Merged robot core

1 files changed, 0 insertions, 616 deletions

diff --git a/cores/robot/Tone.cpp b/cores/robot/Tone.cpp
deleted file mode 100755
index 9bb6fe7..0000000
--- a/cores/robot/Tone.cpp
+++ /dev/null
@@ -1,616 +0,0 @@
-/* Tone.cpp
-
-  A Tone Generator Library
-
-  Written by Brett Hagman
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library 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
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-
-Version Modified By Date     Comments
-------- ----------- -------- --------
-0001    B Hagman    09/08/02 Initial coding
-0002    B Hagman    09/08/18 Multiple pins
-0003    B Hagman    09/08/18 Moved initialization from constructor to begin()
-0004    B Hagman    09/09/26 Fixed problems with ATmega8
-0005    B Hagman    09/11/23 Scanned prescalars for best fit on 8 bit timers
-                    09/11/25 Changed pin toggle method to XOR
-                    09/11/25 Fixed timer0 from being excluded
-0006    D Mellis    09/12/29 Replaced objects with functions
-0007    M Sproul    10/08/29 Changed #ifdefs from cpu to register
-0008    S Kanemoto  12/06/22 Fixed for Leonardo by @maris_HY
-*************************************************/
-
-#include <avr/interrupt.h>
-#include <avr/pgmspace.h>
-#include "Arduino.h"
-#include "pins_arduino.h"
-
-#if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__)
-#define TCCR2A TCCR2
-#define TCCR2B TCCR2
-#define COM2A1 COM21
-#define COM2A0 COM20
-#define OCR2A OCR2
-#define TIMSK2 TIMSK
-#define OCIE2A OCIE2
-#define TIMER2_COMPA_vect TIMER2_COMP_vect
-#define TIMSK1 TIMSK
-#endif
-
-// timerx_toggle_count:
-//  > 0 - duration specified
-//  = 0 - stopped
-//  < 0 - infinitely (until stop() method called, or new play() called)
-
-#if !defined(__AVR_ATmega8__)
-volatile long timer0_toggle_count;
-volatile uint8_t *timer0_pin_port;
-volatile uint8_t timer0_pin_mask;
-#endif
-
-volatile long timer1_toggle_count;
-volatile uint8_t *timer1_pin_port;
-volatile uint8_t timer1_pin_mask;
-volatile long timer2_toggle_count;
-volatile uint8_t *timer2_pin_port;
-volatile uint8_t timer2_pin_mask;
-
-#if defined(TIMSK3)
-volatile long timer3_toggle_count;
-volatile uint8_t *timer3_pin_port;
-volatile uint8_t timer3_pin_mask;
-#endif
-
-#if defined(TIMSK4)
-volatile long timer4_toggle_count;
-volatile uint8_t *timer4_pin_port;
-volatile uint8_t timer4_pin_mask;
-#endif
-
-#if defined(TIMSK5)
-volatile long timer5_toggle_count;
-volatile uint8_t *timer5_pin_port;
-volatile uint8_t timer5_pin_mask;
-#endif
-
-
-#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-
-#define AVAILABLE_TONE_PINS 1
-#define USE_TIMER2
-
-const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 3, 4, 5, 1, 0 */ };
-static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255, 255, 255, 255 */ };
-
-#elif defined(__AVR_ATmega8__)
-
-#define AVAILABLE_TONE_PINS 1
-#define USE_TIMER2
-
-const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1 */ };
-static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255 */ };
-
-#elif defined(__AVR_ATmega32U4__)
- 
-#define AVAILABLE_TONE_PINS 1
-#define USE_TIMER3
- 
-const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 3 /*, 1 */ };
-static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255 */ };
- 
-#else
-
-#define AVAILABLE_TONE_PINS 1
-#define USE_TIMER2
-
-// Leave timer 0 to last.
-const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1, 0 */ };
-static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255 */ };
-
-#endif
-
-
-
-static int8_t toneBegin(uint8_t _pin)
-{
-  int8_t _timer = -1;
-
-  // if we're already using the pin, the timer should be configured.  
-  for (int i = 0; i < AVAILABLE_TONE_PINS; i++) {
-    if (tone_pins[i] == _pin) {
-      return pgm_read_byte(tone_pin_to_timer_PGM + i);
-    }
-  }
-  
-  // search for an unused timer.
-  for (int i = 0; i < AVAILABLE_TONE_PINS; i++) {
-    if (tone_pins[i] == 255) {
-      tone_pins[i] = _pin;
-      _timer = pgm_read_byte(tone_pin_to_timer_PGM + i);
-      break;
-    }
-  }
-  
-  if (_timer != -1)
-  {
-    // Set timer specific stuff
-    // All timers in CTC mode
-    // 8 bit timers will require changing prescalar values,
-    // whereas 16 bit timers are set to either ck/1 or ck/64 prescalar
-    switch (_timer)
-    {
-      #if defined(TCCR0A) && defined(TCCR0B)
-      case 0:
-        // 8 bit timer
-        TCCR0A = 0;
-        TCCR0B = 0;
-        bitWrite(TCCR0A, WGM01, 1);
-        bitWrite(TCCR0B, CS00, 1);
-        timer0_pin_port = portOutputRegister(digitalPinToPort(_pin));
-        timer0_pin_mask = digitalPinToBitMask(_pin);
-        break;
-      #endif
-
-      #if defined(TCCR1A) && defined(TCCR1B) && defined(WGM12)
-      case 1:
-        // 16 bit timer
-        TCCR1A = 0;
-        TCCR1B = 0;
-        bitWrite(TCCR1B, WGM12, 1);
-        bitWrite(TCCR1B, CS10, 1);
-        timer1_pin_port = portOutputRegister(digitalPinToPort(_pin));
-        timer1_pin_mask = digitalPinToBitMask(_pin);
-        break;
-      #endif
-
-      #if defined(TCCR2A) && defined(TCCR2B)
-      case 2:
-        // 8 bit timer
-        TCCR2A = 0;
-        TCCR2B = 0;
-        bitWrite(TCCR2A, WGM21, 1);
-        bitWrite(TCCR2B, CS20, 1);
-        timer2_pin_port = portOutputRegister(digitalPinToPort(_pin));
-        timer2_pin_mask = digitalPinToBitMask(_pin);
-        break;
-      #endif
-
-      #if defined(TCCR3A) && defined(TCCR3B) &&  defined(TIMSK3)
-      case 3:
-        // 16 bit timer
-        TCCR3A = 0;
-        TCCR3B = 0;
-        bitWrite(TCCR3B, WGM32, 1);
-        bitWrite(TCCR3B, CS30, 1);
-        timer3_pin_port = portOutputRegister(digitalPinToPort(_pin));
-        timer3_pin_mask = digitalPinToBitMask(_pin);
-        break;
-      #endif
-
-      #if defined(TCCR4A) && defined(TCCR4B) &&  defined(TIMSK4)
-      case 4:
-        // 16 bit timer
-        TCCR4A = 0;
-        TCCR4B = 0;
-        #if defined(WGM42)
-          bitWrite(TCCR4B, WGM42, 1);
-        #elif defined(CS43)
-          #warning this may not be correct
-          // atmega32u4
-          bitWrite(TCCR4B, CS43, 1);
-        #endif
-        bitWrite(TCCR4B, CS40, 1);
-        timer4_pin_port = portOutputRegister(digitalPinToPort(_pin));
-        timer4_pin_mask = digitalPinToBitMask(_pin);
-        break;
-      #endif
-
-      #if defined(TCCR5A) && defined(TCCR5B) &&  defined(TIMSK5)
-      case 5:
-        // 16 bit timer
-        TCCR5A = 0;
-        TCCR5B = 0;
-        bitWrite(TCCR5B, WGM52, 1);
-        bitWrite(TCCR5B, CS50, 1);
-        timer5_pin_port = portOutputRegister(digitalPinToPort(_pin));
-        timer5_pin_mask = digitalPinToBitMask(_pin);
-        break;
-      #endif
-    }
-  }
-
-  return _timer;
-}
-
-
-
-// frequency (in hertz) and duration (in milliseconds).
-
-void tone(uint8_t _pin, unsigned int frequency, unsigned long duration)
-{
-  uint8_t prescalarbits = 0b001;
-  long toggle_count = 0;
-  uint32_t ocr = 0;
-  int8_t _timer;
-
-  _timer = toneBegin(_pin);
-
-  if (_timer >= 0)
-  {
-    // Set the pinMode as OUTPUT
-    pinMode(_pin, OUTPUT);
-    
-    // if we are using an 8 bit timer, scan through prescalars to find the best fit
-    if (_timer == 0 || _timer == 2)
-    {
-      ocr = F_CPU / frequency / 2 - 1;
-      prescalarbits = 0b001;  // ck/1: same for both timers
-      if (ocr > 255)
-      {
-        ocr = F_CPU / frequency / 2 / 8 - 1;
-        prescalarbits = 0b010;  // ck/8: same for both timers
-
-        if (_timer == 2 && ocr > 255)
-        {
-          ocr = F_CPU / frequency / 2 / 32 - 1;
-          prescalarbits = 0b011;
-        }
-
-        if (ocr > 255)
-        {
-          ocr = F_CPU / frequency / 2 / 64 - 1;
-          prescalarbits = _timer == 0 ? 0b011 : 0b100;
-
-          if (_timer == 2 && ocr > 255)
-          {
-            ocr = F_CPU / frequency / 2 / 128 - 1;
-            prescalarbits = 0b101;
-          }
-
-          if (ocr > 255)
-          {
-            ocr = F_CPU / frequency / 2 / 256 - 1;
-            prescalarbits = _timer == 0 ? 0b100 : 0b110;
-            if (ocr > 255)
-            {
-              // can't do any better than /1024
-              ocr = F_CPU / frequency / 2 / 1024 - 1;
-              prescalarbits = _timer == 0 ? 0b101 : 0b111;
-            }
-          }
-        }
-      }
-
-#if defined(TCCR0B)
-      if (_timer == 0)
-      {
-        TCCR0B = prescalarbits;
-      }
-      else
-#endif
-#if defined(TCCR2B)
-      {
-        TCCR2B = prescalarbits;
-      }
-#else
-      {
-        // dummy place holder to make the above ifdefs work
-      }
-#endif
-    }
-    else
-    {
-      // two choices for the 16 bit timers: ck/1 or ck/64
-      ocr = F_CPU / frequency / 2 - 1;
-
-      prescalarbits = 0b001;
-      if (ocr > 0xffff)
-      {
-        ocr = F_CPU / frequency / 2 / 64 - 1;
-        prescalarbits = 0b011;
-      }
-
-      if (_timer == 1)
-      {
-#if defined(TCCR1B)
-        TCCR1B = (TCCR1B & 0b11111000) | prescalarbits;
-#endif
-      }
-#if defined(TCCR3B)
-      else if (_timer == 3)
-        TCCR3B = (TCCR3B & 0b11111000) | prescalarbits;
-#endif
-#if defined(TCCR4B)
-      else if (_timer == 4)
-        TCCR4B = (TCCR4B & 0b11111000) | prescalarbits;
-#endif
-#if defined(TCCR5B)
-      else if (_timer == 5)
-        TCCR5B = (TCCR5B & 0b11111000) | prescalarbits;
-#endif
-
-    }
-    
-
-    // Calculate the toggle count
-    if (duration > 0)
-    {
-      toggle_count = 2 * frequency * duration / 1000;
-    }
-    else
-    {
-      toggle_count = -1;
-    }
-
-    // Set the OCR for the given timer,
-    // set the toggle count,
-    // then turn on the interrupts
-    switch (_timer)
-    {
-
-#if defined(OCR0A) && defined(TIMSK0) && defined(OCIE0A)
-      case 0:
-        OCR0A = ocr;
-        timer0_toggle_count = toggle_count;
-        bitWrite(TIMSK0, OCIE0A, 1);
-        break;
-#endif
-
-      case 1:
-#if defined(OCR1A) && defined(TIMSK1) && defined(OCIE1A)
-        OCR1A = ocr;
-        timer1_toggle_count = toggle_count;
-        bitWrite(TIMSK1, OCIE1A, 1);
-#elif defined(OCR1A) && defined(TIMSK) && defined(OCIE1A)
-        // this combination is for at least the ATmega32
-        OCR1A = ocr;
-        timer1_toggle_count = toggle_count;
-        bitWrite(TIMSK, OCIE1A, 1);
-#endif
-        break;
-
-#if defined(OCR2A) && defined(TIMSK2) && defined(OCIE2A)
-      case 2:
-        OCR2A = ocr;
-        timer2_toggle_count = toggle_count;
-        bitWrite(TIMSK2, OCIE2A, 1);
-        break;
-#endif
-
-#if defined(TIMSK3)
-      case 3:
-        OCR3A = ocr;
-        timer3_toggle_count = toggle_count;
-        bitWrite(TIMSK3, OCIE3A, 1);
-        break;
-#endif
-
-#if defined(TIMSK4)
-      case 4:
-        OCR4A = ocr;
-        timer4_toggle_count = toggle_count;
-        bitWrite(TIMSK4, OCIE4A, 1);
-        break;
-#endif
-
-#if defined(OCR5A) && defined(TIMSK5) && defined(OCIE5A)
-      case 5:
-        OCR5A = ocr;
-        timer5_toggle_count = toggle_count;
-        bitWrite(TIMSK5, OCIE5A, 1);
-        break;
-#endif
-
-    }
-  }
-}
-
-
-// XXX: this function only works properly for timer 2 (the only one we use
-// currently).  for the others, it should end the tone, but won't restore
-// proper PWM functionality for the timer.
-void disableTimer(uint8_t _timer)
-{
-  switch (_timer)
-  {
-    case 0:
-      #if defined(TIMSK0)
-        TIMSK0 = 0;
-      #elif defined(TIMSK)
-        TIMSK = 0; // atmega32
-      #endif
-      break;
-
-#if defined(TIMSK1) && defined(OCIE1A)
-    case 1:
-      bitWrite(TIMSK1, OCIE1A, 0);
-      break;
-#endif
-
-    case 2:
-      #if defined(TIMSK2) && defined(OCIE2A)
-        bitWrite(TIMSK2, OCIE2A, 0); // disable interrupt
-      #endif
-      #if defined(TCCR2A) && defined(WGM20)
-        TCCR2A = (1 << WGM20);
-      #endif
-      #if defined(TCCR2B) && defined(CS22)
-        TCCR2B = (TCCR2B & 0b11111000) | (1 << CS22);
-      #endif
-      #if defined(OCR2A)
-        OCR2A = 0;
-      #endif
-      break;
-
-#if defined(TIMSK3)
-    case 3:
-      TIMSK3 = 0;
-      break;
-#endif
-
-#if defined(TIMSK4)
-    case 4:
-      TIMSK4 = 0;
-      break;
-#endif
-
-#if defined(TIMSK5)
-    case 5:
-      TIMSK5 = 0;
-      break;
-#endif
-  }
-}
-
-
-void noTone(uint8_t _pin)
-{
-  int8_t _timer = -1;
-  
-  for (int i = 0; i < AVAILABLE_TONE_PINS; i++) {
-    if (tone_pins[i] == _pin) {
-      _timer = pgm_read_byte(tone_pin_to_timer_PGM + i);
-      tone_pins[i] = 255;
-    }
-  }
-  
-  disableTimer(_timer);
-
-  digitalWrite(_pin, 0);
-}
-
-#ifdef USE_TIMER0
-ISR(TIMER0_COMPA_vect)
-{
-  if (timer0_toggle_count != 0)
-  {
-    // toggle the pin
-    *timer0_pin_port ^= timer0_pin_mask;
-
-    if (timer0_toggle_count > 0)
-      timer0_toggle_count--;
-  }
-  else
-  {
-    disableTimer(0);
-    *timer0_pin_port &= ~(timer0_pin_mask);  // keep pin low after stop
-  }
-}
-#endif
-
-
-#ifdef USE_TIMER1
-ISR(TIMER1_COMPA_vect)
-{
-  if (timer1_toggle_count != 0)
-  {
-    // toggle the pin
-    *timer1_pin_port ^= timer1_pin_mask;
-
-    if (timer1_toggle_count > 0)
-      timer1_toggle_count--;
-  }
-  else
-  {
-    disableTimer(1);
-    *timer1_pin_port &= ~(timer1_pin_mask);  // keep pin low after stop
-  }
-}
-#endif
-
-
-#ifdef USE_TIMER2
-ISR(TIMER2_COMPA_vect)
-{
-
-  if (timer2_toggle_count != 0)
-  {
-    // toggle the pin
-    *timer2_pin_port ^= timer2_pin_mask;
-
-    if (timer2_toggle_count > 0)
-      timer2_toggle_count--;
-  }
-  else
-  {
-    // need to call noTone() so that the tone_pins[] entry is reset, so the
-    // timer gets initialized next time we call tone().
-    // XXX: this assumes timer 2 is always the first one used.
-    noTone(tone_pins[0]);
-//    disableTimer(2);
-//    *timer2_pin_port &= ~(timer2_pin_mask);  // keep pin low after stop
-  }
-}
-#endif
-
-
-#ifdef USE_TIMER3
-ISR(TIMER3_COMPA_vect)
-{
-  if (timer3_toggle_count != 0)
-  {
-    // toggle the pin
-    *timer3_pin_port ^= timer3_pin_mask;
-
-    if (timer3_toggle_count > 0)
-      timer3_toggle_count--;
-  }
-  else
-  {
-    disableTimer(3);
-    *timer3_pin_port &= ~(timer3_pin_mask);  // keep pin low after stop
-  }
-}
-#endif
-
-
-#ifdef USE_TIMER4
-ISR(TIMER4_COMPA_vect)
-{
-  if (timer4_toggle_count != 0)
-  {
-    // toggle the pin
-    *timer4_pin_port ^= timer4_pin_mask;
-
-    if (timer4_toggle_count > 0)
-      timer4_toggle_count--;
-  }
-  else
-  {
-    disableTimer(4);
-    *timer4_pin_port &= ~(timer4_pin_mask);  // keep pin low after stop
-  }
-}
-#endif
-
-
-#ifdef USE_TIMER5
-ISR(TIMER5_COMPA_vect)
-{
-  if (timer5_toggle_count != 0)
-  {
-    // toggle the pin
-    *timer5_pin_port ^= timer5_pin_mask;
-
-    if (timer5_toggle_count > 0)
-      timer5_toggle_count--;
-  }
-  else
-  {
-    disableTimer(5);
-    *timer5_pin_port &= ~(timer5_pin_mask);  // keep pin low after stop
-  }
-}
-#endif