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355 lines
10 KiB
355 lines
10 KiB
/* |
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* Interrupt and PWM utilities for 16 bit Timer1 on ATmega168/328 |
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* Original code by Jesse Tane for http://labs.ideo.com August 2008 |
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* Modified March 2009 by Jérôme Despatis and Jesse Tane for ATmega328 support |
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* Modified June 2009 by Michael Polli and Jesse Tane to fix a bug in setPeriod() which caused the timer to stop |
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* Modified April 2012 by Paul Stoffregen - portable to other AVR chips, use inline functions |
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* Modified again, June 2014 by Paul Stoffregen - support Teensy 3.x & even more AVR chips |
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* This version has been downloaded from https://github.com/PaulStoffregen/TimerOne (commit aaeb4a36f5f23e99e6011bea77cf76abb912e13a) |
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* |
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* |
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* This is free software. You can redistribute it and/or modify it under |
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* the terms of Creative Commons Attribution 3.0 United States License. |
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* To view a copy of this license, visit http://creativecommons.org/licenses/by/3.0/us/ |
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* or send a letter to Creative Commons, 171 Second Street, Suite 300, San Francisco, California, 94105, USA. |
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* |
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*/ |
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#ifndef TimerOne_h_ |
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#define TimerOne_h_ |
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#if defined(ARDUINO) && ARDUINO >= 100 |
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#include "Arduino.h" |
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#else |
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#include "WProgram.h" |
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#endif |
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#include "config/known_16bit_timers.h" |
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#define TIMER1_RESOLUTION 65536UL // Timer1 is 16 bit |
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// Placing nearly all the code in this .h file allows the functions to be |
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// inlined by the compiler. In the very common case with constant values |
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// the compiler will perform all calculations and simply write constants |
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// to the hardware registers (for example, setPeriod). |
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class TimerOne |
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{ |
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#if defined(__AVR__) |
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public: |
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//**************************** |
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// Configuration |
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//**************************** |
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void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) { |
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TCCR1B = _BV(WGM13); // set mode as phase and frequency correct pwm, stop the timer |
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TCCR1A = 0; // clear control register A |
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setPeriod(microseconds); |
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} |
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void setPeriod(unsigned long microseconds) __attribute__((always_inline)) { |
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const unsigned long cycles = (F_CPU / 2000000) * microseconds; |
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if (cycles < TIMER1_RESOLUTION) { |
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clockSelectBits = _BV(CS10); |
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pwmPeriod = cycles; |
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} else |
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if (cycles < TIMER1_RESOLUTION * 8) { |
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clockSelectBits = _BV(CS11); |
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pwmPeriod = cycles / 8; |
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} else |
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if (cycles < TIMER1_RESOLUTION * 64) { |
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clockSelectBits = _BV(CS11) | _BV(CS10); |
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pwmPeriod = cycles / 64; |
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} else |
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if (cycles < TIMER1_RESOLUTION * 256) { |
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clockSelectBits = _BV(CS12); |
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pwmPeriod = cycles / 256; |
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} else |
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if (cycles < TIMER1_RESOLUTION * 1024) { |
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clockSelectBits = _BV(CS12) | _BV(CS10); |
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pwmPeriod = cycles / 1024; |
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} else { |
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clockSelectBits = _BV(CS12) | _BV(CS10); |
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pwmPeriod = TIMER1_RESOLUTION - 1; |
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} |
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ICR1 = pwmPeriod; |
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TCCR1B = _BV(WGM13) | clockSelectBits; |
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} |
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//**************************** |
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// Run Control |
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//**************************** |
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void start() __attribute__((always_inline)) { |
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TCCR1B = 0; |
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TCNT1 = 0; // TODO: does this cause an undesired interrupt? |
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resume(); |
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} |
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void stop() __attribute__((always_inline)) { |
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TCCR1B = _BV(WGM13); |
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} |
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void restart() __attribute__((always_inline)) { |
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start(); |
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} |
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void resume() __attribute__((always_inline)) { |
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TCCR1B = _BV(WGM13) | clockSelectBits; |
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} |
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//**************************** |
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// PWM outputs |
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//**************************** |
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void setPwmDuty(char pin, unsigned int duty) __attribute__((always_inline)) { |
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unsigned long dutyCycle = pwmPeriod; |
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dutyCycle *= duty; |
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dutyCycle >>= 10; |
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if (pin == TIMER1_A_PIN) OCR1A = dutyCycle; |
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#ifdef TIMER1_B_PIN |
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else if (pin == TIMER1_B_PIN) OCR1B = dutyCycle; |
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#endif |
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#ifdef TIMER1_C_PIN |
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else if (pin == TIMER1_C_PIN) OCR1C = dutyCycle; |
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#endif |
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} |
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void pwm(char pin, unsigned int duty) __attribute__((always_inline)) { |
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if (pin == TIMER1_A_PIN) { pinMode(TIMER1_A_PIN, OUTPUT); TCCR1A |= _BV(COM1A1); } |
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#ifdef TIMER1_B_PIN |
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else if (pin == TIMER1_B_PIN) { pinMode(TIMER1_B_PIN, OUTPUT); TCCR1A |= _BV(COM1B1); } |
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#endif |
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#ifdef TIMER1_C_PIN |
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else if (pin == TIMER1_C_PIN) { pinMode(TIMER1_C_PIN, OUTPUT); TCCR1A |= _BV(COM1C1); } |
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#endif |
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setPwmDuty(pin, duty); |
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TCCR1B = _BV(WGM13) | clockSelectBits; |
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} |
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void pwm(char pin, unsigned int duty, unsigned long microseconds) __attribute__((always_inline)) { |
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if (microseconds > 0) setPeriod(microseconds); |
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pwm(pin, duty); |
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} |
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void disablePwm(char pin) __attribute__((always_inline)) { |
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if (pin == TIMER1_A_PIN) TCCR1A &= ~_BV(COM1A1); |
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#ifdef TIMER1_B_PIN |
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else if (pin == TIMER1_B_PIN) TCCR1A &= ~_BV(COM1B1); |
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#endif |
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#ifdef TIMER1_C_PIN |
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else if (pin == TIMER1_C_PIN) TCCR1A &= ~_BV(COM1C1); |
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#endif |
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} |
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//**************************** |
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// Interrupt Function |
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//**************************** |
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void attachInterrupt(void (*isr)()) __attribute__((always_inline)) { |
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isrCallback = isr; |
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TIMSK1 = _BV(TOIE1); |
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} |
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void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) { |
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if(microseconds > 0) setPeriod(microseconds); |
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attachInterrupt(isr); |
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} |
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void detachInterrupt() __attribute__((always_inline)) { |
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TIMSK1 = 0; |
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} |
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static void (*isrCallback)(); |
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static void isrDefaultUnused(); |
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private: |
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// properties |
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static unsigned short pwmPeriod; |
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static unsigned char clockSelectBits; |
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#elif defined(__arm__) && defined(CORE_TEENSY) |
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#if defined(KINETISK) |
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#define F_TIMER F_BUS |
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#elif defined(KINETISL) |
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#define F_TIMER (F_PLL/2) |
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#endif |
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public: |
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//**************************** |
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// Configuration |
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//**************************** |
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void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) { |
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setPeriod(microseconds); |
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} |
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void setPeriod(unsigned long microseconds) __attribute__((always_inline)) { |
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const unsigned long cycles = (F_TIMER / 2000000) * microseconds; |
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// A much faster if-else |
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// This is like a binary serch tree and no more than 3 conditions are evaluated. |
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// I haven't checked if this becomes significantly longer ASM than the simple ladder. |
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// It looks very similar to the ladder tho: same # of if's and else's |
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/* |
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// This code does not work properly in all cases :( |
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// https://github.com/PaulStoffregen/TimerOne/issues/17 |
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if (cycles < TIMER1_RESOLUTION * 16) { |
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if (cycles < TIMER1_RESOLUTION * 4) { |
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if (cycles < TIMER1_RESOLUTION) { |
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clockSelectBits = 0; |
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pwmPeriod = cycles; |
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}else{ |
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clockSelectBits = 1; |
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pwmPeriod = cycles >> 1; |
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} |
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}else{ |
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if (cycles < TIMER1_RESOLUTION * 8) { |
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clockSelectBits = 3; |
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pwmPeriod = cycles >> 3; |
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}else{ |
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clockSelectBits = 4; |
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pwmPeriod = cycles >> 4; |
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} |
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} |
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}else{ |
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if (cycles > TIMER1_RESOLUTION * 64) { |
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if (cycles > TIMER1_RESOLUTION * 128) { |
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clockSelectBits = 7; |
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pwmPeriod = TIMER1_RESOLUTION - 1; |
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}else{ |
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clockSelectBits = 7; |
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pwmPeriod = cycles >> 7; |
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} |
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} |
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else{ |
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if (cycles > TIMER1_RESOLUTION * 32) { |
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clockSelectBits = 6; |
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pwmPeriod = cycles >> 6; |
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}else{ |
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clockSelectBits = 5; |
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pwmPeriod = cycles >> 5; |
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} |
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} |
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} |
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*/ |
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if (cycles < TIMER1_RESOLUTION) { |
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clockSelectBits = 0; |
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pwmPeriod = cycles; |
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} else |
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if (cycles < TIMER1_RESOLUTION * 2) { |
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clockSelectBits = 1; |
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pwmPeriod = cycles >> 1; |
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} else |
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if (cycles < TIMER1_RESOLUTION * 4) { |
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clockSelectBits = 2; |
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pwmPeriod = cycles >> 2; |
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} else |
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if (cycles < TIMER1_RESOLUTION * 8) { |
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clockSelectBits = 3; |
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pwmPeriod = cycles >> 3; |
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} else |
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if (cycles < TIMER1_RESOLUTION * 16) { |
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clockSelectBits = 4; |
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pwmPeriod = cycles >> 4; |
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} else |
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if (cycles < TIMER1_RESOLUTION * 32) { |
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clockSelectBits = 5; |
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pwmPeriod = cycles >> 5; |
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} else |
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if (cycles < TIMER1_RESOLUTION * 64) { |
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clockSelectBits = 6; |
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pwmPeriod = cycles >> 6; |
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} else |
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if (cycles < TIMER1_RESOLUTION * 128) { |
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clockSelectBits = 7; |
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pwmPeriod = cycles >> 7; |
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} else { |
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clockSelectBits = 7; |
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pwmPeriod = TIMER1_RESOLUTION - 1; |
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} |
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uint32_t sc = FTM1_SC; |
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FTM1_SC = 0; |
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FTM1_MOD = pwmPeriod; |
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FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_CPWMS | clockSelectBits | (sc & FTM_SC_TOIE); |
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} |
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//**************************** |
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// Run Control |
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//**************************** |
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void start() __attribute__((always_inline)) { |
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stop(); |
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FTM1_CNT = 0; |
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resume(); |
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} |
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void stop() __attribute__((always_inline)) { |
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FTM1_SC = FTM1_SC & (FTM_SC_TOIE | FTM_SC_CPWMS | FTM_SC_PS(7)); |
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} |
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void restart() __attribute__((always_inline)) { |
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start(); |
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} |
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void resume() __attribute__((always_inline)) { |
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FTM1_SC = (FTM1_SC & (FTM_SC_TOIE | FTM_SC_PS(7))) | FTM_SC_CPWMS | FTM_SC_CLKS(1); |
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} |
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//**************************** |
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// PWM outputs |
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//**************************** |
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void setPwmDuty(char pin, unsigned int duty) __attribute__((always_inline)) { |
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unsigned long dutyCycle = pwmPeriod; |
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dutyCycle *= duty; |
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dutyCycle >>= 10; |
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if (pin == TIMER1_A_PIN) { |
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FTM1_C0V = dutyCycle; |
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} else if (pin == TIMER1_B_PIN) { |
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FTM1_C1V = dutyCycle; |
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} |
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} |
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void pwm(char pin, unsigned int duty) __attribute__((always_inline)) { |
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setPwmDuty(pin, duty); |
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if (pin == TIMER1_A_PIN) { |
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*portConfigRegister(TIMER1_A_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; |
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} else if (pin == TIMER1_B_PIN) { |
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*portConfigRegister(TIMER1_B_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; |
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} |
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} |
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void pwm(char pin, unsigned int duty, unsigned long microseconds) __attribute__((always_inline)) { |
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if (microseconds > 0) setPeriod(microseconds); |
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pwm(pin, duty); |
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} |
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void disablePwm(char pin) __attribute__((always_inline)) { |
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if (pin == TIMER1_A_PIN) { |
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*portConfigRegister(TIMER1_A_PIN) = 0; |
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} else if (pin == TIMER1_B_PIN) { |
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*portConfigRegister(TIMER1_B_PIN) = 0; |
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} |
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} |
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//**************************** |
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// Interrupt Function |
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//**************************** |
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void attachInterrupt(void (*isr)()) __attribute__((always_inline)) { |
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isrCallback = isr; |
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FTM1_SC |= FTM_SC_TOIE; |
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NVIC_ENABLE_IRQ(IRQ_FTM1); |
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} |
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void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) { |
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if(microseconds > 0) setPeriod(microseconds); |
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attachInterrupt(isr); |
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} |
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void detachInterrupt() __attribute__((always_inline)) { |
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FTM1_SC &= ~FTM_SC_TOIE; |
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NVIC_DISABLE_IRQ(IRQ_FTM1); |
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} |
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static void (*isrCallback)(); |
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static void isrDefaultUnused(); |
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private: |
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// properties |
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static unsigned short pwmPeriod; |
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static unsigned char clockSelectBits; |
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#undef F_TIMER |
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#endif |
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}; |
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extern TimerOne Timer1; |
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#endif |
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