TimerOne.cpp

/*
 *  Interrupt and PWM utilities for 16 bit Timer1 on ATmega168/328
 *  Original code by Jesse Tane for http://labs.ideo.com August 2008
 *  Modified March 2009 by Jérôme Despatis and Jesse Tane for ATmega328 support
 *  Modified June 2009 by Michael Polli and Jesse Tane to fix a bug in setPeriod() which caused the timer to stop
 *  Modified June 2011 by Lex Talionis to add a function to read the timer
 *  Modified Oct 2011 by Andrew Richards to avoid certain problems:
 *  - Add (long) assignments and casts to TimerOne::read() to ensure calculations involving tmp, ICR1 and TCNT1 aren't truncated
 *  - Ensure 16 bit registers accesses are atomic - run with interrupts disabled when accessing
 *  - Remove global enable of interrupts (sei())- could be running within an interrupt routine)
 *  - Disable interrupts whilst TCTN1 == 0.  Datasheet vague on this, but experiment shows that overflow interrupt
 *    flag gets set whilst TCNT1 == 0, resulting in a phantom interrupt.  Could just set to 1, but gets inaccurate
 *    at very short durations
 *  - startBottom() added to start counter at 0 and handle all interrupt enabling.
 *  - start() amended to enable interrupts
 *  - restart() amended to point at startBottom()
 * Modiied 7:26 PM Sunday, October 09, 2011 by Lex Talionis
 *  - renamed start() to resume() to reflect it's actual role
 *  - renamed startBottom() to start(). This breaks some old code that expects start to continue counting where it left off
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program 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 General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 *  See Google Code project http://code.google.com/p/arduino-timerone/ for latest
 */
#ifndef TIMERONE_cpp
#define TIMERONE_cpp

#include "TimerOne.h"

TimerOne Timer1;              // preinstatiate

ISR(TIMER1_OVF_vect)          // interrupt service routine that wraps a user defined function supplied by attachInterrupt
{
  Timer1.isrCallback();
}


void TimerOne::initialize(long microseconds)
{
  TCCR1A = 0;                 // clear control register A
  TCCR1B = _BV(WGM13);        // set mode 8: phase and frequency correct pwm, stop the timer
  setPeriod(microseconds);
}


void TimerOne::setPeriod(long microseconds)   // AR modified for atomic access
{

  long cycles = (F_CPU / 2000000) * microseconds;                                // the counter runs backwards after TOP, interrupt is at BOTTOM so divide microseconds by 2
  if(cycles < RESOLUTION)              clockSelectBits = _BV(CS10);              // no prescale, full xtal
  else if((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS11);              // prescale by /8
  else if((cycles >>= 3) < RESOLUTION) clockSelectBits = _BV(CS11) | _BV(CS10);  // prescale by /64
  else if((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS12);              // prescale by /256
  else if((cycles >>= 2) < RESOLUTION) clockSelectBits = _BV(CS12) | _BV(CS10);  // prescale by /1024
  else        cycles = RESOLUTION - 1, clockSelectBits = _BV(CS12) | _BV(CS10);  // request was out of bounds, set as maximum

  oldSREG = SREG;
  cli();              // Disable interrupts for 16 bit register access
  ICR1 = pwmPeriod = cycles;                                          // ICR1 is TOP in p & f correct pwm mode
  SREG = oldSREG;

  TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  TCCR1B |= clockSelectBits;                                          // reset clock select register, and starts the clock
}

void TimerOne::setPwmDuty(char pin, int duty)
{
  unsigned long dutyCycle = pwmPeriod;

  dutyCycle *= duty;
  dutyCycle >>= 10;

  oldSREG = SREG;
  cli();
  if(pin == 1 || pin == 9)       OCR1A = dutyCycle;
  else if(pin == 2 || pin == 10) OCR1B = dutyCycle;
  SREG = oldSREG;
}

void TimerOne::pwm(char pin, int duty, long microseconds)  // expects duty cycle to be 10 bit (1024)
{
  if(microseconds > 0) setPeriod(microseconds);
  if(pin == 1 || pin == 9) {
    DDRB |= _BV(PORTB1);                                   // sets data direction register for pwm output pin
    TCCR1A |= _BV(COM1A1);                                 // activates the output pin
  }
  else if(pin == 2 || pin == 10) {
    DDRB |= _BV(PORTB2);
    TCCR1A |= _BV(COM1B1);
  }
  setPwmDuty(pin, duty);
  resume();     // Lex - make sure the clock is running.  We don't want to restart the count, in case we are starting the second WGM
          // and the first one is in the middle of a cycle
}

void TimerOne::disablePwm(char pin)
{
  if(pin == 1 || pin == 9)       TCCR1A &= ~_BV(COM1A1);   // clear the bit that enables pwm on PB1
  else if(pin == 2 || pin == 10) TCCR1A &= ~_BV(COM1B1);   // clear the bit that enables pwm on PB2
}

void TimerOne::attachInterrupt(void (*isr)(), long microseconds)
{
  if(microseconds > 0) setPeriod(microseconds);
  isrCallback = isr;                                       // register the user's callback with the real ISR
  TIMSK1 = _BV(TOIE1);                                     // sets the timer overflow interrupt enable bit
  // might be running with interrupts disabled (eg inside an ISR), so don't touch the global state
//  sei();
  resume();
}

void TimerOne::detachInterrupt()
{
  TIMSK1 &= ~_BV(TOIE1);                                   // clears the timer overflow interrupt enable bit
                              // timer continues to count without calling the isr
}

void TimerOne::resume()       // AR suggested
{
  TCCR1B |= clockSelectBits;
}

void TimerOne::restart()    // Depricated - Public interface to start at zero - Lex 10/9/2011
{
  start();
}

void TimerOne::start()  // AR addition, renamed by Lex to reflect it's actual role
{
  unsigned int tcnt1;

  TIMSK1 &= ~_BV(TOIE1);        // AR added
  GTCCR |= _BV(PSRSYNC);      // AR added - reset prescaler (NB: shared with all 16 bit timers);

  oldSREG = SREG;       // AR - save status register
  cli();            // AR - Disable interrupts
  TCNT1 = 0;
  SREG = oldSREG;             // AR - Restore status register
  resume();
  do {  // Nothing -- wait until timer moved on from zero - otherwise get a phantom interrupt
  oldSREG = SREG;
  cli();
  tcnt1 = TCNT1;
  SREG = oldSREG;
  } while (tcnt1==0);

//  TIFR1 = 0xff;                 // AR - Clear interrupt flags
//  TIMSK1 = _BV(TOIE1);              // sets the timer overflow interrupt enable bit
}

void TimerOne::stop()
{
  TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));          // clears all clock selects bits
}

unsigned long TimerOne::read()    //returns the value of the timer in microseconds
{                 //rember! phase and freq correct mode counts up to then down again
    unsigned long tmp;        // AR amended to hold more than 65536 (could be nearly double this)
    unsigned int tcnt1;       // AR added

  oldSREG= SREG;
    cli();
    tmp=TCNT1;
  SREG = oldSREG;

  char scale=0;
  switch (clockSelectBits)
  {
  case 1:// no prescalse
    scale=0;
    break;
  case 2:// x8 prescale
    scale=3;
    break;
  case 3:// x64
    scale=6;
    break;
  case 4:// x256
    scale=8;
    break;
  case 5:// x1024
    scale=10;
    break;
  }

  do {  // Nothing -- max delay here is ~1023 cycles.  AR modified
    oldSREG = SREG;
    cli();
    tcnt1 = TCNT1;
    SREG = oldSREG;
  } while (tcnt1==tmp); //if the timer has not ticked yet

  //if we are counting down add the top value to how far we have counted down
  tmp = (  (tcnt1>tmp) ? (tmp) : (long)(ICR1-tcnt1)+(long)ICR1  );    // AR amended to add casts and reuse previous TCNT1
  return ((tmp*1000L)/(F_CPU /1000L))<<scale;
}

#endif