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https://github.com/digistump/DigistumpArduino.git
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152 lines
4.1 KiB
C++
152 lines
4.1 KiB
C++
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// a Tiny optimized Software PWM Manager (all pins must be part of the same port)
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// Only resources RAM/Program Memory of used pins are declared in the code at compilation time.
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// based largely on Atmel's AVR136: Low-Jitter Multi-Channel Software PWM Application Note:
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// http://www.atmel.com/dyn/resources/prod_documents/doc8020.pdf
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// RC Navy 2013
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// http://p.loussouarn.free.fr
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#include <TinySoftPwm.h>
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#define TINY_SOFT_PWM_PORT PORTB
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#define TINY_SOFT_PWM_DDR DDRB
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#define TINY_SOFT_PWM_CLEAR_PIN(RamIdx) (PortPwmTo1 &= GET_INV_PIN_MSK(RamIdx))
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#define TINY_SOFT_PWM_DECLARE_PIN(Px) TINY_SOFT_PWM_DDR |= (1<<(Px)); PortPwmMask |= (1<<(Px))
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#define GET_INV_PIN_MSK(RamIdx) ((uint8_t)pgm_read_byte(&RamIdxToInvPinMsk[(RamIdx)]))
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uint8_t RamIdxToInvPinMsk[] PROGMEM ={
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#if (TINY_SOFT_PWM_USES_P0 == 1)
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~(1<<0),
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#endif
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#if (TINY_SOFT_PWM_USES_P1 == 1)
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~(1<<1),
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#endif
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#if (TINY_SOFT_PWM_USES_P2 == 1)
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~(1<<2),
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#endif
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#if (TINY_SOFT_PWM_USES_P3 == 1)
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~(1<<3),
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#endif
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#if (TINY_SOFT_PWM_USES_P4 == 1)
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~(1<<4),
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#endif
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#if (TINY_SOFT_PWM_USES_P5 == 1)
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~(1<<5),
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#endif
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};
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static uint8_t Compare[TINY_SOFT_PWM_CH_MAX];
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volatile uint8_t PwmOrder[TINY_SOFT_PWM_CH_MAX];
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static uint8_t PortPwmMask=0;
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volatile uint8_t PortPwmTo1=0x00;
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volatile uint8_t PortPwmTo0=0xFF;
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static uint8_t _TickMax=255;
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static uint8_t PwmToPwmMax(uint8_t Pwm);
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void TinySoftPwm_begin(uint8_t TickMax, uint8_t PwmInit)
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{
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uint8_t oldSREG = SREG;
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cli();
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// set the direction of the used ports and update PortPwmMask
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#if (TINY_SOFT_PWM_USES_P0 == 1)
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TINY_SOFT_PWM_DECLARE_PIN(PB0);
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#endif
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#if (TINY_SOFT_PWM_USES_P1 == 1)
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TINY_SOFT_PWM_DECLARE_PIN(PB1);
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#endif
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#if (TINY_SOFT_PWM_USES_P2 == 1)
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TINY_SOFT_PWM_DECLARE_PIN(PB2);
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#endif
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#if (TINY_SOFT_PWM_USES_P3 == 1)
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TINY_SOFT_PWM_DECLARE_PIN(PB3);
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#endif
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#if (TINY_SOFT_PWM_USES_P4 == 1)
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TINY_SOFT_PWM_DECLARE_PIN(PB4);
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#endif
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#if (TINY_SOFT_PWM_USES_P5 == 1)
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TINY_SOFT_PWM_DECLARE_PIN(PB5);
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#endif
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_TickMax=TickMax;
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PortPwmTo1=PortPwmMask;
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// initialise all channels
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for(uint8_t i=0 ; i<TINY_SOFT_PWM_CH_MAX ; i++)
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{
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Compare[i] = PwmToPwmMax(PwmInit); // set default PWM values
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PwmOrder[i] = Compare[i]; // set default PWM values
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}
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SREG = oldSREG;
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}
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void TinySoftPwm_analogWrite(uint8_t PinIdx, uint8_t Pwm)
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{
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uint8_t RamIdx;
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for(RamIdx=0;RamIdx<TINY_SOFT_PWM_CH_MAX;RamIdx++)
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{
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if(GET_INV_PIN_MSK(RamIdx)==((1<<PinIdx)^0xFF)) break;
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}
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if(RamIdx<TINY_SOFT_PWM_CH_MAX)
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{
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PwmOrder[RamIdx] = PwmToPwmMax(Pwm);
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}
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}
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static uint8_t PwmToPwmMax(uint8_t Pwm)
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{
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return(map(Pwm, 0, 255, 0, _TickMax));
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}
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void TinySoftPwm_process(void)
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{
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static uint8_t OvfCount=0xFF;
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PortPwmTo0 = (~PortPwmTo1)^PortPwmMask;
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TINY_SOFT_PWM_PORT |= PortPwmTo1; // update ONLY used outputs to 1 without disturbing the others
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TINY_SOFT_PWM_PORT &= PortPwmTo0; // update ONLY used outputs to 0 without disturbing the others
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if(++OvfCount == _TickMax)
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{ // increment modulo 256 counter and update
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// the compare values only when counter = 0.
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OvfCount=0;
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#if (TINY_SOFT_PWM_CH_MAX >= 1)
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Compare[0] = PwmOrder[0]; // verbose code for speed
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#endif
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#if (TINY_SOFT_PWM_CH_MAX >= 2)
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Compare[1] = PwmOrder[1];
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#endif
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#if (TINY_SOFT_PWM_CH_MAX >= 3)
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Compare[2] = PwmOrder[2];
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#endif
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#if (TINY_SOFT_PWM_CH_MAX >= 4)
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Compare[3] = PwmOrder[3];
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#endif
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#if (TINY_SOFT_PWM_CH_MAX >= 5)
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Compare[4] = PwmOrder[4];
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#endif
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#if (TINY_SOFT_PWM_CH_MAX >= 6)
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Compare[5] = PwmOrder[5];
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#endif
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PortPwmTo1 = PortPwmMask; // set all port used pins high
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}
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// clear port pin on compare match (executed on next interrupt)
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#if (TINY_SOFT_PWM_CH_MAX >= 1)
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if(Compare[0] == OvfCount) TINY_SOFT_PWM_CLEAR_PIN(0);
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#endif
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#if (TINY_SOFT_PWM_CH_MAX >= 2)
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if(Compare[1] == OvfCount) TINY_SOFT_PWM_CLEAR_PIN(1);
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#endif
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#if (TINY_SOFT_PWM_CH_MAX >= 3)
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if(Compare[2] == OvfCount) TINY_SOFT_PWM_CLEAR_PIN(2);
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#endif
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#if (TINY_SOFT_PWM_CH_MAX >= 4)
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if(Compare[3] == OvfCount) TINY_SOFT_PWM_CLEAR_PIN(3);
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#endif
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#if (TINY_SOFT_PWM_CH_MAX >= 5)
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if(Compare[4] == OvfCount) TINY_SOFT_PWM_CLEAR_PIN(4);
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#endif
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#if (TINY_SOFT_PWM_CH_MAX >= 6)
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if(Compare[5] == OvfCount) TINY_SOFT_PWM_CLEAR_PIN(5);
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#endif
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}
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