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356 lines
10 KiB
356 lines
10 KiB
8 years ago
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/*
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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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