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diff --git a/cores/robot/Tone.cpp b/cores/robot/Tone.cpp
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-/* 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
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