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Diffstat (limited to 'cores/arduino/wiring.c')
| -rwxr-xr-x | cores/arduino/wiring.c | 250 |
1 files changed, 250 insertions, 0 deletions
diff --git a/cores/arduino/wiring.c b/cores/arduino/wiring.c new file mode 100755 index 0000000..72bc282 --- /dev/null +++ b/cores/arduino/wiring.c @@ -0,0 +1,250 @@ +/* + wiring.c - Partial implementation of the Wiring API for the ATmega8. + Part of Arduino - http://www.arduino.cc/ + + Copyright (c) 2005-2006 David A. Mellis + + 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., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA + + $Id$ +*/ + +#include "wiring_private.h" + +// the prescaler is set so that timer0 ticks every 64 clock cycles, and the +// the overflow handler is called every 256 ticks. +#define MICROSECONDS_PER_TIMER0_OVERFLOW (clockCyclesToMicroseconds(64 * 256)) + +// the whole number of milliseconds per timer0 overflow +#define MILLIS_INC (MICROSECONDS_PER_TIMER0_OVERFLOW / 1000) + +// the fractional number of milliseconds per timer0 overflow. we shift right +// by three to fit these numbers into a byte. (for the clock speeds we care +// about - 8 and 16 MHz - this doesn't lose precision.) +#define FRACT_INC ((MICROSECONDS_PER_TIMER0_OVERFLOW % 1000) >> 3) +#define FRACT_MAX (1000 >> 3) + +volatile unsigned long timer0_overflow_count = 0; +volatile unsigned long timer0_millis = 0; +static unsigned char timer0_fract = 0; + +SIGNAL(TIMER0_OVF_vect) +{ + // copy these to local variables so they can be stored in registers + // (volatile variables must be read from memory on every access) + unsigned long m = timer0_millis; + unsigned char f = timer0_fract; + + m += MILLIS_INC; + f += FRACT_INC; + if (f >= FRACT_MAX) { + f -= FRACT_MAX; + m += 1; + } + + timer0_fract = f; + timer0_millis = m; + timer0_overflow_count++; +} + +unsigned long millis() +{ + unsigned long m; + uint8_t oldSREG = SREG; + + // disable interrupts while we read timer0_millis or we might get an + // inconsistent value (e.g. in the middle of a write to timer0_millis) + cli(); + m = timer0_millis; + SREG = oldSREG; + + return m; +} + +unsigned long micros() { + unsigned long m, t; + uint8_t oldSREG = SREG; + + cli(); + t = TCNT0; + +#ifdef TIFR0 + if ((TIFR0 & _BV(TOV0)) && (t == 0)) + t = 256; +#else + if ((TIFR & _BV(TOV0)) && (t == 0)) + t = 256; +#endif + + m = timer0_overflow_count; + SREG = oldSREG; + + return ((m << 8) + t) * (64 / clockCyclesPerMicrosecond()); +} + +void delay(unsigned long ms) +{ + unsigned long start = millis(); + + while (millis() - start <= ms) + ; +} + +/* Delay for the given number of microseconds. Assumes a 8 or 16 MHz clock. + * Disables interrupts, which will disrupt the millis() function if used + * too frequently. */ +void delayMicroseconds(unsigned int us) +{ + uint8_t oldSREG; + + // calling avrlib's delay_us() function with low values (e.g. 1 or + // 2 microseconds) gives delays longer than desired. + //delay_us(us); + +#if F_CPU >= 16000000L + // for the 16 MHz clock on most Arduino boards + + // for a one-microsecond delay, simply return. the overhead + // of the function call yields a delay of approximately 1 1/8 us. + if (--us == 0) + return; + + // the following loop takes a quarter of a microsecond (4 cycles) + // per iteration, so execute it four times for each microsecond of + // delay requested. + us <<= 2; + + // account for the time taken in the preceeding commands. + us -= 2; +#else + // for the 8 MHz internal clock on the ATmega168 + + // for a one- or two-microsecond delay, simply return. the overhead of + // the function calls takes more than two microseconds. can't just + // subtract two, since us is unsigned; we'd overflow. + if (--us == 0) + return; + if (--us == 0) + return; + + // the following loop takes half of a microsecond (4 cycles) + // per iteration, so execute it twice for each microsecond of + // delay requested. + us <<= 1; + + // partially compensate for the time taken by the preceeding commands. + // we can't subtract any more than this or we'd overflow w/ small delays. + us--; +#endif + + // disable interrupts, otherwise the timer 0 overflow interrupt that + // tracks milliseconds will make us delay longer than we want. + oldSREG = SREG; + cli(); + + // busy wait + __asm__ __volatile__ ( + "1: sbiw %0,1" "\n\t" // 2 cycles + "brne 1b" : "=w" (us) : "0" (us) // 2 cycles + ); + + // reenable interrupts. + SREG = oldSREG; +} + +void init() +{ + // this needs to be called before setup() or some functions won't + // work there + sei(); + + // on the ATmega168, timer 0 is also used for fast hardware pwm + // (using phase-correct PWM would mean that timer 0 overflowed half as often + // resulting in different millis() behavior on the ATmega8 and ATmega168) +#if !defined(__AVR_ATmega8__) + sbi(TCCR0A, WGM01); + sbi(TCCR0A, WGM00); +#endif + // set timer 0 prescale factor to 64 +#if defined(__AVR_ATmega8__) + sbi(TCCR0, CS01); + sbi(TCCR0, CS00); +#else + sbi(TCCR0B, CS01); + sbi(TCCR0B, CS00); +#endif + // enable timer 0 overflow interrupt +#if defined(__AVR_ATmega8__) + sbi(TIMSK, TOIE0); +#else + sbi(TIMSK0, TOIE0); +#endif + + // timers 1 and 2 are used for phase-correct hardware pwm + // this is better for motors as it ensures an even waveform + // note, however, that fast pwm mode can achieve a frequency of up + // 8 MHz (with a 16 MHz clock) at 50% duty cycle + + // set timer 1 prescale factor to 64 + sbi(TCCR1B, CS11); + sbi(TCCR1B, CS10); + // put timer 1 in 8-bit phase correct pwm mode + sbi(TCCR1A, WGM10); + + // set timer 2 prescale factor to 64 +#if defined(__AVR_ATmega8__) + sbi(TCCR2, CS22); +#else + sbi(TCCR2B, CS22); +#endif + // configure timer 2 for phase correct pwm (8-bit) +#if defined(__AVR_ATmega8__) + sbi(TCCR2, WGM20); +#else + sbi(TCCR2A, WGM20); +#endif + +#if defined(__AVR_ATmega1280__) + // set timer 3, 4, 5 prescale factor to 64 + sbi(TCCR3B, CS31); sbi(TCCR3B, CS30); + sbi(TCCR4B, CS41); sbi(TCCR4B, CS40); + sbi(TCCR5B, CS51); sbi(TCCR5B, CS50); + // put timer 3, 4, 5 in 8-bit phase correct pwm mode + sbi(TCCR3A, WGM30); + sbi(TCCR4A, WGM40); + sbi(TCCR5A, WGM50); +#endif + + // set a2d prescale factor to 128 + // 16 MHz / 128 = 125 KHz, inside the desired 50-200 KHz range. + // XXX: this will not work properly for other clock speeds, and + // this code should use F_CPU to determine the prescale factor. + sbi(ADCSRA, ADPS2); + sbi(ADCSRA, ADPS1); + sbi(ADCSRA, ADPS0); + + // enable a2d conversions + sbi(ADCSRA, ADEN); + + // the bootloader connects pins 0 and 1 to the USART; disconnect them + // here so they can be used as normal digital i/o; they will be + // reconnected in Serial.begin() +#if defined(__AVR_ATmega8__) + UCSRB = 0; +#else + UCSR0B = 0; +#endif +}
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