpencoder->next;
tmpencoder->next=this;
}
this->next=NULL;
port=portInputRegister(digitalPinToPort(pinA));
if (port == NOT_A_PIN) { return; }
// ** A **
bitA=digitalPinToBitMask(pinA);
uint8_t timerA=digitalPinToTimer(pinA);
if (timerA != NOT_ON_TIMER) turnOffPWM(timerA);
#ifdef DEBUG
//char buffer[16];
//Serial.print("encoder addr: ");
//sprintf(buffer, "%p", this);
//Serial.println(buffer);
printBuffer.putString("bitA: ");
printBuffer.putHex(bitA);
#endif
// ** B **
bitB=digitalPinToBitMask(pinB);
uint8_t timerB=digitalPinToTimer(pinB);
if (timerB != NOT_ON_TIMER) turnOffPWM(timerB);
#ifdef DEBUG
printBuffer.putString("bitB: ");
printBuffer.putHex(bitB);
#endif
// ** INTERRUPT **
#ifndef SWINTR_DEBUG
// This section should be on normally. OFF if performing software interrupts!
// GreyGnome DEBUG: Turn these two lines off by defining
// SWINTR_DEBUG. In the sketch, turn the pins into Outputs and set them high.
// Then set them as you wish, to create software interrupts.
pinMode(pinA, INPUT); pinMode(pinB, INPUT);
digitalWrite(pinA, HIGH); digitalWrite(pinB, HIGH);
#endif
attachInterrupt(pinA, pinB);
#ifdef DEBUGTIME
ada_output_port=portOutputRegister(digitalPinToPort(13)); // GreyGnome DEBUG.
ada_output_mask=digitalPinToBitMask(13); // defines the actual pin on that port
ada_not_output_mask=ada_output_mask^0xFF;
#endif
}
void _analogWrite(uint8_t pin, uint8_t val)
{
// We need to make sure the PWM output is enabled for those pins
// that support it, as we turn it off when digitally reading or
// writing with them. Also, make sure the pin is in output mode
// for consistenty with Wiring, which doesn't require a pinMode
// call for the analog output pins.
// This is now done from static inline void analogWrite()
// which is defined in Arduino.h, this allows us to use the
// optimized pinMode() for constant pins.
// pinMode(pin, OUTPUT);
#if ! (defined(ANALOG_WRITE_FLIPPED) && ANALOG_WRITE_FLIPPED)
if (val <= 0)
{
digitalWrite(pin, LOW);
}
else if (val >= 255)
{
digitalWrite(pin, HIGH);
}
else
#else
// If we flip (invert) the PWM, so that 255 is Off and 0 is On,
// then we can do away with the special cases of val == 0
// and val == 255 which in the normal directionality have to
// turn off the PWM and use digitalWrite.
//
// We don't get fully "on" (max is about 99.5%), but that's less
// of a problem than not getting fully "off" especially when using
// an LED which is probably the most common use case here.
//
// This saves us a bunch of space for something like the usual
// led fader since digitalWrite() can be totally optimized out.
//
// Of course, we don't want the user to know to do this, so
// we take 0 = Off and 255 = On and flip that before passing
// it to the AVR which is expecting the flipped value.
val = 255-val;
#endif
{
#ifdef turnOnPWM
// Some variants (see tiny13) define a turnOnPWM macro which reduces code size
turnOnPWM( digitalPinToTimer(pin), val );
#else
// All this defined() logic is silly trying to overly generalise wiring_analog.h
// to cater for different variants; instead see variants/tiny13/pins_arduino.c for a
// better way of doing this for variants in future - in other words, you should ask
// the variant to turn on pwm for itself, not try and figure out how to turn on pwm
// for any given variant by looking at what is and isn't defined. Crazyness.
//
// In short, you should #define turnOnPWM(t, v) ( _turnOnPWM(t,v) )
// in pins_arduino.h, and create pins_arduino.c to define the _turnOnPWM() function
// (where t is the timer (eg TIMER0A) and v is the value 0-255)
//
// Do similar for turnOffPWM(t) by the way!
uint8_t timer = digitalPinToTimer(pin);
#if defined(TCCR0A) && defined(COM0A1)
if( timer == TIMER0A){
// connect pwm to pin on timer 0, channel A
sbi(TCCR0A, COM0A1);
cbi(TCCR0A, COM0A0);
OCR0A = val; // set pwm duty
} else
#endif
#if defined(TCCR0A) && defined(COM0B1)
if( timer == TIMER0B){
// connect pwm to pin on timer 0, channel B
sbi(TCCR0A, COM0B1);
cbi(TCCR0A, COM0B0);
OCR0B = val; // set pwm duty
} else
#endif
#if defined(TCCR1A) && defined(COM1A1) && !defined(TCCR1E)
if( timer == TIMER1A){
// connect pwm to pin on timer 1, channel A
sbi(TCCR1A, COM1A1);
cbi(TCCR1A, COM1A0);
#ifdef OC1AX
cbi(TCCR1D, OC1AV);
cbi(TCCR1D, OC1AU);
cbi(TCCR1D, OC1AW);
sbi(TCCR1D, OC1AX);
#endif
OCR1A = val; // set pwm duty
} else
#endif
#if defined(TCCR1E)
if( timer == TIMER1A){
// connect pwm to pin on timer 1, channel A
cbi(TCCR1C,COM1A1S);
sbi(TCCR1C,COM1A0S);
OCR1A = val; // set pwm duty
} else if (timer == TIMER1B){
// connect pwm to pin on timer 1, channel A
cbi(TCCR1C,COM1B1S);
sbi(TCCR1C,COM1B0S);
OCR1B = val; // set pwm duty
} else if (timer == TIMER1D){
// connect pwm to pin on timer 1, channel A
cbi(TCCR1C,COM1D1);
sbi(TCCR1C,COM1D0);
OCR1D = val; // set pwm duty
} else
#endif
#if defined(TCCR1) && defined(COM1A1)
if(timer == TIMER1A){
// connect pwm to pin on timer 1, channel A
sbi(TCCR1, COM1A1);
cbi(TCCR1, COM1A0);
OCR1A = val; // set pwm duty
} else
#endif
#if defined(TCCR1A) && defined(COM1B1) && !defined(TCCR1E)
if( timer == TIMER1B){
// connect pwm to pin on timer 1, channel B
sbi(TCCR1A, COM1B1);
cbi(TCCR1A, COM1B0);
#ifdef OC1BV
sbi(TCCR1D, OC1BV);
cbi(TCCR1D, OC1BU);
cbi(TCCR1D, OC1BW);
cbi(TCCR1D, OC1BX);
#endif
OCR1B = val; // set pwm duty
} else
#endif
#if defined(TCCR1) && defined(COM1B1)
if( timer == TIMER1B){
// connect pwm to pin on timer 1, channel B
sbi(GTCCR, COM1B1);
cbi(GTCCR, COM1B0);
OCR1B = val; // set pwm duty
} else
#endif
{
if (val < 128)
{
digitalWrite(pin, LOW);
}
else
{
digitalWrite(pin, HIGH);
}
}
#endif
}
}
void AdaEncoder::addEncoder(char id, uint8_t pinA, uint8_t pinB)
{
#ifdef DEBUG
Serial.print("DEBUG addEncoder: ");
Serial.print(pinA, HEX); Serial.print(' ');
Serial.print(pinB, HEX); Serial.print(' ');
Serial.println(" *");
#endif
// error checking
if (pinA == pinB) return; // No! silly
if (pinA < 8 && pinB > 7) return; // No! different ports
if ((pinA > 7 && pinA < 14) && (pinB < 8 || pinB > 13)) return; // No! different ports
if (pinA > 13 && pinB < 14) return; // No! different ports
if (pinA > 19 || pinB > 19) return; // No! out of band
encoder *newencoder=(encoder*) malloc(sizeof(struct encoder));
newencoder->turning=0;
newencoder->clicks=0;
newencoder->id=id;
newencoder->next=NULL;
newencoder->port=portInputRegister(digitalPinToPort(pinA));
if (newencoder->port == NOT_A_PIN) { free(newencoder); return; }
// ** A **
newencoder->bitA=digitalPinToBitMask(pinA);
uint8_t timerA=digitalPinToTimer(pinA);
if (timerA != NOT_ON_TIMER) turnOffPWM(timerA);
#ifdef DEBUG
char buffer[16];
Serial.print("encoder addr: ");
sprintf(buffer, "%p", newencoder);
Serial.println(buffer);
Serial.print("bitA: ");
Serial.print(newencoder->bitA, BIN);
#endif
// ** B **
newencoder->bitB=digitalPinToBitMask(pinB);
uint8_t timerB=digitalPinToTimer(pinB);
if (timerB != NOT_ON_TIMER) turnOffPWM(timerB);
#ifdef DEBUG
Serial.print("bitB: ");
Serial.println(newencoder->bitB, BIN);
#endif
// ** INTERRUPT **
#ifndef SWINTR_DEBUG
// This section should be on normally. OFF if performing software interrupts!
// GreyGnome DEBUG: Turn these two lines off by defining
// SWINTR_DEBUG. In the sketch, turn the pins into Outputs and set them high.
// Then set them as you wish, to create software interrupts.
pinMode(pinA, INPUT); pinMode(pinB, INPUT);
digitalWrite(pinA, HIGH); digitalWrite(pinB, HIGH);
#endif
AdaEncoders[pinA]=newencoder;
AdaEncoders[pinB]=newencoder;
AdaEncoder::attachInterrupt(pinA, pinB);
// encoder linked list: add to it. Use this in loop() to search for the encoder that triggered the interrupt.
if (firstEncoder==NULL) { firstEncoder=newencoder; }
else {
tmpencoder=firstEncoder;
while (tmpencoder->next != NULL) {
tmpencoder=tmpencoder->next;
}
tmpencoder->next=newencoder;
}
#ifdef DEBUGTIME
ada_output_port=portOutputRegister(digitalPinToPort(13)); // GreyGnome DEBUG.
ada_output_mask=digitalPinToBitMask(13); // defines the actual pin on that port
ada_not_output_mask=ada_output_mask^0xFF;
#endif
}
//http://www.arduino.cc/en/Reference/AnalogWrite
int isValidPWM(int pin){
//return true if is on a timer
return (digitalPinToTimer(pin) != NOT_ON_TIMER);
}
// Right now, PWM output only works on the pins with
// hardware support. These are defined in the appropriate
// pins_*.c file. For the rest of the pins, we default
// to digital output.
void analogWrite(uint8_t pin, int val)
{
// We need to make sure the PWM output is enabled for those pins
// that support it, as we turn it off when digitally reading or
// writing with them. Also, make sure the pin is in output mode
// for consistenty with Wiring, which doesn't require a pinMode
// call for the analog output pins.
pinMode(pin, OUTPUT);
if (val == 0)
{
digitalWrite(pin, LOW);
}
else if (val == 255)
{
digitalWrite(pin, HIGH);
}
else
{
switch(digitalPinToTimer(pin))
{
// XXX fix needed for atmega8
#if defined(TCCR0) && defined(COM00) && !defined(__AVR_ATmega8__)
case TIMER0A:
// connect pwm to pin on timer 0
sbi(TCCR0, COM00);
OCR0 = val; // set pwm duty
break;
#endif
#if defined(TCCR0A) && defined(COM0A1)
case TIMER0A:
// connect pwm to pin on timer 0, channel A
sbi(TCCR0A, COM0A1);
OCR0A = val; // set pwm duty
break;
#endif
#if defined(TCCR0A) && defined(COM0B1)
case TIMER0B:
// connect pwm to pin on timer 0, channel B
sbi(TCCR0A, COM0B1);
OCR0B = val; // set pwm duty
break;
#endif
/*
case TIMER1B:
// connect pwm to pin on timer 1, channel B
sbi(GTCCR, COM1B1);
sbi(GTCCR, PWM1B);
OCR1B = val; // set pwm duty
break;
*/
#if defined(TCCR1A) && defined(COM1A1)
case TIMER1A:
// connect pwm to pin on timer 1, channel A
sbi(TCCR1A, COM1A1);
OCR1A = val; // set pwm duty
break;
#endif
#if defined(TCCR1A) && defined(COM1B1)
case TIMER1B:
// connect pwm to pin on timer 1, channel B
sbi(TCCR1A, COM1B1);
OCR1B = val; // set pwm duty
break;
#endif
case NOT_ON_TIMER:
default:
if (val < 128) {
digitalWrite(pin, LOW);
} else {
digitalWrite(pin, HIGH);
}
}
}
}
/**
* analogWrite
*
* set PWM output level
*
* @param pin pin number
* @param val duty cycle
*/
void analogWrite(uint8_t pin, uint16_t val)
{
if (val == 0)
{
pinMode(pin, OUTPUT);
digitalWrite(pin, LOW);
}
else
{
uint8_t bit = digitalPinToBitMask(pin);
uint8_t port = digitalPinToPort(pin);
volatile uint8_t *dir = portDirRegister(port);
volatile uint8_t *sel = portSelRegister(port);
volatile uint8_t *map = digitalPinToPortMap(pin);
*dir |= bit; // Config pin as an output
*sel |= bit; // Select alternate function
// Set PWM period
TA0CCR0 = analogPeriod;
TA1CCR0 = analogPeriod;
uint8_t timer = digitalPinToTimer(pin);
PMAPPWD = 0x02D52; // Get write-access to port mapping regs
PMAPCTL |= PMAPRECFG; // Leave Pin mapping open
switch(timer)
{
case T0A1:
*map = PM_TA0CCR1A;
TA0CCTL1 = OUTMOD_7; // CCR1 reset/set
TA0CCR1 = PWM_DUTY(val); // CCR1 PWM duty cycle
break;
case T0A2:
*map = PM_TA0CCR2A;
TA0CCTL2 = OUTMOD_7; // CCR1 reset/set
TA0CCR2 = PWM_DUTY(val); // CCR1 PWM duty cycle
break;
case T0A3:
*map = PM_TA0CCR3A;
TA0CCTL3 = OUTMOD_7; // CCR1 reset/set
TA0CCR3 = PWM_DUTY(val); // CCR1 PWM duty cycle
break;
case T0A4:
*map = PM_TA0CCR4A;
TA0CCTL4 = OUTMOD_7; // CCR1 reset/set
TA0CCR4 = PWM_DUTY(val); // CCR1 PWM duty cycle
break;
case T1A1:
*map = PM_TA1CCR1A;
TA1CCTL1 = OUTMOD_7; // CCR1 reset/set
TA1CCR1 = PWM_DUTY(val); // CCR1 PWM duty cycle
break;
case T1A2:
*map = PM_TA1CCR2A;
TA1CCTL2 = OUTMOD_7; // CCR1 reset/set
TA1CCR2 = PWM_DUTY(val); // CCR1 PWM duty cycle
break;
default:
break;
}
PMAPPWD = 0; // Lock port mapping registers
if (timer < T1A1)
{
if (val == TA0CCR0) // duty cycle = period?
{
pinMode(pin, OUTPUT);
digitalWrite(pin, HIGH);
}
else
TA0CTL = TASSEL_2 + MC_1 + TACLR; // SMCLK, up mode, clear TAR
}
else
{
if (val == TA1CCR0) // duty cycle = period?
{
pinMode(pin, OUTPUT);
digitalWrite(pin, HIGH);
}
else
TA1CTL = TASSEL_2 + MC_1 + TACLR; // SMCLK, up mode, clear TAR
}
}
}
//*********************************************************************
//* PWM output only works on the pins with hardware support.
//* These are defined in the appropriate pins_*.c file.
//* For the rest of the pins, we default to digital output.
//*********************************************************************
void analogWrite(uint8_t pin, int val)
{
// We need to make sure the PWM output is enabled for those pins
// that support it, as we turn it off when digitally reading or
// writing with them. Also, make sure the pin is in output mode
// for consistenty with Wiring, which doesn't require a pinMode
// call for the analog output pins.
pinMode(pin, OUTPUT);
if (val == 0)
{
digitalWrite(pin, LOW);
}
else if (val == 255)
{
digitalWrite(pin, HIGH);
}
else
{
switch(digitalPinToTimer(pin))
{
#ifdef _OCMP1
case TIMER_OC1:
//* Open Timer2 with Period register value
OpenTimer2(T2_ON | T2_PS_1_256, PWM_TIMER_PERIOD);
OpenOC1( OC_ON | OC_TIMER2_SRC | OC_PWM_FAULT_PIN_DISABLE, (PWM_TIMER_PERIOD*val)/256, (PWM_TIMER_PERIOD*val)/256 );
//Set duty cycle on fly
SetDCOC1PWM((PWM_TIMER_PERIOD*val)/256);
break;
#endif
#ifdef _OCMP2
case TIMER_OC2:
//* Open Timer2 with Period register value
OpenTimer2(T2_ON | T2_PS_1_256, PWM_TIMER_PERIOD);
OpenOC2( OC_ON | OC_TIMER2_SRC | OC_PWM_FAULT_PIN_DISABLE, (PWM_TIMER_PERIOD*val)/256, (PWM_TIMER_PERIOD*val)/256 );
//Set duty cycle on fly
SetDCOC2PWM((PWM_TIMER_PERIOD*val)/256);
break;
#endif
#ifdef _OCMP3
case TIMER_OC3:
//* Open Timer2 with Period register value
OpenTimer2(T2_ON | T2_PS_1_256, PWM_TIMER_PERIOD);
OpenOC3( OC_ON | OC_TIMER2_SRC | OC_PWM_FAULT_PIN_DISABLE, (PWM_TIMER_PERIOD*val)/256, (PWM_TIMER_PERIOD*val)/256 );
//Set duty cycle on fly
SetDCOC3PWM((PWM_TIMER_PERIOD*val)/256);
break;
#endif
#ifdef _OCMP4
case TIMER_OC4:
//* Open Timer2 with Period register value
OpenTimer2(T2_ON | T2_PS_1_256, PWM_TIMER_PERIOD);
OpenOC4( OC_ON | OC_TIMER2_SRC | OC_PWM_FAULT_PIN_DISABLE, (PWM_TIMER_PERIOD*val)/256, (PWM_TIMER_PERIOD*val)/256 );
//Set duty cycle on fly
SetDCOC4PWM((PWM_TIMER_PERIOD*val)/256);
break;
#endif
#ifdef _OCMP5
case TIMER_OC5:
//* Open Timer2 with Period register value
OpenTimer2(T2_ON | T2_PS_1_256, PWM_TIMER_PERIOD);
OpenOC5( OC_ON | OC_TIMER2_SRC | OC_PWM_FAULT_PIN_DISABLE, (PWM_TIMER_PERIOD*val)/256, (PWM_TIMER_PERIOD*val)/256 );
//Set duty cycle on fly
SetDCOC5PWM((PWM_TIMER_PERIOD*val)/256);
break;
#endif
#if 0
//* this is the original code, I want to keep it around for refernce for a bit longer
#ifdef _OCMP1
case TIMER_OC1:
//* Open Timer2 with Period register value
OpenTimer2(T2_ON | T2_PS_1_256, PWM_TIMER_PERIOD);
OpenOC1( OC_ON | OC_TIMER_MODE32 | OC_TIMER2_SRC | OC_CONTINUE_PULSE | OC_LOW_HIGH, 256, (256 - val) );
// SetDCOC1PWM((PWM_TIMER_PERIOD * val) / 256);
break;
#endif
#ifdef _OCMP2
case TIMER_OC2:
//* Open Timer2 with Period register value
OpenTimer2(T2_ON | T2_PS_1_256, PWM_TIMER_PERIOD);
OpenOC2( OC_ON | OC_TIMER_MODE32 | OC_TIMER2_SRC | OC_CONTINUE_PULSE | OC_LOW_HIGH, 256, (256 - val) );
// SetDCOC2PWM((PWM_TIMER_PERIOD * val) / 256);
break;
#endif
#ifdef _OCMP3
case TIMER_OC3:
//* Open Timer2 with Period register value
OpenTimer2(T2_ON | T2_PS_1_256, PWM_TIMER_PERIOD);
OpenOC3( OC_ON | OC_TIMER_MODE32 | OC_TIMER2_SRC | OC_CONTINUE_PULSE | OC_LOW_HIGH, 256, (256 - val) );
// SetDCOC3PWM((PWM_TIMER_PERIOD * val) / 256);
break;
#endif
#ifdef _OCMP4
case TIMER_OC4:
//* Open Timer2 with Period register value
OpenTimer2(T2_ON | T2_PS_1_256, PWM_TIMER_PERIOD);
OpenOC4( OC_ON | OC_TIMER_MODE32 | OC_TIMER2_SRC | OC_CONTINUE_PULSE | OC_LOW_HIGH, 256, (256 - val) );
// SetDCOC4PWM((PWM_TIMER_PERIOD * val) / 256);
break;
#endif
#ifdef _OCMP5
case TIMER_OC5:
//* Open Timer2 with Period register value
OpenTimer2(T2_ON | T2_PS_1_256, PWM_TIMER_PERIOD);
OpenOC5( OC_ON | OC_TIMER_MODE32 | OC_TIMER2_SRC | OC_CONTINUE_PULSE | OC_LOW_HIGH, 256, (256 - val) );
// SetDCOC5PWM((PWM_TIMER_PERIOD * val) / 256);
break;
#endif
#endif
case NOT_ON_TIMER:
default:
if (val < 128)
{
digitalWrite(pin, LOW);
}
else
{
digitalWrite(pin, HIGH);
}
}
}
}
void PWMWrite(uint8_t pin, uint32_t analog_res, uint32_t duty, uint32_t freq)
{
analog_res = analog_res * 1000;
freq;
uint32_t load = (F_CPU / freq) * 1000;
uint32_t match = load / (analog_res / duty);
match = match;
load = load / 1000;
uint16_t prescaler = load >> 16;
uint16_t prescaler_match = match >> 16;
uint8_t timer = digitalPinToTimer(pin);
if(timer == NOT_ON_TIMER)
return;
MAP_PRCMPeripheralClkEnable(PRCM_TIMERA0 + (timer/2), PRCM_RUN_MODE_CLK);
uint16_t pnum = digitalPinToPinNum(pin);
switch(timer) {
/* PWM0/1 */
case TIMERA0A:
case TIMERA0B:
MAP_PinTypeTimer(pnum, PIN_MODE_5);
break;
/* PWM2/3 */
case TIMERA1A:
case TIMERA1B:
MAP_PinTypeTimer(pnum, PIN_MODE_9);
break;
/* PWM4/5 */
case TIMERA2A:
case TIMERA2B:
MAP_PinTypeTimer(pnum, PIN_MODE_3);
break;
/* PWM6/7 */
case TIMERA3A:
case TIMERA3B:
MAP_PinTypeTimer(pnum, PIN_MODE_3);
break;
}
uint32_t base = TIMERA0_BASE + ((timer/2) << 12);
/* FIXME: If B is already opperational and configure A, B get's messed up. */
MAP_TimerConfigure(base, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_PWM | TIMER_CFG_B_PWM);
uint16_t timerab = timer % 2 ? TIMER_B : TIMER_A;
MAP_TimerPrescaleSet(base, timerab, prescaler);
MAP_TimerPrescaleMatchSet(base, timerab, prescaler_match);
MAP_TimerControlLevel(base, timerab, 1);
MAP_TimerLoadSet(base, timerab, load);
MAP_TimerMatchSet(base, timerab, match);
MAP_TimerEnable(base, timerab);
}
void tone( uint8_t _pin, unsigned int frequency, unsigned long duration )
{
if ( tone_pin == 255 )
{
/* Set the timer to power-up conditions so we start from a known state */
// Ensure the timer is in the same state as power-up
#if (TIMER_TO_USE_FOR_TONE == 0)
TCCR0B = (0<<FOC0A) | (0<<FOC0B) | (0<<WGM02) | (0<<CS02) | (0<<CS01) | (0<<CS00);
TCCR0A = (0<<COM0A1) | (0<<COM0A0) | (0<<COM0B1) | (0<<COM0B0) | (0<<WGM01) | (0<<WGM00);
// Reset the count to zero
TCNT0 = 0;
// Set the output compare registers to zero
OCR0A = 0;
OCR0B = 0;
#if defined(TIMSK)
// Disable all Timer0 interrupts
TIMSK &= ~((1<<OCIE0B) | (1<<OCIE0A) | (1<<TOIE0));
// Clear the Timer0 interrupt flags
TIFR |= ((1<<OCF0B) | (1<<OCF0A) | (1<<TOV0));
#elif defined(TIMSK1)
// Disable all Timer0 interrupts
TIMSK0 &= ~((1<<OCIE0B) | (1<<OCIE0A) | (1<<TOIE0));
// Clear the Timer0 interrupt flags
TIFR0 |= ((1<<OCF0B) | (1<<OCF0A) | (1<<TOV0));
#endif
#elif (TIMER_TO_USE_FOR_TONE == 1) && defined(TCCR1)
// Turn off Clear on Compare Match, turn off PWM A, disconnect the timer from the output pin, stop the clock
TCCR1 = (0<<CTC1) | (0<<PWM1A) | (0<<COM1A1) | (0<<COM1A0) | (0<<CS13) | (0<<CS12) | (0<<CS11) | (0<<CS10);
// Turn off PWM A, disconnect the timer from the output pin, no Force Output Compare Match, no Prescaler Reset
GTCCR &= ~((1<<PWM1B) | (1<<COM1B1) | (1<<COM1B0) | (1<<FOC1B) | (1<<FOC1A) | (1<<PSR1));
// Reset the count to zero
TCNT1 = 0;
// Set the output compare registers to zero
OCR1A = 0;
OCR1B = 0;
OCR1C = 0;
// Disable all Timer1 interrupts
TIMSK &= ~((1<<OCIE1A) | (1<<OCIE1B) | (1<<TOIE1));
// Clear the Timer1 interrupt flags
TIFR |= ((1<<OCF1A) | (1<<OCF1B) | (1<<TOV1));
#elif (TIMER_TO_USE_FOR_TONE == 1) && defined(TCCR1E)
TCCR1A = 0;
TCCR1B = 0;
TCCR1C = 0;
TCCR1D = 0;
TCCR1E = 0;
// Reset the count to zero
TCNT1 = 0;
// Set the output compare registers to zero
OCR1A = 0;
OCR1B = 0;
// Disable all Timer1 interrupts
TIMSK &= ~((1<<TOIE1) | (1<<OCIE1A) | (1<<OCIE1B) | (1<<OCIE1D));
// Clear the Timer1 interrupt flags
TIFR |= ((1<<TOV1) | (1<<OCF1A) | (1<<OCF1B) | (1<<OCF1D));
#elif (TIMER_TO_USE_FOR_TONE == 1)
// Turn off Input Capture Noise Canceler, Input Capture Edge Select on Falling, stop the clock
TCCR1B = (0<<ICNC1) | (0<<ICES1) | (0<<WGM13) | (0<<WGM12) | (0<<CS12) | (0<<CS11) | (0<<CS10);
// Disconnect the timer from the output pins, Set Waveform Generation Mode to Normal
TCCR1A = (0<<COM1A1) | (0<<COM1A0) | (0<<COM1B1) | (0<<COM1B0) | (0<<WGM11) | (0<<WGM10);
// Reset the count to zero
TCNT1 = 0;
// Set the output compare registers to zero
OCR1A = 0;
OCR1B = 0;
// Disable all Timer1 interrupts
#if defined(TIMSK)
TIMSK &= ~((1<<TOIE1) | (1<<OCIE1A) | (1<<OCIE1B) | (1<<ICIE1));
// Clear the Timer1 interrupt flags
TIFR |= ((1<<TOV1) | (1<<OCF1A) | (1<<OCF1B) | (1<<ICF1));
#elif defined(TIMSK1)
// Disable all Timer1 interrupts
TIMSK1 &= ~((1<<TOIE1) | (1<<OCIE1A) | (1<<OCIE1B) | (1<<ICIE1));
// Clear the Timer1 interrupt flags
TIFR1 |= ((1<<TOV1) | (1<<OCF1A) | (1<<OCF1B) | (1<<ICF1));
#endif
#endif
/*
Compare Output Mode = Normal port operation, OCxA/OCxB disconnected.
Waveform Generation Mode = 4; 0100; CTC; (Clear Timer on Compare); OCR1A; Immediate; MAX
Clock Select = No clock source (Timer/Counter stopped).
Note: Turn off the clock first to avoid ticks and scratches.
*/
#if TIMER_TO_USE_FOR_TONE == 1
#if defined(TCCR1)
sbi(TCCR1,CTC1);
cbi(TCCR1,PWM1A);
cbi(GTCCR,PWM1B);
#elif !defined(TCCR1E)
cbi(TCCR1A,WGM10);
cbi(TCCR1A,WGM11);
sbi(TCCR1B,WGM12);
cbi(TCCR1B,WGM13);
#endif
#elif TIMER_TO_USE_FOR_TONE == 0
cbi(TCCR0A,WGM00);
sbi(TCCR0A,WGM01);
cbi(TCCR0B,WGM02);
#endif
/* If the tone pin can be driven directly from the timer */
#if (TIMER_TO_USE_FOR_TONE == 1) && defined(TCCR1E)
if ( (digitalPinToTimer(_pin) == TIMER1A) || (digitalPinToTimer(_pin) == TIMER1B) || (digitalPinToTimer(_pin) == TIMER1D) )
{
#elif (TIMER_TO_USE_FOR_TONE == 1)
if ( (digitalPinToTimer(_pin) == TIMER1A) || (digitalPinToTimer(_pin) == TIMER1B) )
{
#elif (TIMER_TO_USE_FOR_TONE == 0)
if ( (digitalPinToTimer(_pin) == TIMER0A) || (digitalPinToTimer(_pin) == TIMER0B) )
{
#else
if (0)
{ //unsupported, so only use software.
#endif
/* Pin toggling is handled by the hardware */
tone_timer_pin_register = NULL;
tone_timer_pin_mask = 0;
uint8_t timer = digitalPinToTimer(_pin);
#if defined(COM0A1)
//Just in case there are now pwm pins on timer0 (ATTiny861)
if (timer == TIMER0A)
{
/* Compare Output Mode = Toggle OC0A on Compare Match. */
cbi(TCCR0A,COM0A1);
sbi(TCCR0A,COM0A0);
}
else
#endif
if (timer == TIMER1A)
{
/* Compare Output Mode = Toggle OC1A on Compare Match. */
#if defined(TCCR1)
cbi(TCCR1,COM1A1);
sbi(TCCR1,COM1A0);
#elif defined(TCCR1E)
cbi(TCCR1C,COM1A1S);
sbi(TCCR1C,COM1A0S);
#else
cbi(TCCR1A,COM1A1);
sbi(TCCR1A,COM1A0);
#endif
}
#if defined(COM0B1)
//Just in case there are <2 pwm pins on timer0 (ATTiny861)
else if (timer == TIMER0B)
{
/* Compare Output Mode = Toggle OC0B on Compare Match. */
cbi(TCCR0A,COM0B1);
sbi(TCCR0A,COM0B0);
}
#endif
#if defined(COM1D1)
//in case there is a OCRD. (ATtiny861)
else if (timer == TIMER1D){
/* Compare Output Mode = Toggle OC1D on Compare Match. */
#if defined(TCCR1)
cbi(TCCR1,COM1D1);
sbi(TCCR1,COM1D0);
#elif defined(TCCR1E)
cbi(TCCR1C,COM1D1);
sbi(TCCR1C,COM1D0);
#else
cbi(TCCR1A,COM1D1);
sbi(TCCR1A,COM1D0);
#endif
}
#endif
else
{
/* Compare Output Mode = Toggle OC1B on Compare Match. */
#if defined(TCCR1)
cbi(GTCCR,COM1B1);
sbi(GTCCR,COM1B0);
#elif defined(TCCR1E)
cbi(TCCR1C,COM1B1S);
sbi(TCCR1C,COM1B0S);
#else
cbi(TCCR1A,COM1B1);
sbi(TCCR1A,COM1B0);
#endif
}
}
else
{
/* Save information needed by the interrupt service routine */
tone_timer_pin_register = portOutputRegister( digitalPinToPort( _pin ) );
tone_timer_pin_mask = digitalPinToBitMask( _pin );
/* Compare Output Mode = Normal port operation, OCxA disconnected. */
#if (TIMER_TO_USE_FOR_TONE == 0)
TCCR0A &= ~((1<<COM0A1)|(1<<COM0A0)|(1<<COM0B1)|(1<<COM0B0));
#elif (TIMER_TO_USE_FOR_TONE == 1) & defined(TCCR1)
TCCR1 &= ~((1<<COM1A1)|(1<<COM1A0));
GTCCR &= ~((1<<COM1B1)|(1<<COM1B0));
#elif (TIMER_TO_USE_FOR_TONE == 1) && defined(TCCR1E)
TCCR1C &= ~((1<<COM1A1S)|(1<<COM1A0S)|(1<<COM1B1S)|(1<<COM1B0S)|(1<<COM1D1)|(1<<COM1D0));
#elif (TIMER_TO_USE_FOR_TONE == 1)
TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0));
#endif
}
/* Ensure the pin is configured for output */
pinMode( _pin, OUTPUT );
tone_pin = _pin;
}
if ( tone_pin == _pin )
{
/* Stop the clock while we make changes, then set the counter to zero to reduce ticks and scratches. */
// Millis timer is always processor clock divided by MillisTimer_Prescale_Value (64)
#if (TIMER_TO_USE_FOR_TONE == 0)
TCCR0B &= ~((1<<CS02)|(1<<CS01)|(1<<CS00));
TCNT0 = 0;
#elif (TIMER_TO_USE_FOR_TONE == 1) && defined(TCCR1)
TCCR1 &= ~((1<<CS13)|(1<<CS12)|(1<<CS11)|(1<<CS10));
TCNT1 = 0;
#elif (TIMER_TO_USE_FOR_TONE == 1) && defined(TCCR1E)
TCCR1B &= ~((1<<CS13)|(1<<CS12)|(1<<CS11)|(1<<CS10));
TCNT1 = 0;
#elif (TIMER_TO_USE_FOR_TONE == 1)
TCCR1B &= ~((1<<CS12)|(1<<CS11)|(1<<CS10));
TCNT1 = 0;
#endif
if ( frequency > 0 )
{
/* Determine which prescaler to use */
/* Set the Output Compare Register (rounding up) */
#if TIMER_TO_USE_FOR_TONE == 1
uint16_t ocr = F_CPU / frequency / 2;
#if defined(TCCR1E)
uint8_t prescalarbits = 0b0001;
if (ocr > 256)
{
ocr >>= 3; //divide by 8
prescalarbits = 0b0100; // ck/8
if (ocr > 256)
{
ocr >>= 3; //divide by a further 8
prescalarbits = 0b0111; //ck/64
if (ocr > 256)
{
ocr >>= 2; //divide by a further 4
prescalarbits = 0b1001; //ck/256
if (ocr > 256)
{
// can't do any better than /1024
ocr >>= 2; //divide by a further 4
prescalarbits = 0b1011; //ck/1024
}
}
}