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timer128.c

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/*! \file timer128.c \brief System Timer function library for Mega128. */
//*****************************************************************************
//
// File Name    : 'timer128.c'
// Title        : System Timer function library for Mega128
// Author       : Pascal Stang - Copyright (C) 2000-2003
// Created      : 11/22/2000
// Revised      : 02/24/2003
// Version      : 1.2
// Target MCU   : Atmel AVR Series
// Editor Tabs  : 4
//
// This code is distributed under the GNU Public License
//      which can be found at http://www.gnu.org/licenses/gpl.txt
//
//*****************************************************************************

#ifndef WIN32
    #include <avr/io.h>
    #include <avr/signal.h>
    #include <avr/interrupt.h>
    #include <avr/pgmspace.h>
#endif

#include "global.h"
#include "timer128.h"

// Program ROM constants
// the prescale division values stored in 2^n format
// STOP, CLK, CLK/8, CLK/64, CLK/256, CLK/1024
short __attribute__ ((progmem)) TimerPrescaleFactor[] = {0,0,3,6,8,10};
// the prescale division values stored in 2^n format
// STOP, CLK, CLK/8, CLK/32, CLK/64, CLK/128, CLK/256, CLK/1024
short __attribute__ ((progmem)) TimerRTCPrescaleFactor[] = {0,0,3,5,6,7,8,10};

// Global variables
// time registers
volatile unsigned long TimerPauseReg;
volatile unsigned long Timer0Reg0;
volatile unsigned long Timer0Reg1;
volatile unsigned long Timer2Reg0;
volatile unsigned long Timer2Reg1;

typedef void (*voidFuncPtr)(void);
volatile static voidFuncPtr TimerIntFunc[TIMER_NUM_INTERRUPTS];

// delay for a minimum of <us> microseconds 
// the time resolution is dependent on the time the loop takes 
// e.g. with 4Mhz and 5 cycles per loop, the resolution is 1.25 us 
void delay(unsigned short us) 
{
    unsigned short delay_loops;
    register unsigned short i;

    delay_loops = (us+3)/5*CYCLES_PER_US; // +3 for rounding up (dirty) 

    // one loop takes 5 cpu cycles 
    for (i=0; i < delay_loops; i++) {};
} 

void timerInit(void)
{
    u08 intNum;
    // detach all user functions from interrupts
    for(intNum=0; intNum<TIMER_NUM_INTERRUPTS; intNum++)
        timerDetach(intNum);

    // initialize all timers
    timer0Init();
    timer1Init();
    timer2Init();
    timer3Init();
    // enable interrupts
    sei();
}

void timer0Init()
{
    // initialize timer 0
    timer0SetPrescaler( TIMER0PRESCALE );   // set prescaler
    outp(0, TCNT0);                         // reset TCNT0
    sbi(TIMSK, TOIE0);                      // enable TCNT0 overflow interrupt

    timer0ClearOverflowCount();             // initialize time registers
}

void timer1Init(void)
{
    // initialize timer 1
    timer1SetPrescaler( TIMER1PRESCALE );   // set prescaler
    outp(0, TCNT1H);                        // reset TCNT1
    outp(0, TCNT1L);
    sbi(TIMSK, TOIE1);                      // enable TCNT1 overflow
}

void timer2Init(void)
{
    // initialize timer 2
    timer2SetPrescaler( TIMER2PRESCALE );   // set prescaler
    outp(0, TCNT2);                         // reset TCNT2
    sbi(TIMSK, TOIE2);                      // enable TCNT2 overflow

    timer2ClearOverflowCount();             // initialize time registers
}

void timer3Init(void)
{
    // initialize timer 3
    timer3SetPrescaler( TIMER3PRESCALE );   // set prescaler
    outp(0, TCNT3H);                        // reset TCNT3
    outp(0, TCNT3L);
    sbi(ETIMSK, TOIE3);                     // enable TCNT3 overflow
}

void timer0SetPrescaler(u08 prescale)
{
    // set prescaler on timer 0
    outp( (inp(TCCR0) & ~TIMER_PRESCALE_MASK) | prescale, TCCR0);
}

void timer1SetPrescaler(u08 prescale)
{
    // set prescaler on timer 1
    outp( (inp(TCCR1B) & ~TIMER_PRESCALE_MASK) | prescale, TCCR1B);
}

void timer2SetPrescaler(u08 prescale)
{
    // set prescaler on timer 2
    outp( (inp(TCCR2) & ~TIMER_PRESCALE_MASK) | prescale, TCCR2);
}

void timer3SetPrescaler(u08 prescale)
{
    // set prescaler on timer 2
    outp( (inp(TCCR3B) & ~TIMER_PRESCALE_MASK) | prescale, TCCR3B);
}

void timerAttach(u08 interruptNum, void (*userFunc)(void) )
{
    // make sure the interrupt number is within bounds
    if(interruptNum < TIMER_NUM_INTERRUPTS)
    {
        // set the interrupt function to run
        // the supplied user's function
        TimerIntFunc[interruptNum] = userFunc;
    }
}

void timerDetach(u08 interruptNum)
{
    // make sure the interrupt number is within bounds
    if(interruptNum < TIMER_NUM_INTERRUPTS)
    {
        // set the interrupt function to run nothing
        TimerIntFunc[interruptNum] = 0;
    }
}

void timerPause(unsigned short pause_ms)
{
    // pauses for exactly <pause_ms> number of milliseconds
    u08 timerThres;
    u32 ticRateHz;
    u32 pause;

    // capture current pause timer value
    timerThres = inb(TCNT2);
    // reset pause timer overflow count
    TimerPauseReg = 0;
    // calculate delay for [pause_ms] milliseconds
    // prescaler division = 1<<(PRG_RDB(TimerPrescaleFactor+inp(TCCR2)))
    ticRateHz = F_CPU/(1<<(PRG_RDB(TimerPrescaleFactor+inp(TCCR2))));
    // precision management
    if( ticRateHz > 1000000)
        pause = pause_ms*(ticRateHz/1000);
    else
        pause = (pause_ms*ticRateHz)/1000;
    
    // loop until time expires
    while( ((TimerPauseReg<<8) | inb(TCNT2)) < (pause+timerThres) )
    {
        if( TimerPauseReg < (pause>>8));
        {
            // save power by idling the processor
            set_sleep_mode(SLEEP_MODE_IDLE);
            sleep_mode();
        }
    }
}

void timer0ClearOverflowCount(void)
{
    // clear the timer overflow counter registers
    Timer0Reg0 = 0; // initialize time registers
    Timer0Reg1 = 0; // initialize time registers
}

long timer0GetOverflowCount(void)
{
    // return the current timer overflow count
    // (this is since the last timer0ClearOverflowCount() command was called)
    return Timer0Reg0;
}

void timer2ClearOverflowCount(void)
{
    // clear the timer overflow counter registers
    Timer2Reg0 = 0; // initialize time registers
    Timer2Reg1 = 0; // initialize time registers
}

long timer2GetOverflowCount(void)
{
    // return the current timer overflow count
    // (this is since the last timer2ClearOverflowCount() command was called)
    return Timer2Reg0;
}


void timer1PWMInit(u08 bitRes)
{
    // configures timer1 for use with PWM output
    // on pins OC1A, OC1B, and OC1C

    // enable Timer1 as 8,9,10bit PWM
    if(bitRes == 9)
    {   // 9bit mode
        sbi(TCCR1A,WGMA1);
        cbi(TCCR1A,WGMA0);
    }
    else if( bitRes == 10 )
    {   // 10bit mode
        sbi(TCCR1A,WGMA1);
        sbi(TCCR1A,WGMA0);
    }
    else
    {   // default 8bit mode
        cbi(TCCR1A,WGMA1);
        sbi(TCCR1A,WGMA0);
    }

    // set clear-timer-on-compare-match
    //cbi(TCCR1B,CTC1);
    // clear output compare value A
    outb(OCR1AH, 0);
    outb(OCR1AL, 0);
    // clear output compare value B
    outb(OCR1BH, 0);
    outb(OCR1BL, 0);
    // clear output compare value C
    outb(OCR1CH, 0);
    outb(OCR1CL, 0);
}

void timer1PWMOff(void)
{
    // turn off PWM on Timer1
    cbi(TCCR1A,WGMA1);
    cbi(TCCR1A,WGMA0);
    // clear (disable) clear-timer-on-compare-match
    //cbi(TCCR1B,CTC1);
    // set PWM1A/B/C (OutputCompare action) to none
    timer1PWMAOff();
    timer1PWMBOff();
    timer1PWMCOff();
}

void timer1PWMAOn(void)
{
    // turn on channel A (OC1A) PWM output
    // set OC1A as non-inverted PWM
    sbi(TCCR1A,COMA1);
    cbi(TCCR1A,COMA0);
}

void timer1PWMBOn(void)
{
    // turn on channel B (OC1B) PWM output
    // set OC1B as non-inverted PWM
    sbi(TCCR1A,COMB1);
    cbi(TCCR1A,COMB0);
}

void timer1PWMCOn(void)
{
    // turn on channel C (OC1C) PWM output
    // set OC1C as non-inverted PWM
    sbi(TCCR1A,COMC1);
    cbi(TCCR1A,COMC0);
}

void timer1PWMAOff(void)
{
    // turn off channel A (OC1A) PWM output
    // set OC1A (OutputCompare action) to none
    cbi(TCCR1A,COMA1);
    cbi(TCCR1A,COMA0);
}

void timer1PWMBOff(void)
{
    // turn off channel B (OC1B) PWM output
    // set OC1B (OutputCompare action) to none
    cbi(TCCR1A,COMB1);
    cbi(TCCR1A,COMB0);
}

void timer1PWMCOff(void)
{
    // turn off channel C (OC1C) PWM output
    // set OC1C (OutputCompare action) to none
    cbi(TCCR1A,COMC1);
    cbi(TCCR1A,COMC0);
}

void timer1PWMASet(u16 pwmDuty)
{
    // set PWM (output compare) duty for channel A
    // this PWM output is generated on OC1A pin
    // NOTE:    pwmDuty should be in the range 0-255 for 8bit PWM
    //          pwmDuty should be in the range 0-511 for 9bit PWM
    //          pwmDuty should be in the range 0-1023 for 10bit PWM
    outp( (pwmDuty>>8), OCR1AH);        // set the high 8bits of OCR1A
    outp( (pwmDuty&0x00FF), OCR1AL);    // set the low 8bits of OCR1A
}

void timer1PWMBSet(u16 pwmDuty)
{
    // set PWM (output compare) duty for channel B
    // this PWM output is generated on OC1B pin
    // NOTE:    pwmDuty should be in the range 0-255 for 8bit PWM
    //          pwmDuty should be in the range 0-511 for 9bit PWM
    //          pwmDuty should be in the range 0-1023 for 10bit PWM
    outp( (pwmDuty>>8), OCR1BH);        // set the high 8bits of OCR1B
    outp( (pwmDuty&0x00FF), OCR1BL);    // set the low 8bits of OCR1B
}

void timer1PWMCSet(u16 pwmDuty)
{
    // set PWM (output compare) duty for channel C
    // this PWM output is generated on OC1C pin
    // NOTE:    pwmDuty should be in the range 0-255 for 8bit PWM
    //          pwmDuty should be in the range 0-511 for 9bit PWM
    //          pwmDuty should be in the range 0-1023 for 10bit PWM
    outp( (pwmDuty>>8), OCR1CH);        // set the high 8bits of OCR1C
    outp( (pwmDuty&0x00FF), OCR1CL);    // set the low 8bits of OCR1C
}


void timer3PWMInit(u08 bitRes)
{
    // configures timer1 for use with PWM output
    // on pins OC3A, OC3B, and OC3C

    // enable Timer3 as 8,9,10bit PWM
    if(bitRes == 9)
    {   // 9bit mode
        sbi(TCCR3A,WGMA1);
        cbi(TCCR3A,WGMA0);
    }
    else if( bitRes == 10 )
    {   // 10bit mode
        sbi(TCCR3A,WGMA1);
        sbi(TCCR3A,WGMA0);
    }
    else
    {   // default 8bit mode
        cbi(TCCR3A,WGMA1);
        sbi(TCCR3A,WGMA0);
    }

    // set clear-timer-on-compare-match
    //cbi(TCCR3B,CTC1);
    // clear output compare value A
    outb(OCR3AH, 0);
    outb(OCR3AL, 0);
    // clear output compare value B
    outb(OCR3BH, 0);
    outb(OCR3BL, 0);
    // clear output compare value B
    outb(OCR3CH, 0);
    outb(OCR3CL, 0);
}

void timer3PWMOff(void)
{
    // turn off PWM mode on Timer3
    cbi(TCCR3A,WGMA1);
    cbi(TCCR3A,WGMA0);
    // clear (disable) clear-timer-on-compare-match
    //cbi(TCCR3B,CTC1);
    // set OC3A/B/C (OutputCompare action) to none
    timer3PWMAOff();
    timer3PWMBOff();
    timer3PWMCOff();
}

void timer3PWMAOn(void)
{
    // turn on channel A (OC3A) PWM output
    // set OC3A as non-inverted PWM
    sbi(TCCR3A,COMA1);
    cbi(TCCR3A,COMA0);
}

void timer3PWMBOn(void)
{
    // turn on channel B (OC3B) PWM output
    // set OC3B as non-inverted PWM
    sbi(TCCR3A,COMB1);
    cbi(TCCR3A,COMB0);
}

void timer3PWMCOn(void)
{
    // turn on channel C (OC3C) PWM output
    // set OC3C as non-inverted PWM
    sbi(TCCR3A,COMC1);
    cbi(TCCR3A,COMC0);
}

void timer3PWMAOff(void)
{
    // turn off channel A (OC3A) PWM output
    // set OC3A (OutputCompare action) to none
    cbi(TCCR3A,COMA1);
    cbi(TCCR3A,COMA0);
}

void timer3PWMBOff(void)
{
    // turn off channel B (OC3B) PWM output
    // set OC3B (OutputCompare action) to none
    cbi(TCCR3A,COMB1);
    cbi(TCCR3A,COMB0);
}

void timer3PWMCOff(void)
{
    // turn off channel C (OC3C) PWM output
    // set OC3C (OutputCompare action) to none
    cbi(TCCR3A,COMC1);
    cbi(TCCR3A,COMC0);
}

void timer3PWMASet(u16 pwmDuty)
{
    // set PWM (output compare) duty for channel A
    // this PWM output is generated on OC3A pin
    // NOTE:    pwmDuty should be in the range 0-255 for 8bit PWM
    //          pwmDuty should be in the range 0-511 for 9bit PWM
    //          pwmDuty should be in the range 0-1023 for 10bit PWM
    outp( (pwmDuty>>8), OCR3AH);        // set the high 8bits of OCR3A
    outp( (pwmDuty&0x00FF), OCR3AL);    // set the low 8bits of OCR3A
}

void timer3PWMBSet(u16 pwmDuty)
{
    // set PWM (output compare) duty for channel B
    // this PWM output is generated on OC3B pin
    // NOTE:    pwmDuty should be in the range 0-255 for 8bit PWM
    //          pwmDuty should be in the range 0-511 for 9bit PWM
    //          pwmDuty should be in the range 0-1023 for 10bit PWM
    outp( (pwmDuty>>8), OCR3BH);        // set the high 8bits of OCR3B
    outp( (pwmDuty&0x00FF), OCR3BL);    // set the low 8bits of OCR3B
}

void timer3PWMCSet(u16 pwmDuty)
{
    // set PWM (output compare) duty for channel B
    // this PWM output is generated on OC3C pin
    // NOTE:    pwmDuty should be in the range 0-255 for 8bit PWM
    //          pwmDuty should be in the range 0-511 for 9bit PWM
    //          pwmDuty should be in the range 0-1023 for 10bit PWM
    outp( (pwmDuty>>8), OCR3CH);        // set the high 8bits of OCR3C
    outp( (pwmDuty&0x00FF), OCR3CL);    // set the low 8bits of OCR3C
}


//! Interrupt handler for tcnt0 overflow interrupt
TIMER_INTERRUPT_HANDLER(SIG_OVERFLOW0)
{
    Timer0Reg0++;       // increment low-order counter
    if(!Timer0Reg0)     // if low-order counter rollover
        Timer0Reg1++;   // increment high-order counter 

    // if a user function is defined, execute it too
    if(TimerIntFunc[TIMER0OVERFLOW_INT])
        TimerIntFunc[TIMER0OVERFLOW_INT]();
}

//! Interrupt handler for Timer1 overflow interrupt
TIMER_INTERRUPT_HANDLER(SIG_OVERFLOW1)
{
    // if a user function is defined, execute it
    if(TimerIntFunc[TIMER1OVERFLOW_INT])
        TimerIntFunc[TIMER1OVERFLOW_INT]();
}

//! Interrupt handler for Timer2 overflow interrupt
TIMER_INTERRUPT_HANDLER(SIG_OVERFLOW2)
{
    Timer2Reg0++;       // increment low-order counter
    if(!Timer2Reg0)     // if low-order counter rollover
        Timer2Reg1++;   // increment high-order counter 

    // increment pause counter
    TimerPauseReg++;

    // if a user function is defined, execute it
    if(TimerIntFunc[TIMER2OVERFLOW_INT])
        TimerIntFunc[TIMER2OVERFLOW_INT]();
}

//! Interrupt handler for Timer3 overflow interrupt
TIMER_INTERRUPT_HANDLER(SIG_OVERFLOW3)
{
    // if a user function is defined, execute it
    if(TimerIntFunc[TIMER3OVERFLOW_INT])
        TimerIntFunc[TIMER3OVERFLOW_INT]();
}

//! Interrupt handler for OutputCompare0 match (OC0) interrupt
TIMER_INTERRUPT_HANDLER(SIG_OUTPUT_COMPARE0)
{
    // if a user function is defined, execute it
    if(TimerIntFunc[TIMER0OUTCOMPARE_INT])
        TimerIntFunc[TIMER0OUTCOMPARE_INT]();
}

//! Interrupt handler for OutputCompare1A match (OC1A) interrupt
TIMER_INTERRUPT_HANDLER(SIG_OUTPUT_COMPARE1A)
{
    // if a user function is defined, execute it
    if(TimerIntFunc[TIMER1OUTCOMPAREA_INT])
        TimerIntFunc[TIMER1OUTCOMPAREA_INT]();
}

//! Interrupt handler for OutputCompare1B match (OC1B) interrupt
TIMER_INTERRUPT_HANDLER(SIG_OUTPUT_COMPARE1B)
{
    // if a user function is defined, execute it
    if(TimerIntFunc[TIMER1OUTCOMPAREB_INT])
        TimerIntFunc[TIMER1OUTCOMPAREB_INT]();
}

//! Interrupt handler for OutputCompare1C match (OC1C) interrupt
TIMER_INTERRUPT_HANDLER(SIG_OUTPUT_COMPARE1C)
{
    // if a user function is defined, execute it
    if(TimerIntFunc[TIMER1OUTCOMPAREC_INT])
        TimerIntFunc[TIMER1OUTCOMPAREC_INT]();
}

//! Interrupt handler for InputCapture1(IC1) interrupt
TIMER_INTERRUPT_HANDLER(SIG_INPUT_CAPTURE1)
{
    // if a user function is defined, execute it
    if(TimerIntFunc[TIMER1INPUTCAPTURE_INT])
        TimerIntFunc[TIMER1INPUTCAPTURE_INT]();
}

//! Interrupt handler for OutputCompare2 match (OC2) interrupt
TIMER_INTERRUPT_HANDLER(SIG_OUTPUT_COMPARE2)
{
    // if a user function is defined, execute it
    if(TimerIntFunc[TIMER2OUTCOMPARE_INT])
        TimerIntFunc[TIMER2OUTCOMPARE_INT]();
}

//! Interrupt handler for OutputCompare3A match (OC3A) interrupt
TIMER_INTERRUPT_HANDLER(SIG_OUTPUT_COMPARE3A)
{
    // if a user function is defined, execute it
    if(TimerIntFunc[TIMER3OUTCOMPAREA_INT])
        TimerIntFunc[TIMER3OUTCOMPAREA_INT]();
}

//! Interrupt handler for OutputCompare3B match (OC3B) interrupt
TIMER_INTERRUPT_HANDLER(SIG_OUTPUT_COMPARE3B)
{
    // if a user function is defined, execute it
    if(TimerIntFunc[TIMER1OUTCOMPAREB_INT])
        TimerIntFunc[TIMER1OUTCOMPAREB_INT]();
}

//! Interrupt handler for OutputCompare3C match (OC3C) interrupt
TIMER_INTERRUPT_HANDLER(SIG_OUTPUT_COMPARE3C)
{
    // if a user function is defined, execute it
    if(TimerIntFunc[TIMER3OUTCOMPAREC_INT])
        TimerIntFunc[TIMER3OUTCOMPAREC_INT]();
}

//! Interrupt handler for InputCapture3 (IC3) interrupt
TIMER_INTERRUPT_HANDLER(SIG_INPUT_CAPTURE3)
{
    // if a user function is defined, execute it
    if(TimerIntFunc[TIMER3INPUTCAPTURE_INT])
        TimerIntFunc[TIMER3INPUTCAPTURE_INT]();
}

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