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-rw-r--r--cores/robot/wiring_analog.c284
1 files changed, 0 insertions, 284 deletions
diff --git a/cores/robot/wiring_analog.c b/cores/robot/wiring_analog.c
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--- a/cores/robot/wiring_analog.c
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-/*
- wiring_analog.c - analog input and output
- 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
-
- Modified 28 September 2010 by Mark Sproul
-
- $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
-*/
-
-#include "wiring_private.h"
-#include "pins_arduino.h"
-
-uint8_t analog_reference = DEFAULT;
-
-void analogReference(uint8_t mode)
-{
- // can't actually set the register here because the default setting
- // will connect AVCC and the AREF pin, which would cause a short if
- // there's something connected to AREF.
- analog_reference = mode;
-}
-
-int analogRead(uint8_t pin)
-{
- uint8_t low, high;
-
-#if defined(analogPinToChannel)
-#if defined(__AVR_ATmega32U4__)
- if (pin >= 18) pin -= 18; // allow for channel or pin numbers
-#endif
- pin = analogPinToChannel(pin);
-#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
- if (pin >= 54) pin -= 54; // allow for channel or pin numbers
-#elif defined(__AVR_ATmega32U4__)
- if (pin >= 18) pin -= 18; // allow for channel or pin numbers
-#elif defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__)
- if (pin >= 24) pin -= 24; // allow for channel or pin numbers
-#else
- if (pin >= 14) pin -= 14; // allow for channel or pin numbers
-#endif
-
-#if defined(ADCSRB) && defined(MUX5)
- // the MUX5 bit of ADCSRB selects whether we're reading from channels
- // 0 to 7 (MUX5 low) or 8 to 15 (MUX5 high).
- ADCSRB = (ADCSRB & ~(1 << MUX5)) | (((pin >> 3) & 0x01) << MUX5);
-#endif
-
- // set the analog reference (high two bits of ADMUX) and select the
- // channel (low 4 bits). this also sets ADLAR (left-adjust result)
- // to 0 (the default).
-#if defined(ADMUX)
- ADMUX = (analog_reference << 6) | (pin & 0x07);
-#endif
-
- // without a delay, we seem to read from the wrong channel
- //delay(1);
-
-#if defined(ADCSRA) && defined(ADCL)
- // start the conversion
- sbi(ADCSRA, ADSC);
-
- // ADSC is cleared when the conversion finishes
- while (bit_is_set(ADCSRA, ADSC));
-
- // we have to read ADCL first; doing so locks both ADCL
- // and ADCH until ADCH is read. reading ADCL second would
- // cause the results of each conversion to be discarded,
- // as ADCL and ADCH would be locked when it completed.
- low = ADCL;
- high = ADCH;
-#else
- // we dont have an ADC, return 0
- low = 0;
- high = 0;
-#endif
-
- // combine the two bytes
- return (high << 8) | 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 (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
-
- #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
-
- #if defined(TCCR2) && defined(COM21)
- case TIMER2:
- // connect pwm to pin on timer 2
- sbi(TCCR2, COM21);
- OCR2 = val; // set pwm duty
- break;
- #endif
-
- #if defined(TCCR2A) && defined(COM2A1)
- case TIMER2A:
- // connect pwm to pin on timer 2, channel A
- sbi(TCCR2A, COM2A1);
- OCR2A = val; // set pwm duty
- break;
- #endif
-
- #if defined(TCCR2A) && defined(COM2B1)
- case TIMER2B:
- // connect pwm to pin on timer 2, channel B
- sbi(TCCR2A, COM2B1);
- OCR2B = val; // set pwm duty
- break;
- #endif
-
- #if defined(TCCR3A) && defined(COM3A1)
- case TIMER3A:
- // connect pwm to pin on timer 3, channel A
- sbi(TCCR3A, COM3A1);
- OCR3A = val; // set pwm duty
- break;
- #endif
-
- #if defined(TCCR3A) && defined(COM3B1)
- case TIMER3B:
- // connect pwm to pin on timer 3, channel B
- sbi(TCCR3A, COM3B1);
- OCR3B = val; // set pwm duty
- break;
- #endif
-
- #if defined(TCCR3A) && defined(COM3C1)
- case TIMER3C:
- // connect pwm to pin on timer 3, channel C
- sbi(TCCR3A, COM3C1);
- OCR3C = val; // set pwm duty
- break;
- #endif
-
- #if defined(TCCR4A)
- case TIMER4A:
- //connect pwm to pin on timer 4, channel A
- sbi(TCCR4A, COM4A1);
- #if defined(COM4A0) // only used on 32U4
- cbi(TCCR4A, COM4A0);
- #endif
- OCR4A = val; // set pwm duty
- break;
- #endif
-
- #if defined(TCCR4A) && defined(COM4B1)
- case TIMER4B:
- // connect pwm to pin on timer 4, channel B
- sbi(TCCR4A, COM4B1);
- OCR4B = val; // set pwm duty
- break;
- #endif
-
- #if defined(TCCR4A) && defined(COM4C1)
- case TIMER4C:
- // connect pwm to pin on timer 4, channel C
- sbi(TCCR4A, COM4C1);
- OCR4C = val; // set pwm duty
- break;
- #endif
-
- #if defined(TCCR4C) && defined(COM4D1)
- case TIMER4D:
- // connect pwm to pin on timer 4, channel D
- sbi(TCCR4C, COM4D1);
- #if defined(COM4D0) // only used on 32U4
- cbi(TCCR4C, COM4D0);
- #endif
- OCR4D = val; // set pwm duty
- break;
- #endif
-
-
- #if defined(TCCR5A) && defined(COM5A1)
- case TIMER5A:
- // connect pwm to pin on timer 5, channel A
- sbi(TCCR5A, COM5A1);
- OCR5A = val; // set pwm duty
- break;
- #endif
-
- #if defined(TCCR5A) && defined(COM5B1)
- case TIMER5B:
- // connect pwm to pin on timer 5, channel B
- sbi(TCCR5A, COM5B1);
- OCR5B = val; // set pwm duty
- break;
- #endif
-
- #if defined(TCCR5A) && defined(COM5C1)
- case TIMER5C:
- // connect pwm to pin on timer 5, channel C
- sbi(TCCR5A, COM5C1);
- OCR5C = val; // set pwm duty
- break;
- #endif
-
- case NOT_ON_TIMER:
- default:
- if (val < 128) {
- digitalWrite(pin, LOW);
- } else {
- digitalWrite(pin, HIGH);
- }
- }
- }
-}
-
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