2007-10-06 06:02:43 -07:00
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/*
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wiring.c - Partial implementation of the Wiring API for the ATmega8.
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Part of Arduino - http://www.arduino.cc/
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Copyright (c) 2005-2006 David A. Mellis
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General
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Public License along with this library; if not, write to the
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Free Software Foundation, Inc., 59 Temple Place, Suite 330,
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Boston, MA 02111-1307 USA
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$Id$
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*/
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#include "wiring_private.h"
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// The number of times timer 0 has overflowed since the program started.
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// Must be volatile or gcc will optimize away some uses of it.
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volatile unsigned long timer0_overflow_count;
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SIGNAL(SIG_OVERFLOW0)
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{
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timer0_overflow_count++;
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}
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unsigned long millis()
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{
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// timer 0 increments every 64 cycles, and overflows when it reaches
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// 256. we would calculate the total number of clock cycles, then
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// divide by the number of clock cycles per millisecond, but this
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// overflows too often.
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//return timer0_overflow_count * 64UL * 256UL / (F_CPU / 1000UL);
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// instead find 1/128th the number of clock cycles and divide by
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// 1/128th the number of clock cycles per millisecond
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return timer0_overflow_count * 64UL * 2UL / (F_CPU / 128000UL);
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}
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void delay(unsigned long ms)
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{
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unsigned long start = millis();
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while (millis() - start < ms)
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;
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}
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/* Delay for the given number of microseconds. Assumes a 16 MHz clock.
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* Disables interrupts, which will disrupt the millis() function if used
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* too frequently. */
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void delayMicroseconds(unsigned int us)
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{
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uint8_t oldSREG;
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// calling avrlib's delay_us() function with low values (e.g. 1 or
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// 2 microseconds) gives delays longer than desired.
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//delay_us(us);
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#if F_CPU >= 16000000L
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2008-03-08 14:05:23 -08:00
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// for the 16 MHz clock on most Arduino boards
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2007-10-06 06:02:43 -07:00
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// for a one-microsecond delay, simply return. the overhead
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// of the function call yields a delay of approximately 1 1/8 us.
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if (--us == 0)
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return;
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// the following loop takes a quarter of a microsecond (4 cycles)
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// per iteration, so execute it four times for each microsecond of
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// delay requested.
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us <<= 2;
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// account for the time taken in the preceeding commands.
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us -= 2;
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#else
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2008-03-08 14:05:23 -08:00
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// for the 8 MHz internal clock on the ATmega168
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2007-10-06 06:02:43 -07:00
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2008-03-08 14:05:23 -08:00
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// for a one- or two-microsecond delay, simply return. the overhead of
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// the function calls takes more than two microseconds. can't just
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// subtract two, since us is unsigned; we'd overflow.
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2007-10-06 06:02:43 -07:00
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if (--us == 0)
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return;
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if (--us == 0)
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return;
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// the following loop takes half of a microsecond (4 cycles)
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// per iteration, so execute it twice for each microsecond of
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// delay requested.
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us <<= 1;
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2008-03-08 14:05:23 -08:00
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// partially compensate for the time taken by the preceeding commands.
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// we can't subtract any more than this or we'd overflow w/ small delays.
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us--;
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2007-10-06 06:02:43 -07:00
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#endif
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// disable interrupts, otherwise the timer 0 overflow interrupt that
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// tracks milliseconds will make us delay longer than we want.
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oldSREG = SREG;
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cli();
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// busy wait
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__asm__ __volatile__ (
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"1: sbiw %0,1" "\n\t" // 2 cycles
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"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
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);
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// reenable interrupts.
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SREG = oldSREG;
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}
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void init()
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{
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// this needs to be called before setup() or some functions won't
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// work there
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sei();
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// timer 0 is used for millis() and delay()
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timer0_overflow_count = 0;
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// on the ATmega168, timer 0 is also used for fast hardware pwm
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// (using phase-correct PWM would mean that timer 0 overflowed half as often
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// resulting in different millis() behavior on the ATmega8 and ATmega168)
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#if defined(__AVR_ATmega168__)
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sbi(TCCR0A, WGM01);
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sbi(TCCR0A, WGM00);
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#endif
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// set timer 0 prescale factor to 64
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#if defined(__AVR_ATmega168__)
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sbi(TCCR0B, CS01);
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sbi(TCCR0B, CS00);
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#else
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sbi(TCCR0, CS01);
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sbi(TCCR0, CS00);
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#endif
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// enable timer 0 overflow interrupt
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#if defined(__AVR_ATmega168__)
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sbi(TIMSK0, TOIE0);
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#else
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sbi(TIMSK, TOIE0);
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#endif
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// timers 1 and 2 are used for phase-correct hardware pwm
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// this is better for motors as it ensures an even waveform
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// note, however, that fast pwm mode can achieve a frequency of up
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// 8 MHz (with a 16 MHz clock) at 50% duty cycle
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// set timer 1 prescale factor to 64
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sbi(TCCR1B, CS11);
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sbi(TCCR1B, CS10);
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// put timer 1 in 8-bit phase correct pwm mode
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sbi(TCCR1A, WGM10);
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// set timer 2 prescale factor to 64
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#if defined(__AVR_ATmega168__)
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sbi(TCCR2B, CS22);
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#else
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sbi(TCCR2, CS22);
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#endif
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// configure timer 2 for phase correct pwm (8-bit)
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#if defined(__AVR_ATmega168__)
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sbi(TCCR2A, WGM20);
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#else
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sbi(TCCR2, WGM20);
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#endif
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// set a2d prescale factor to 128
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// 16 MHz / 128 = 125 KHz, inside the desired 50-200 KHz range.
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// XXX: this will not work properly for other clock speeds, and
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// this code should use F_CPU to determine the prescale factor.
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sbi(ADCSRA, ADPS2);
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sbi(ADCSRA, ADPS1);
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sbi(ADCSRA, ADPS0);
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// enable a2d conversions
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sbi(ADCSRA, ADEN);
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// the bootloader connects pins 0 and 1 to the USART; disconnect them
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// here so they can be used as normal digital i/o; they will be
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// reconnected in Serial.begin()
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#if defined(__AVR_ATmega168__)
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UCSR0B = 0;
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#else
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UCSRB = 0;
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#endif
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}
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