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wiring.c
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wiring.c
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/*
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: wiring.c 970 2010-05-25 20:16:15Z dmellis $
Modified 28-08-2009 for attiny84 R.Wiersma
Modified 14-10-2009 for attiny45 Saposoft
Modified 20-11-2010 - B.Cook - Rewritten to use the various Veneers.
*/
#include "wiring_private.h"
#include <avr/boot.h>
#if F_CPU >= 3000000L
#if defined(__AVR_ATtiny167__) || defined(__AVR_ATtiny87__)
#if F_CPU < 8000000L // 4 and 6 MHz get PWM within the target range of 500-1kHz now on the one pin that is driven by timer0.
#define timer0Prescaler (0b011)
#define timer0_Prescale_Value (32)
#else
#define timer0Prescaler (0b100)
#define timer0_Prescale_Value (64)
#endif
#else
#define timer0Prescaler (0b011)
#define timer0_Prescale_Value (64)
#endif
#if (defined(TCCR1) || defined(TCCR1E)) // x5 and x61
#if F_CPU < 8000000L // 4 and 6 MHz get PWM within the target range of 500-1kHz now on 2 pins of t85, and all PWM pins of the x61, since it's weirdo timer0 has "output" compare that just fires an ISR...
#define timer1Prescaler (0b0110)
#define timer1_Prescale_Value (32)
#else
#define timer1Prescaler (0b0111)
#define timer1_Prescale_Value (64)
#endif
#else
#define timer1Prescaler (0b011)
#define timer1_Prescale_Value (64)
#endif
#else // 1 or 2 MHz system clock
#define timer0Prescaler (0b010)
#if (defined(TCCR1) || defined(TCCR1E))
#define timer1Prescaler (0b0100)
#else
#define timer1Prescaler (0b010)
#endif
#define timer0_Prescale_Value (8)
#define timer1_Prescale_Value (8)
#endif
#if (TIMER_TO_USE_FOR_MILLIS == 0)
#define MillisTimer_Prescale_Value (timer0_Prescale_Value)
#define ToneTimer_Prescale_Value (timer1_Prescale_Value)
#define MillisTimer_Prescale_Index (timer0Prescaler)
#define ToneTimer_Prescale_Index (timer1Prescaler)
#else
#warning "WARNING: Use of Timer1 for millis has been configured - this option is untested and unsupported!"
#define MillisTimer_Prescale_Value (timer1_Prescale_Value)
#define ToneTimer_Prescale_Value (timer0_Prescale_Value)
#define MillisTimer_Prescale_Index (timer1Prescaler)
#define ToneTimer_Prescale_Index (timer0Prescaler)
#endif
#if F_CPU > 12000000L
// above 12mhz, prescale by 128, the highest prescaler available
#define ADC_ARDUINO_PRESCALER B111
#elif F_CPU >= 6000000L
// 12 MHz / 64 ~= 188 KHz
// 8 MHz / 64 = 125 KHz
#define ADC_ARDUINO_PRESCALER B110
#elif F_CPU >= 3000000L
// 4 MHz / 32 = 125 KHz
#define ADC_ARDUINO_PRESCALER B101
#elif F_CPU >= 1500000L
// 2 MHz / 16 = 125 KHz
#define ADC_ARDUINO_PRESCALER B100
#elif F_CPU >= 750000L
// 1 MHz / 8 = 125 KHz
#define ADC_ARDUINO_PRESCALER B011
#elif F_CPU < 400000L
// 128 kHz / 2 = 64 KHz -> This is the closest you can get, the prescaler is 2
#define ADC_ARDUINO_PRESCALER B000
#else //speed between 400khz and 750khz
#define ADC_ARDUINO_PRESCALER B010 //prescaler of 4
#endif
// the prescaler is set so that the millis timer ticks every MillisTimer_Prescale_Value (64) clock cycles, and the
// the overflow handler is called every 256 ticks.
#if 0 // generally valid scaling formula follows below in the #else branch
#if (F_CPU==12800000)
//#define MICROSECONDS_PER_MILLIS_OVERFLOW (clockCyclesToMicroseconds(MillisTimer_Prescale_Value * 256))
//#define MICROSECONDS_PER_MILLIS_OVERFLOW ((64 * 256)/12.8) = 256*(64/12.8) = 256*5 = 1280
#define MICROSECONDS_PER_MILLIS_OVERFLOW (1280)
#elif (F_CPU==16500000)
#define MICROSECONDS_PER_MILLIS_OVERFLOW (992)
#else
#define MICROSECONDS_PER_MILLIS_OVERFLOW (clockCyclesToMicroseconds(MillisTimer_Prescale_Value * 256))
#endif
#else
/* The key is never to compute (F_CPU / 1000000L), which may lose precision.
The formula below is correct for all F_CPU times that evenly divide by 10,
at least for prescaler values up and including 64 as used in this file. */
#if MillisTimer_Prescale_Value <= 64
#define MICROSECONDS_PER_MILLIS_OVERFLOW \
(MillisTimer_Prescale_Value * 256UL * 1000UL * 100UL / ((F_CPU + 5UL) / 10UL))
#else
/* It may be sufficient to swap the 100L and 10L in the above formula, but
please double-check EXACT_NUMERATOR and EXACT_DENOMINATOR below as well
and make sure it does not roll over. */
#define MICROSECONDS_PER_MILLIS_OVERFLOW 0
#error "Please adjust MICROSECONDS_PER_MILLIS_OVERFLOW formula"
#endif
#endif
/* Correct millis to zero long term drift
--------------------------------------
When MICROSECONDS_PER_MILLIS_OVERFLOW >> 3 is exact, we do nothing.
In this case, millis() has zero long-term drift, that is,
it precisely follows the oscillator used for timing.
When it has a fractional part that leads to an error when ignored,
we apply a correction. This correction yields a drift of 30 ppm or less:
1e6 / (512 * (minimum_MICROSECONDS_PER_MILLIS_OVERFLOW >> 3)) <= 30.
The mathematics of the correction are coded in the preprocessor and
produce compile-time constants that do not affect size or run time.
*/
/* We cancel a factor of 10 in the ratio MICROSECONDS_PER_MILLIS_OVERFLOW
and divide the numerator by 8. The calculation fits into a long int
and produces the same right shift by 3 as the original code.
*/
#define EXACT_NUMERATOR (MillisTimer_Prescale_Value * 256UL * 12500UL)
#define EXACT_DENOMINATOR ((F_CPU + 5UL) / 10UL)
/* The remainder is an integer in the range [0, EXACT_DENOMINATOR). */
#define EXACT_REMAINDER \
(EXACT_NUMERATOR - (EXACT_NUMERATOR / EXACT_DENOMINATOR) * EXACT_DENOMINATOR)
/* If the remainder is zero, MICROSECONDS_PER_MILLIS_OVERFLOW is exact.
Otherwise we compute the fractional part and approximate it by the closest
rational number n / 256. Effectively, we increase millis accuracy by 512x.
We compute n by scaling down the remainder to the range [0, 256].
The two extreme cases 0 and 256 require only trivial correction.
All others are handled by an unsigned char counter in millis().
*/
#define CORRECT_FRACT_PLUSONE // possibly needed for high/cheap corner case
#if EXACT_REMAINDER > 0
#define CORRECT_EXACT_MILLIS // enable zero drift correction in millis()
#define CORRECT_EXACT_MICROS // enable zero drift correction in micros()
#define CORRECT_EXACT_MANY \
((2U * 256U * EXACT_REMAINDER + EXACT_DENOMINATOR) / (2U * EXACT_DENOMINATOR))
#if CORRECT_EXACT_MANY < 0 || CORRECT_EXACT_MANY > 256
#error "Miscalculation in millis() exactness correction"
#endif
#if CORRECT_EXACT_MANY == 0 // low/cheap corner case
#undef CORRECT_EXACT_MILLIS // go back to nothing for millis only
#elif CORRECT_EXACT_MANY == 256 // high/cheap corner case
#undef CORRECT_EXACT_MILLIS // go back to nothing for millis only
#undef CORRECT_FRACT_PLUSONE // but use this macro...
#define CORRECT_FRACT_PLUSONE + 1 // ...to add 1 more to fract every time
#endif // cheap corner cases
#endif // EXACT_REMAINDER > 0
/* End of preparations for exact millis() with oddball frequencies */
/* More preparations to optimize calculation of exact micros().
The idea is to reduce microseconds per overflow to unsigned char.
Then we find the leading one-bits to add, avoiding multiplication.
This way of calculating micros is currently enabled whenever
*both* the millis() exactness correction is enabled
*and* MICROSECONDS_PER_MILLIS_OVERFLOW < 65536.
Otherwise we fall back to the existing micros().
*/
#ifdef CORRECT_EXACT_MICROS
#if MICROSECONDS_PER_MILLIS_OVERFLOW >= (1 << 16)
#undef CORRECT_EXACT_MICROS // disable correction for such long intervals
#elif MICROSECONDS_PER_MILLIS_OVERFLOW >= (1 << 15)
#define CORRECT_BITS 8
#elif MICROSECONDS_PER_MILLIS_OVERFLOW >= (1 << 14)
#define CORRECT_BITS 7
#elif MICROSECONDS_PER_MILLIS_OVERFLOW >= (1 << 13)
#define CORRECT_BITS 6
#elif MICROSECONDS_PER_MILLIS_OVERFLOW >= (1 << 12)
#define CORRECT_BITS 5
#elif MICROSECONDS_PER_MILLIS_OVERFLOW >= (1 << 11)
#define CORRECT_BITS 4
#elif MICROSECONDS_PER_MILLIS_OVERFLOW >= (1 << 10)
#define CORRECT_BITS 3
#elif MICROSECONDS_PER_MILLIS_OVERFLOW >= (1 << 9)
#define CORRECT_BITS 2
#elif MICROSECONDS_PER_MILLIS_OVERFLOW >= (1 << 8)
#define CORRECT_BITS 1
#else
#define CORRECT_BITS 0
#endif
#ifdef CORRECT_BITS // microsecs per overflow in the expected range of values
#define CORRECT_BIT7S (0)
#define CORRECT_BIT6
#define CORRECT_BIT5
#define CORRECT_BIT4
#define CORRECT_BIT3
#define CORRECT_BIT2
#define CORRECT_BIT1
#define CORRECT_BIT0
#define CORRECT_UINT ((unsigned int) t)
#define CORRECT_BYTE (MICROSECONDS_PER_MILLIS_OVERFLOW >> CORRECT_BITS)
#if CORRECT_BYTE >= (1 << 8)
#error "Miscalculation in micros() exactness correction"
#endif
#if (CORRECT_BYTE & (1 << 7))
#undef CORRECT_BIT7S
#define CORRECT_BIT7S (CORRECT_UINT << 1)
#endif
#if (CORRECT_BYTE & (1 << 6))
#undef CORRECT_BIT6
#define CORRECT_BIT6 + CORRECT_UINT
#endif
#if (CORRECT_BYTE & (1 << 5))
#undef CORRECT_BIT5
#define CORRECT_BIT5 + CORRECT_UINT
#endif
#if (CORRECT_BYTE & (1 << 4))
#undef CORRECT_BIT4
#define CORRECT_BIT4 + CORRECT_UINT
#endif
#if (CORRECT_BYTE & (1 << 3))
#undef CORRECT_BIT3
#define CORRECT_BIT3 + CORRECT_UINT
#endif
#if (CORRECT_BYTE & (1 << 2))
#undef CORRECT_BIT2
#define CORRECT_BIT2 + CORRECT_UINT
#endif
#if (CORRECT_BYTE & (1 << 1))
#undef CORRECT_BIT1
#define CORRECT_BIT1 + CORRECT_UINT
#endif
#if (CORRECT_BYTE & (1 << 0))
#undef CORRECT_BIT0
#define CORRECT_BIT0 + CORRECT_UINT
#endif
#endif // CORRECT_BITS
#endif // CORRECT_EXACT_MICROS
// the whole number of milliseconds per millis timer overflow
#define MILLIS_INC (MICROSECONDS_PER_MILLIS_OVERFLOW / 1000U)
// the fractional number of milliseconds per millis timer 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_MILLIS_OVERFLOW % 1000U) >> 3) \
CORRECT_FRACT_PLUSONE)
#define FRACT_MAX (1000U >> 3)
#if INITIALIZE_SECONDARY_TIMERS
static void initToneTimerInternal(void);
#endif
#ifndef DISABLEMILLIS
#ifndef CORRECT_EXACT_MICROS
volatile unsigned long millis_timer_overflow_count = 0;
#endif
volatile unsigned long millis_timer_millis = 0;
volatile unsigned char millis_timer_fract = 0;
#if (TIMER_TO_USE_FOR_MILLIS == 0)
#if defined(TIMER0_OVF_vect)
ISR(TIMER0_OVF_vect)
#elif defined(TIM0_OVF_vect)
ISR(TIM0_OVF_vect)
#else
#error "cannot find Millis() timer overflow vector"
#endif
#elif (TIMER_TO_USE_FOR_MILLIS == 1)
#if defined(TIMER1_OVF_vect)
ISR(TIMER1_OVF_vect)
#elif defined(TIM1_OVF_vect)
ISR(TIM1_OVF_vect)
#else
#error "cannot find Millis() timer overflow vector"
#endif
#else
#error "Millis() timer not defined!"
#endif
{
// 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 = millis_timer_millis;
unsigned char f = millis_timer_fract;
#ifdef CORRECT_EXACT_MILLIS
static unsigned char correct_exact = 0; // rollover intended
if (++correct_exact < CORRECT_EXACT_MANY) {
++f;
}
#endif
f += FRACT_INC;
if (f >= FRACT_MAX)
{
f -= FRACT_MAX;
m += MILLIS_INC + 1;
}
else
{
m += MILLIS_INC;
}
millis_timer_fract = f;
millis_timer_millis = m;
#ifndef CORRECT_EXACT_MICROS
millis_timer_overflow_count++;
#endif
}
unsigned long millis()
{
unsigned long m;
uint8_t oldSREG = SREG;
// disable interrupts while we read millis_timer_millis or we might get an
// inconsistent value (e.g. in the middle of a write to millis_timer_millis)
cli();
m = millis_timer_millis;
SREG = oldSREG;
return m;
}
unsigned long micros()
{
#ifdef CORRECT_EXACT_MICROS
unsigned int r; // needed for some frequencies, optimized away otherwise
unsigned char f; // temporary storage for millis fraction counter
unsigned char q = 0; // record whether an overflow is flagged
#endif
unsigned long m;
uint8_t t, oldSREG = SREG;
cli();
#ifdef CORRECT_EXACT_MICROS
m = millis_timer_millis;
f = millis_timer_fract;
#else
m = millis_timer_overflow_count;
#endif
#if defined(TCNT0) && (TIMER_TO_USE_FOR_MILLIS == 0) && !defined(TCW0)
t = TCNT0;
#elif defined(TCNT0L) && (TIMER_TO_USE_FOR_MILLIS == 0)
t = TCNT0L;
#elif defined(TCNT1) && (TIMER_TO_USE_FOR_MILLIS == 1)
t = TCNT1;
#elif defined(TCNT1L) && (TIMER_TO_USE_FOR_MILLIS == 1)
t = TCNT1L;
#else
#error "Millis()/Micros() timer not defined"
#endif
#if defined(TIFR0) && (TIMER_TO_USE_FOR_MILLIS == 0)
if ((TIFR0 & _BV(TOV0)) && (t < 255))
#ifndef CORRECT_EXACT_MICROS
m++;
#else
q = 1;
#endif
#elif defined(TIFR) && (TIMER_TO_USE_FOR_MILLIS == 0)
if ((TIFR & _BV(TOV0)) && (t < 255))
#ifndef CORRECT_EXACT_MICROS
m++;
#else
q = 1;
#endif
#elif defined(TIFR1) && (TIMER_TO_USE_FOR_MILLIS == 1)
if ((TIFR1 & _BV(TOV1)) && (t < 255))
#ifndef CORRECT_EXACT_MICROS
m++;
#else
q = 1;
#endif
#elif defined(TIFR) && (TIMER_TO_USE_FOR_MILLIS == 1)
if ((TIFR & _BV(TOV1)) && (t < 255))
#ifndef CORRECT_EXACT_MICROS
m++;
#else
q = 1;
#endif
#endif
SREG = oldSREG;
#ifdef CORRECT_EXACT_MICROS
/* We convert milliseconds, fractional part and timer value
into a microsecond value. Relies on CORRECT_EXACT_MILLIS.
Basically we multiply by 1000 and add the scaled timer.
The leading part by m and f is long-term accurate.
For the timer we just need to be close from below.
Must never be too high, or micros jumps backwards. */
m = (((m << 7) - (m << 1) - m + f) << 3) + ((
#if F_CPU == 24000000L || F_CPU == 12000000L || F_CPU == 6000000L // 1360, 680
(r = ((unsigned int) t << 7) + ((unsigned int) t << 5), r + (r >> 4))
#elif F_CPU == 22118400L || F_CPU == 11059200L // 1472, 736
((unsigned int) t << 8) - ((unsigned int) t << 6) - ((unsigned int) t << 3)
#elif F_CPU == 20000000L || F_CPU == 10000000L // 816, 408
(r = ((unsigned int) t << 8) - ((unsigned int) t << 6), r + (r >> 4))
#elif F_CPU == 18432000L || F_CPU == 9216000L // 888, 444, etc.
((unsigned int) t << 8) - ((unsigned int) t << 5) - ((unsigned int) t << 1)
#elif F_CPU == 18000000L // hand-tuned correction: 910
(r = ((unsigned int) t << 8) - ((unsigned int) t << 5), r + (r >> 6))
#elif F_CPU == 16500000L // hand-tuned correction: 992
((unsigned int) t << 8) - ((unsigned int) t << 3)
#elif F_CPU == 14745600L || F_CPU == 7372800L || F_CPU == 3686400L // 1104, 552
((unsigned int) t << 7) + ((unsigned int) t << 3) + ((unsigned int) t << 1)
#else // general catch-all
(((((((((((((CORRECT_BIT7S
CORRECT_BIT6) << 1)
CORRECT_BIT5) << 1)
CORRECT_BIT4) << 1)
CORRECT_BIT3) << 1)
CORRECT_BIT2) << 1)
CORRECT_BIT1) << 1)
CORRECT_BIT0)
#endif
) >> (8 - CORRECT_BITS));
return q ? m + MICROSECONDS_PER_MILLIS_OVERFLOW : m;
#else
#if F_CPU < 1000000L
return ((m << 8) + t) * MillisTimer_Prescale_Value * (1000000L/F_CPU);
#else
#if (MillisTimer_Prescale_Value % clockCyclesPerMicrosecond() == 0 && (F_CPU % 1000000 == 0 )) // Can we just do it the naive way? If so great!
return ((m << 8) + t) * (MillisTimer_Prescale_Value / clockCyclesPerMicrosecond());
// Otherwise we do clock-specific calculations
#elif (MillisTimer_Prescale_Value == 64 && F_CPU == 12800000L) //64/12.8=5, but the compiler wouldn't realize it because of integer math - this is a supported speed for Micronucleus.
return ((m << 8) + t) * 5;
#elif (MillisTimer_Prescale_Value == 64 && F_CPU == 16500000L) //(16500000) - (16500000 >> 5) = approx 16000000
m = (((m << 8) + t) << 2 ); // multiply by 4 - this gives us the value it would be if it were 16 MHz
return (m - (m>>5)); // but it's not - we want 32/33nds of that. We can't divide an unsigned long by 33 in a time sewnsitive function. So we do 31/32nds, and that's goddamned close.
#elif (MillisTimer_Prescale_Value == 64 && F_CPU == 24000000L) // 2.6875 vs real value 2.67
m = (m << 8) + t;
return (m<<1) + (m >> 1) + (m >> 3) + (m >> 4); // multiply by 2.6875
#elif (MillisTimer_Prescale_Value == 64 && clockCyclesPerMicrosecond() == 20) // 3.187 vs real value 3.2
m=(m << 8) + t;
return m+(m<<1)+(m>>2)-(m>>4);
#elif (MillisTimer_Prescale_Value == 64 && F_CPU == 18432000L) // 3.5 vs real value 3.47
m=(m << 8) + t;
return m+(m<<1)+(m>>1);
#elif (MillisTimer_Prescale_Value == 64 && F_CPU==14745600L) //4.375 vs real value 4.34
m=(m << 8) + t;
return (m<<2)+(m>>1)-(m>>3);
#elif (MillisTimer_Prescale_Value == 64 && clockCyclesPerMicrosecond() == 14) //4.5 - actual 4.57 for 14.0mhz, 4.47 for the 14.3 crystals scrappable from everything
m=(m << 8) + t;
return (m<<2)+(m>>1);
#elif (MillisTimer_Prescale_Value == 64 && clockCyclesPerMicrosecond() == 12) // 5.3125 vs real value 5.333
m=(m << 8) + t;
return m+(m<<2)+(m>>2)+(m>>4);
#elif (MillisTimer_Prescale_Value == 64 && clockCyclesPerMicrosecond() == 11) // 5.75 vs real value 5.818 (11mhz) 5.78 (11.059)
m=(m << 8) + t;
return m+(m<<2)+(m>>1)+(m>>2);
#elif (MillisTimer_Prescale_Value == 64 && F_CPU==7372800L) // 8.625, vs real value 8.68
m=(m << 8) + t;
return (m<<3)+(m>>2)+(m>>3);
#elif (MillisTimer_Prescale_Value == 64 && F_CPU==6000000L) // 10.625, vs real value 10.67
m=(m << 8) + t;
return (m<<3)+(m<<1)+(m>>2)+(m>>3);
#elif (MillisTimer_Prescale_Value == 32 && F_CPU==7372800L) // 4.3125, vs real value 4.34 - x7 now runs timer0 twice as fast at speeds under 8 MHz
m=(m << 8) + t;
return (m<<2)+(m>>3)+(m>>4);
#elif (MillisTimer_Prescale_Value == 32 && F_CPU==6000000L) // 5.3125, vs real value 5.33 - x7 now runs timer0 twice as fast at speeds under 8 MHz
m=(m << 8) + t;
return (m<<2)+(m)+(m>>3)+(m>>4);
#elif (MillisTimer_Prescale_Value == 64 && clockCyclesPerMicrosecond() == 9) // For 9mhz, this is a little off, but for 9.21, it's very close!
return ((m << 8) + t) * (MillisTimer_Prescale_Value / clockCyclesPerMicrosecond());
#else
//return ((m << 8) + t) * (MillisTimer_Prescale_Value / clockCyclesPerMicrosecond());
//return ((m << 8) + t) * MillisTimer_Prescale_Value / clockCyclesPerMicrosecond();
//Integer division precludes the above technique.
//so we have to get a bit more creative.
//We can't just remove the parens, because then it will overflow (MillisTimer_Prescale_Value) times more often than unsigned longs should, so overflows would break everything.
//So what we do here is:
//the high part gets divided by cCPuS then multiplied by the prescaler. Then take the low 8 bits plus the high part modulo-cCPuS to correct for the division, then multiply that by the prescaler value first before dividing by cCPuS, and finally add the two together.
//return ((m << 8 )/clockCyclesPerMicrosecond()* MillisTimer_Prescale_Value) + ((t+(((m<<8)%clockCyclesPerMicrosecond())) * MillisTimer_Prescale_Value / clockCyclesPerMicrosecond()));
return ((m << 8 )/clockCyclesPerMicrosecond()* MillisTimer_Prescale_Value) + (t * MillisTimer_Prescale_Value / clockCyclesPerMicrosecond());
#endif
#endif
#endif // !CORRECT_EXACT_MICROS
}
static void __empty() {
// Empty
}
void yield(void) __attribute__ ((weak, alias("__empty")));
void delay(unsigned long ms)
{
#if (F_CPU>=1000000L)
uint16_t start = (uint16_t)micros();
while (ms > 0) {
yield();
while (((uint16_t)micros() - start) >= 1000 && ms) {
ms--;
start += 1000;
}
}
#else
uint32_t start = millis();
while((millis() - start) < ms) /* NOP */yield();
return;
#endif
}
#else //if DISABLEMILLIS is set, need no millis, micros, and different delay
static void __empty() {
// Empty
}
void yield(void) __attribute__ ((weak, alias("__empty")));
void delay(unsigned long ms) //non-millis-timer-dependent delay()
{
while(ms--){
yield();
delayMicroseconds(1000);
}
}
#endif
/* Delay for the given number of microseconds. Assumes a 1, 8, 12, 16, 20 or 24 MHz clock. */
void delayMicroseconds(unsigned int us)
{
#define _MORENOP_ "" // redefine to include NOPs depending on frequency
// call = 4 cycles + 2 to 4 cycles to init us(2 for constant delay, 4 for variable)
// 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 >= 24000000L
// for the 24 MHz clock for the adventurous ones, trying to overclock
// zero delay fix
if (!us) return; // = 3 cycles, (4 when true)
// the following loop takes a 1/6 of a microsecond (4 cycles)
// per iteration, so execute it six times for each microsecond of
// delay requested.
us *= 6; // x6 us, = 7 cycles
// account for the time taken in the preceding commands.
// we just burned 22 (24) cycles above, remove 5, (5*4=20)
// us is at least 6 so we can subtract 5
us -= 5; //=2 cycles
#elif F_CPU >= 20000000L
// for the 20 MHz clock on rare Arduino boards
// for a one-microsecond delay, simply return. the overhead
// of the function call takes 18 (20) cycles, which is 1us
__asm__ __volatile__ (
"nop" "\n\t"
"nop" "\n\t"
"nop" "\n\t"
"nop"); //just waiting 4 cycles
if (us <= 1) return; // = 3 cycles, (4 when true)
// the following loop takes a 1/5 of a microsecond (4 cycles)
// per iteration, so execute it five times for each microsecond of
// delay requested.
us = (us << 2) + us; // x5 us, = 7 cycles
// account for the time taken in the preceding commands.
// we just burned 26 (28) cycles above, remove 7, (7*4=28)
// us is at least 10 so we can subtract 7
us -= 7; // 2 cycles
#elif F_CPU >= 18432000L
// for a one-microsecond delay, simply return. the overhead
// of the function call takes 18 (20) cycles, which is approx. 1us
__asm__ __volatile__ (
"nop" "\n\t"
"nop" "\n\t"
"nop" "\n\t"
"nop"); //just waiting 4 cycles
if (us <= 1) return; // = 3 cycles, (4 when true)
// the following loop takes nearly 1/5 (0.217%) of a microsecond (4 cycles)
// per iteration, so execute it five times for each microsecond of
// delay requested.
us = (us << 2) + us; // x5 us, = 7 cycles
// user wants to wait 7us or more -- here we can use approximation
if (us > 34) { // 3 cycles
// Since the loop is not accurately 1/5 of a microsecond we need
// to multiply us by (18.432 / 20), very close to 60398 / 2.**16.
// Approximate (60398UL * us) >> 16 by using 60384 instead.
// This leaves a relative error of 232ppm, or 1 in 4321.
unsigned int r = us - (us >> 5); // 30 cycles
us = r + (r >> 6) - (us >> 4); // 55 cycles
// careful: us is generally less than before, so don't underrun below
// account for the time taken in the preceding and following commands.
// we are burning 114 (116) cycles, remove 29 iterations: 29*4=116.
/* TODO: is this calculation correct. Right now, we do
function call 6 (+ 2) cycles
wait at top 4
comparison false 3
multiply by 5 7
comparison false 3
compute r 30
update us 55
subtraction 2
return 4
total --> 114 (116) cycles
*/
// us dropped to no less than 32, so we can subtract 29
us -= 29; // 2 cycles
} else {
// account for the time taken in the preceding commands.
// we just burned 30 (32) cycles above, remove 8, (8*4=32)
// us is at least 10, so we can subtract 8
us -= 8; // 2 cycles
}
#elif F_CPU >= 18000000L
// for the 18 MHz clock, if somebody is working with USB
// or otherwise relating to 12 or 24 MHz clocks
// for a 1 microsecond delay, simply return. the overhead
// of the function call takes 14 (16) cycles, which is .8 us
if (us <= 1) return; // = 3 cycles, (4 when true)
// make the loop below last 6 cycles
#undef _MORENOP_
#define _MORENOP_ " nop \n\t nop \n\t"
// the following loop takes 1/3 of a microsecond (6 cycles) per iteration,
// so execute it three times for each microsecond of delay requested.
us = (us << 1) + us; // x3 us, = 5 cycles
// account for the time taken in the preceding commands.
// we burned 20 (22) cycles above, plus 2 more below, remove 4 (4*6=24),
// us is at least 6 so we may subtract 4
us -= 4; // = 2 cycles
#elif F_CPU >= 16500000L
// for the special 16.5 MHz clock
// for a one-microsecond delay, simply return. the overhead
// of the function call takes 14 (16) cycles, which is about 1us
if (us <= 1) return; // = 3 cycles, (4 when true)
// the following loop takes 1/4 of a microsecond (4 cycles) times 32./33.
// per iteration, thus rescale us by 4. * 33. / 32. = 4.125 to compensate
us = (us << 2) + (us >> 3); // x4.125 with 23 cycles
// account for the time taken in the preceding commands.
// we burned 38 (40) cycles above, plus 2 below, remove 10 (4*10=40)
// us is at least 8, so we subtract only 7 to keep it positive
// the error is below one microsecond and not worth extra code
us -= 7; // = 2 cycles
#elif 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 takes 14 (16) cycles, which is 1us
if (us <= 1) return; // = 3 cycles, (4 when true)
// the following loop takes 1/4 of a microsecond (4 cycles)
// per iteration, so execute it four times for each microsecond of
// delay requested.
us <<= 2; // x4 us, = 4 cycles
// account for the time taken in the preceding commands.
// we just burned 19 (21) cycles above, remove 5, (5*4=20)
// us is at least 8 so we can subtract 5
us -= 5; // = 2 cycles,
#elif F_CPU >= 14745600L
// for a one-microsecond delay, simply return. the overhead
// of the function call takes 14 (16) cycles, which is approx. 1us
if (us <= 1) return; // = 3 cycles, (4 when true)
// the following loop takes nearly 1/4 (0.271%) of a microsecond (4 cycles)
// per iteration, so execute it four times for each microsecond of
// delay requested.
us <<= 2; // x4 us, = 4 cycles
// user wants to wait 8us or more -- here we can use approximation
if (us > 31) { // 3 cycles
// Since the loop is not accurately 1/4 of a microsecond we need
// to multiply us by (14.7456 / 16), very close to 60398 / 2.**16.
// Approximate (60398UL * us) >> 16 by using 60384 instead.
// This leaves a relative error of 232ppm, or 1 in 4321.
unsigned int r = us - (us >> 5); // 30 cycles
us = r + (r >> 6) - (us >> 4); // 55 cycles
// careful: us is generally less than before, so don't underrun below
// account for the time taken in the preceding and following commands.
// we are burning 107 (109) cycles, remove 27 iterations: 27*4=108.
// us dropped to no less than 29, so we can subtract 27
us -= 27; // 2 cycles
} else {
// account for the time taken in the preceding commands.
// we just burned 23 (25) cycles above, remove 6, (6*4=24)
// us is at least 8, so we can subtract 6
us -= 6; // 2 cycles
}
#elif F_CPU >= 12000000L
// for the 12 MHz clock if somebody is working with USB
// for a 1 microsecond delay, simply return. the overhead
// of the function call takes 14 (16) cycles, which is 1.3us
if (us <= 1) return; // = 3 cycles, (4 when true)
// the following loop takes 1/3 of a microsecond (4 cycles)
// per iteration, so execute it three times for each microsecond of
// delay requested.
us = (us << 1) + us; // x3 us, = 5 cycles
// account for the time taken in the preceding commands.
// we just burned 20 (22) cycles above, remove 5, (5*4=20)
// us is at least 6 so we can subtract 5
us -= 5; //2 cycles
#elif F_CPU >= 8000000L
// for the 8 MHz internal clock
// for a 1 and 2 microsecond delay, simply return. the overhead
// of the function call takes 14 (16) cycles, which is 2us
if (us <= 2) return; // = 3 cycles, (4 when true)
// the following loop takes 1/2 of a microsecond (4 cycles)
// per iteration, so execute it twice for each microsecond of
// delay requested.
us <<= 1; //x2 us, = 2 cycles
// account for the time taken in the preceding commands.
// we just burned 17 (19) cycles above, remove 4, (4*4=16)
// us is at least 6 so we can subtract 4
us -= 4; // = 2 cycles
#elif F_CPU >= 6000000L
// for that unusual 6mhz clock...
// for a 1 to 3 microsecond delay, simply return. the overhead
// of the function call takes 14 (16) cycles, which is 2.5us
if (us <= 3) return; // = 3 cycles, (4 when true)
// make the loop below last 6 cycles
#undef _MORENOP_
#define _MORENOP_ " nop \n\t nop \n\t"
// the following loop takes 1 microsecond (6 cycles) per iteration
// we burned 15 (17) cycles above, plus 2 below, remove 3 (3 * 6 = 18)
// us is at least 4 so we can subtract 3
us -= 3; // = 2 cycles
#elif F_CPU >= 4000000L
// for that unusual 4mhz clock...
// for a 1 to 4 microsecond delay, simply return. the overhead
// of the function call takes 14 (16) cycles, which is 4us
if (us <= 4) return; // = 3 cycles, (4 when true)
// the following loop takes 1 microsecond (4 cycles)
// per iteration, so nothing to do here! \o/
// ... in terms of rescaling. We burned 15 (17) above plus 2 below,
// so remove 5 (5 * 4 = 20), but we may at most remove 4 to keep us > 0.
us -= 4; // = 2 cycles
#elif F_CPU >= 2000000L
// for that unusual 2mhz clock...
// for a 1 to 9 microsecond delay, simply return. the overhead
// of the function call takes 14 (16) cycles, which is 8us
if (us <= 9) return; // = 3 cycles, (4 when true)
// must be at least 10 if we want to do /= 2 -= 4
// divide by 2 to account for 2us runtime per loop iteration
us >>= 1; // = 2 cycles;
// the following loop takes 2 microseconds (4 cycles) per iteration
// we burned 17 (19) above plus 2 below,
// so remove 5 (5 * 4 = 20), but we may at most remove 4 to keep us > 0.
us -= 4; // = 2 cycles
#else
// for the 1 MHz internal clock (default settings for common AVR microcontrollers)
// the overhead of the function calls is 14 (16) cycles
if (us <= 16) return; //= 3 cycles, (4 when true)
if (us <= 25) return; //= 3 cycles, (4 when true), (must be at least 25 if we want to subtract 22)
// compensate for the time taken by the preceding and next commands (about 22 cycles)
us -= 22; // = 2 cycles
// the following loop takes 4 microseconds (4 cycles)
// per iteration, so execute it us/4 times
// us is at least 4, divided by 4 gives us 1 (no zero delay bug)
us >>= 2; // us div 4, = 4 cycles
#endif
// busy wait
__asm__ __volatile__ (
"1: sbiw %0,1" "\n\t" // 2 cycles
_MORENOP_ // more cycles according to definition
"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
);
// return = 4 cycles
}
// This clears up the timer settings, and then calls the tone timer initialization function (unless it's been disabled - but in this case, whatever called this isn't working anyway!
void initToneTimer(void)
{
// Ensure the timer is in the same state as power-up
#if defined(__AVR_ATtiny43__)
TIMSK1 = 0;
TCCR1A = 0;
TCCR1B = 0;
TCNT1 = 0;
OCR1A = 0;
OCR1B = 0;
TIFR1 = 0x07;
#elif (TIMER_TO_USE_FOR_TONE == 0)
// Just zero the registers out, instead of trying to name all the bits, as there are combinations of hardware and settings where that doesn't work
TCCR0B = 0; // (0<<FOC0A) | (0<<FOC0B) | (0<<WGM02) | (0<<CS02) | (0<<CS01) | (0<<CS00);
TCCR0A = 0; // (0<<COM0A1) | (0<<COM0A0) | (0<<COM0B1) | (0<<COM0B0) | (0<<WGM01) | (0<<WGM00);
// Reset the count to zero
TCNT0 = 0;
// Set the output compare registers to zero
OCR0A = 0;
OCR0B = 0;
#if defined(TIMSK)
// Disable all Timer0 interrupts
// Clear the Timer0 interrupt flags
#if defined(TICIE0) // x61-series has an additional input capture interrupt vector...
TIMSK &= ~((1<<OCIE0B) | (1<<OCIE0A) | (1<<TOIE0)|(1<<TICIE0));
TIFR = ((1<<OCF0B) | (1<<OCF0A) | (1<<TOV0)|(1<<ICF0));
#else
TIMSK &= ~((1<<OCIE0B) | (1<<OCIE0A) | (1<<TOIE0));
TIFR = ((1<<OCF0B) | (1<<OCF0A) | (1<<TOV0));
#endif
#elif defined(TIMSK0)
// Disable all Timer0 interrupts
TIMSK0 = 0; //can do this because all of TIMSK0 is timer 0 interrupt masks
// Clear the Timer0 interrupt flags
TIFR0 = ((1<<OCF0B) | (1<<OCF0A) | (1<<TOV0)); //no ICF0 interrupt on any supported part with TIMSK0
#endif
#elif (TIMER_TO_USE_FOR_TONE == 1) && defined(TCCR1)
// Turn off Clear on Compare Match, turn off PWM A, disconnect the timer from the output pin, stop the clock
TCCR1 = (0<<CTC1) | (0<<PWM1A) | (0<<COM1A1) | (0<<COM1A0) | (0<<CS13) | (0<<CS12) | (0<<CS11) | (0<<CS10);
// 0 out TCCR1
// Turn off PWM A, disconnect the timer from the output pin, no Force Output Compare Match, no Prescaler Reset
GTCCR &= ~((1<<PWM1B) | (1<<COM1B1) | (1<<COM1B0) | (1<<FOC1B) | (1<<FOC1A) | (1<<PSR1));
// Reset the count to zero
TCNT1 = 0;
// Set the output compare registers to zero
OCR1A = 0;
OCR1B = 0;
OCR1C = 0;
// Disable all Timer1 interrupts
TIMSK &= ~((1<<OCIE1A) | (1<<OCIE1B) | (1<<TOIE1));
// Clear the Timer1 interrupt flags
TIFR = ((1<<OCF1A) | (1<<OCF1B) | (1<<TOV1));
#elif (TIMER_TO_USE_FOR_TONE == 1) && defined(TCCR1E)
TCCR1A = 0;
TCCR1B = 0;
TCCR1C = 0;
TCCR1D = 0;
TCCR1E = 0;
// Reset the count to zero
TCNT1 = 0;
// Set the output compare registers to zero
OCR1A = 0;
OCR1B = 0;
OCR1C = 0;
OCR1D = 0;
// Disable all Timer1 interrupts
TIMSK &= ~((1<<TOIE1) | (1<<OCIE1A) | (1<<OCIE1B) | (1<<OCIE1D));
// Clear the Timer1 interrupt flags
TIFR = ((1<<TOV1) | (1<<OCF1A) | (1<<OCF1B) | (1<<OCF1D));
#elif (TIMER_TO_USE_FOR_TONE == 1)
// Normal, well-behaved 16-bit Timer 1.
// Turn off Input Capture Noise Canceler, Input Capture Edge Select on Falling, stop the clock
TCCR1B = (0<<ICNC1) | (0<<ICES1) | (0<<WGM13) | (0<<WGM12) | (0<<CS12) | (0<<CS11) | (0<<CS10);
// TCCR1B=0; But above is compile time known, so optimized out, and will fail if
// Disconnect the timer from the output pins, Set Waveform Generation Mode to Normal
TCCR1A = (0<<COM1A1) | (0<<COM1A0) | (0<<COM1B1) | (0<<COM1B0) | (0<<WGM11) | (0<<WGM10);
// TCCR1A = 0, same logic as above
// Reset the count to zero
TCNT1 = 0;
// Set the output compare registers to zero
OCR1A = 0;
OCR1B = 0;
// Disable all Timer1 interrupts
#if defined(TIMSK)
TIMSK &= ~((1<<TOIE1) | (1<<OCIE1A) | (1<<OCIE1B) | (1<<ICIE1));
// Clear the Timer1 interrupt flags
TIFR = ((1<<TOV1) | (1<<OCF1A) | (1<<OCF1B) | (1<<ICF1));
#elif defined(TIMSK1)
// Disable all Timer1 interrupts
TIMSK1 = 0; //~((1<<TOIE1) | (1<<OCIE1A) | (1<<OCIE1B) | (1<<ICIE1));
// Clear the Timer1 interrupt flags
TIFR1 = ((1<<TOV1) | (1<<OCF1A) | (1<<OCF1B) | (1<<ICF1));
#endif
#endif
#if INITIALIZE_SECONDARY_TIMERS
// Prepare the timer for PWM
initToneTimerInternal();
#endif
}
// initToneTimerInternal() - initialize the timer used for tone for PWM
#if INITIALIZE_SECONDARY_TIMERS
static void initToneTimerInternal(void)
{
// Timer is processor clock divided by ToneTimer_Prescale_Index
#if (TIMER_TO_USE_FOR_TONE == 0)
// Use the Tone Timer for phase correct PWM
TCCR0A = (1<<WGM00) | (0<<WGM01);
TCCR0B = (ToneTimer_Prescale_Index << CS00) | (0<<WGM02);
#elif defined(__AVR_ATtiny43__)
TCCR1A = 3; //WGM 10=1, WGM11=1
TCCR1B = 3; //prescaler of 64
#elif (TIMER_TO_USE_FOR_TONE == 1) && defined(TCCR1) // ATtiny x5
// Use the Tone Timer for fast PWM as phase correct not supported by this timer
GTCCR = (1<<PWM1B);
OCR1C = 0xFF; //Use 255 as the top to match with the others as this module doesn't have a 8bit PWM mode.
TCCR1 = (1<<CTC1) | (1<<PWM1A) | (ToneTimer_Prescale_Index << CS10);
#elif (TIMER_TO_USE_FOR_TONE == 1) && defined(TCCR1E) // ATtiny x61
// Use the Tone Timer for phase correct PWM
TCCR1A = (1<<PWM1A) | (1<<PWM1B);
TCCR1C = (1<<PWM1D);
TCCR1D = (1<<WGM10) | (0<<WGM11);
TCCR1B = (ToneTimer_Prescale_Index << CS10);
#elif (TIMER_TO_USE_FOR_TONE == 1 ) && defined(__AVR_ATtinyX7__)
TCCR1A = (1<<COM1A1)|(1<<COM1B1)|(1<<WGM10);
TCCR1B = (ToneTimer_Prescale_Index << CS10);
#elif (TIMER_TO_USE_FOR_TONE == 1) // x4, x8, x313,
// Use the Tone Timer for phase correct PWM
TCCR1A = (1<<WGM10);
TCCR1B = (0<<WGM12) | (0<<WGM13) | (ToneTimer_Prescale_Index << CS10); //set the clock
#endif
}
#endif
uint8_t read_factory_calibration(void)
{
uint8_t value = boot_signature_byte_get(1);
return value;
}
void init(void)
{
/*
If clocked from the PLL (CLOCK_SOURCE==6) then there are three special cases all involving
the 16.5 MHz clock option used to support VUSB on PLL-clocked parts.
If F_CPU is set to 16.5, and the Micronucleus bootloader is in use (indicated by BOOTTUNED165
being defined), the bootloader has already set OSCCAL to run at 16.5; if that is set while
F_CPU is set to 16, we reload that from factory.
If it is set to 16.5 but BOOTTUNED165 is not set, we're not using the micronucleus bootloader
and we need to increase OSCCAL; this is a guess, but works better than nothing.
*/
#if (CLOCK_SOURCE==6) //handle weird frequencies when using the PLL clock
#if (defined(BOOTTUNED165)) // If it's a micronucleus board, it will either run at 16.5 after
// adjusting the internal oscillator for that speed (in which case we are done) or we want
// it to be set to run at 16, in which case we need to reload the factory cal.