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Diffstat (limited to 'cores/robot/Tone.cpp')
| -rwxr-xr-x | cores/robot/Tone.cpp | 616 |
1 files changed, 616 insertions, 0 deletions
diff --git a/cores/robot/Tone.cpp b/cores/robot/Tone.cpp new file mode 100755 index 0000000..9bb6fe7 --- /dev/null +++ b/cores/robot/Tone.cpp @@ -0,0 +1,616 @@ +/* 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 |