From a4afb42b08555310142d01bbf346285e4fc9bff5 Mon Sep 17 00:00:00 2001
From: "David A. Mellis" <d.mellis@arduino.cc>
Date: Sun, 17 Oct 2010 17:55:53 -0400
Subject: Modifying basic functions (digital and analog, read and write) to use
register-based ifdefs, not cpu-based.
http://code.google.com/p/arduino/issues/detail?id=307
http://code.google.com/p/arduino/issues/detail?id=316
http://code.google.com/p/arduino/issues/detail?id=323
http://code.google.com/p/arduino/issues/detail?id=324
---
cores/arduino/wiring.c | 91 ++++++++++----
cores/arduino/wiring.h | 4 +-
cores/arduino/wiring_analog.c | 266 ++++++++++++++++++++++++++---------------
cores/arduino/wiring_digital.c | 87 ++++++++++----
4 files changed, 303 insertions(+), 145 deletions(-)
mode change 100755 => 100644 cores/arduino/wiring_analog.c
(limited to 'cores')
diff --git a/cores/arduino/wiring.c b/cores/arduino/wiring.c
index eb2d440..b90d07e 100755
--- a/cores/arduino/wiring.c
+++ b/cores/arduino/wiring.c
@@ -80,7 +80,14 @@ unsigned long micros() {
cli();
m = timer0_overflow_count;
+#if defined(TCNT0)
t = TCNT0;
+#elif defined(TCNT0L)
+ t = TCNT0L;
+#else
+ #error TIMER 0 not defined
+#endif
+
#ifdef TIFR0
if ((TIFR0 & _BV(TOV0)) && (t < 255))
@@ -166,62 +173,99 @@ void init()
// 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__)
+#if defined(TCCR0A) && defined(WGM01)
sbi(TCCR0A, WGM01);
sbi(TCCR0A, WGM00);
#endif
+
// set timer 0 prescale factor to 64
-#if defined(__AVR_ATmega8__)
+#if defined(__AVR_ATmega128__)
+ // CPU specific: different values for the ATmega128
+ sbi(TCCR0, CS02);
+#elif defined(TCCR0) && defined(CS01) && defined(CS00)
+ // this combination is for the standard atmega8
sbi(TCCR0, CS01);
sbi(TCCR0, CS00);
-#else
+#elif defined(TCCR0B) && defined(CS01) && defined(CS00)
+ // this combination is for the standard 168/328/1280/2560
sbi(TCCR0B, CS01);
sbi(TCCR0B, CS00);
+#elif defined(TCCR0A) && defined(CS01) && defined(CS00)
+ // this combination is for the __AVR_ATmega645__ series
+ sbi(TCCR0A, CS01);
+ sbi(TCCR0A, CS00);
+#else
+ #error Timer 0 prescale factor 64 not set correctly
#endif
+
// enable timer 0 overflow interrupt
-#if defined(__AVR_ATmega8__)
+#if defined(TIMSK) && defined(TOIE0)
sbi(TIMSK, TOIE0);
-#else
+#elif defined(TIMSK0) && defined(TOIE0)
sbi(TIMSK0, TOIE0);
+#else
+ #error Timer 0 overflow interrupt not set correctly
#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
-
- TCCR1B = 0;
+
+ TCCR1B = 0;
// set timer 1 prescale factor to 64
+#if defined(TCCR1B) && defined(CS11) && defined(CS10)
sbi(TCCR1B, CS11);
sbi(TCCR1B, CS10);
+#elif defined(TCCR1) && defined(CS11) && defined(CS10)
+ sbi(TCCR1, CS11);
+ sbi(TCCR1, CS10);
+#endif
// put timer 1 in 8-bit phase correct pwm mode
+#if defined(TCCR1A) && defined(WGM10)
sbi(TCCR1A, WGM10);
+#elif defined(TCCR1)
+ #warning this needs to be finished
+#endif
// set timer 2 prescale factor to 64
-#if defined(__AVR_ATmega8__)
+#if defined(TCCR2) && defined(CS22)
sbi(TCCR2, CS22);
-#else
+#elif defined(TCCR2B) && defined(CS22)
sbi(TCCR2B, CS22);
+#else
+ #warning Timer 2 not finished (may not be present on this CPU)
#endif
+
// configure timer 2 for phase correct pwm (8-bit)
-#if defined(__AVR_ATmega8__)
+#if defined(TCCR2) && defined(WGM20)
sbi(TCCR2, WGM20);
-#else
+#elif defined(TCCR2A) && defined(WGM20)
sbi(TCCR2A, WGM20);
+#else
+ #warning Timer 2 not finished (may not be present on this CPU)
+#endif
+
+#if defined(TCCR3B) && defined(CS31) && defined(WGM30)
+ sbi(TCCR3B, CS31); // set timer 3 prescale factor to 64
+ sbi(TCCR3B, CS30);
+ sbi(TCCR3A, WGM30); // put timer 3 in 8-bit phase correct pwm mode
+#endif
+
+#if defined(TCCR4B) && defined(CS41) && defined(WGM40)
+ sbi(TCCR4B, CS41); // set timer 4 prescale factor to 64
+ sbi(TCCR4B, CS40);
+ sbi(TCCR4A, WGM40); // put timer 4 in 8-bit phase correct pwm mode
#endif
-#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
- // 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);
+#if defined(TCCR5B) && defined(CS51) && defined(WGM50)
+ sbi(TCCR5B, CS51); // set timer 5 prescale factor to 64
+ sbi(TCCR5B, CS50);
+ sbi(TCCR5A, WGM50); // put timer 5 in 8-bit phase correct pwm mode
#endif
+#if defined(ADCSRA)
// 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
@@ -232,13 +276,14 @@ void init()
// enable a2d conversions
sbi(ADCSRA, ADEN);
+#endif
// 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__)
+#if defined(UCSRB)
UCSRB = 0;
-#else
+#elif defined(UCSR0B)
UCSR0B = 0;
#endif
-}
\ No newline at end of file
+}
diff --git a/cores/arduino/wiring.h b/cores/arduino/wiring.h
index 7245797..027a8d1 100755
--- a/cores/arduino/wiring.h
+++ b/cores/arduino/wiring.h
@@ -85,8 +85,8 @@ extern "C"{
#define noInterrupts() cli()
#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L )
-#define clockCyclesToMicroseconds(a) ( (a) / clockCyclesPerMicrosecond() )
-#define microsecondsToClockCycles(a) ( (a) * clockCyclesPerMicrosecond() )
+#define clockCyclesToMicroseconds(a) ( ((a) * 1000L) / (F_CPU / 1000L) )
+#define microsecondsToClockCycles(a) ( ((a) * (F_CPU / 1000L)) / 1000L )
#define lowByte(w) ((uint8_t) ((w) & 0xff))
#define highByte(w) ((uint8_t) ((w) >> 8))
diff --git a/cores/arduino/wiring_analog.c b/cores/arduino/wiring_analog.c
old mode 100755
new mode 100644
index da0cf07..d248f4c
--- a/cores/arduino/wiring_analog.c
+++ b/cores/arduino/wiring_analog.c
@@ -19,6 +19,8 @@
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 $
*/
@@ -41,22 +43,27 @@ int analogRead(uint8_t pin)
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
if (pin >= 54) pin -= 54; // 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);
-#else
- if (pin >= 14) pin -= 14; // allow for channel or pin numbers
#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);
@@ -67,8 +74,13 @@ int analogRead(uint8_t pin)
// 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;
+ 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;
@@ -86,98 +98,162 @@ void analogWrite(uint8_t pin, int val)
// for consistenty with Wiring, which doesn't require a pinMode
// call for the analog output pins.
pinMode(pin, OUTPUT);
-
- if (digitalPinToTimer(pin) == TIMER1A) {
- // connect pwm to pin on timer 1, channel A
- sbi(TCCR1A, COM1A1);
- // set pwm duty
- OCR1A = val;
- } else if (digitalPinToTimer(pin) == TIMER1B) {
- // connect pwm to pin on timer 1, channel B
- sbi(TCCR1A, COM1B1);
- // set pwm duty
- OCR1B = val;
-#if defined(__AVR_ATmega8__)
- } else if (digitalPinToTimer(pin) == TIMER2) {
- // connect pwm to pin on timer 2, channel B
- sbi(TCCR2, COM21);
- // set pwm duty
- OCR2 = val;
-#else
- } else if (digitalPinToTimer(pin) == TIMER0A) {
- if (val == 0) {
- digitalWrite(pin, LOW);
- } else {
- // connect pwm to pin on timer 0, channel A
- sbi(TCCR0A, COM0A1);
- // set pwm duty
- OCR0A = val;
- }
- } else if (digitalPinToTimer(pin) == TIMER0B) {
- if (val == 0) {
- digitalWrite(pin, LOW);
- } else {
- // connect pwm to pin on timer 0, channel B
- sbi(TCCR0A, COM0B1);
- // set pwm duty
- OCR0B = val;
- }
- } else if (digitalPinToTimer(pin) == TIMER2A) {
- // connect pwm to pin on timer 2, channel A
- sbi(TCCR2A, COM2A1);
- // set pwm duty
- OCR2A = val;
- } else if (digitalPinToTimer(pin) == TIMER2B) {
- // connect pwm to pin on timer 2, channel B
- sbi(TCCR2A, COM2B1);
- // set pwm duty
- OCR2B = val;
-#endif
-#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
- // XXX: need to handle other timers here
- } else if (digitalPinToTimer(pin) == TIMER3A) {
- // connect pwm to pin on timer 3, channel A
- sbi(TCCR3A, COM3A1);
- // set pwm duty
- OCR3A = val;
- } else if (digitalPinToTimer(pin) == TIMER3B) {
- // connect pwm to pin on timer 3, channel B
- sbi(TCCR3A, COM3B1);
- // set pwm duty
- OCR3B = val;
- } else if (digitalPinToTimer(pin) == TIMER3C) {
- // connect pwm to pin on timer 3, channel C
- sbi(TCCR3A, COM3C1);
- // set pwm duty
- OCR3C = val;
- } else if (digitalPinToTimer(pin) == TIMER4A) {
- // connect pwm to pin on timer 4, channel A
- sbi(TCCR4A, COM4A1);
- // set pwm duty
- OCR4A = val;
- } else if (digitalPinToTimer(pin) == TIMER4B) {
- // connect pwm to pin on timer 4, channel B
- sbi(TCCR4A, COM4B1);
- // set pwm duty
- OCR4B = val;
- } else if (digitalPinToTimer(pin) == TIMER4C) {
- // connect pwm to pin on timer 4, channel C
- sbi(TCCR4A, COM4C1);
- // set pwm duty
- OCR4C = val;
- } else if (digitalPinToTimer(pin) == TIMER5A) {
- // connect pwm to pin on timer 5, channel A
- sbi(TCCR5A, COM5A1);
- // set pwm duty
- OCR5A = val;
- } else if (digitalPinToTimer(pin) == TIMER5B) {
- // connect pwm to pin on timer 5, channel B
- sbi(TCCR5A, COM5B1);
- // set pwm duty
- OCR5B = val;
-#endif
- } else if (val < 128)
+ if (val == 0)
+ {
digitalWrite(pin, LOW);
- else
+ }
+ 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) && defined(COM4A1)
+ case TIMER4A:
+ // connect pwm to pin on timer 4, channel A
+ sbi(TCCR4A, COM4A1);
+ 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(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);
+ }
+ }
+ }
}
diff --git a/cores/arduino/wiring_digital.c b/cores/arduino/wiring_digital.c
index 1475f0c..0949da4 100755
--- a/cores/arduino/wiring_digital.c
+++ b/cores/arduino/wiring_digital.c
@@ -19,6 +19,8 @@
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 $
*/
@@ -56,32 +58,67 @@ void pinMode(uint8_t pin, uint8_t mode)
// But shouldn't this be moved into pinMode? Seems silly to check and do on
// each digitalread or write.
//
-static inline void turnOffPWM(uint8_t timer) __attribute__ ((always_inline));
-static inline void turnOffPWM(uint8_t timer)
+// Mark Sproul:
+// - Removed inline. Save 170 bytes on atmega1280
+// - changed to a switch statment; added 32 bytes but much easier to read and maintain.
+// - Added more #ifdefs, now compiles for atmega645
+//
+//static inline void turnOffPWM(uint8_t timer) __attribute__ ((always_inline));
+//static inline void turnOffPWM(uint8_t timer)
+static void turnOffPWM(uint8_t timer)
{
- if (timer == TIMER1A) cbi(TCCR1A, COM1A1);
- if (timer == TIMER1B) cbi(TCCR1A, COM1B1);
-
-#if defined(__AVR_ATmega8__)
- if (timer == TIMER2) cbi(TCCR2, COM21);
-#else
- if (timer == TIMER0A) cbi(TCCR0A, COM0A1);
- if (timer == TIMER0B) cbi(TCCR0A, COM0B1);
- if (timer == TIMER2A) cbi(TCCR2A, COM2A1);
- if (timer == TIMER2B) cbi(TCCR2A, COM2B1);
-#endif
-
-#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
- if (timer == TIMER3A) cbi(TCCR3A, COM3A1);
- if (timer == TIMER3B) cbi(TCCR3A, COM3B1);
- if (timer == TIMER3C) cbi(TCCR3A, COM3C1);
- if (timer == TIMER4A) cbi(TCCR4A, COM4A1);
- if (timer == TIMER4B) cbi(TCCR4A, COM4B1);
- if (timer == TIMER4C) cbi(TCCR4A, COM4C1);
- if (timer == TIMER5A) cbi(TCCR5A, COM5A1);
- if (timer == TIMER5B) cbi(TCCR5A, COM5B1);
- if (timer == TIMER5C) cbi(TCCR5A, COM5C1);
-#endif
+ switch (timer)
+ {
+ #if defined(TCCR1A) && defined(COM1A1)
+ case TIMER1A: cbi(TCCR1A, COM1A1); break;
+ #endif
+ #if defined(TCCR1A) && defined(COM1B1)
+ case TIMER1B: cbi(TCCR1A, COM1B1); break;
+ #endif
+
+ #if defined(TCCR2) && defined(COM21)
+ case TIMER2: cbi(TCCR2, COM21); break;
+ #endif
+
+ #if defined(TCCR0A) && defined(COM0A1)
+ case TIMER0A: cbi(TCCR0A, COM0A1); break;
+ #endif
+
+ #if defined(TIMER0B) && defined(COM0B1)
+ case TIMER0B: cbi(TCCR0A, COM0B1); break;
+ #endif
+ #if defined(TCCR2A) && defined(COM2A1)
+ case TIMER2A: cbi(TCCR2A, COM2A1); break;
+ #endif
+ #if defined(TCCR2A) && defined(COM2B1)
+ case TIMER2B: cbi(TCCR2A, COM2B1); break;
+ #endif
+
+ #if defined(TCCR3A) && defined(COM3A1)
+ case TIMER3A: cbi(TCCR3A, COM3A1); break;
+ #endif
+ #if defined(TCCR3A) && defined(COM3B1)
+ case TIMER3B: cbi(TCCR3A, COM3B1); break;
+ #endif
+ #if defined(TCCR3A) && defined(COM3C1)
+ case TIMER3C: cbi(TCCR3A, COM3C1); break;
+ #endif
+
+ #if defined(TCCR4A) && defined(COM4A1)
+ case TIMER4A: cbi(TCCR4A, COM4A1); break;
+ #endif
+ #if defined(TCCR4A) && defined(COM4B1)
+ case TIMER4B: cbi(TCCR4A, COM4B1); break;
+ #endif
+ #if defined(TCCR4A) && defined(COM4C1)
+ case TIMER4C: cbi(TCCR4A, COM4C1); break;
+ #endif
+ #if defined(TCCR5A)
+ case TIMER5A: cbi(TCCR5A, COM5A1); break;
+ case TIMER5B: cbi(TCCR5A, COM5B1); break;
+ case TIMER5C: cbi(TCCR5A, COM5C1); break;
+ #endif
+ }
}
void digitalWrite(uint8_t pin, uint8_t val)
--
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