Servo library tested and debugged.

Some additional HardwareTimer methods introduced to make this
convenient; ancillary libmaple/timers.h changes resulted.

1 files changed, 102 insertions, 48 deletions

diff --git a/wirish/HardwareTimer.cpp b/wirish/HardwareTimer.cpp
index 5b80ec1..92c6adf 100644
--- a/wirish/HardwareTimer.cpp
+++ b/wirish/HardwareTimer.cpp
@@ -29,13 +29,10 @@
 #include "wirish.h"
 #include "HardwareTimer.h"
 
-HardwareTimer::HardwareTimer(uint8 timerNum) {
-    ASSERT(timerNum <= NR_TIMERS && timerNum != 6 && timerNum != 7);
+HardwareTimer::HardwareTimer(timer_dev_num timerNum) {
+    ASSERT(timerNum != TIMER_INVALID);
 
     this->timerNum = timerNum;
-
-    // Need to remember over flow for bounds checking
-    this->overflow = 0xFFFF;
 }
 
 void HardwareTimer::resume(void) {
@@ -46,122 +43,158 @@ void HardwareTimer::pause(void) {
     timer_pause(this->timerNum);
 }
 
+uint16 HardwareTimer::getPrescaleFactor(void) {
+    return timer_get_prescaler(this->timerNum) + 1;
+}
+
 void HardwareTimer::setPrescaleFactor(uint16 factor) {
     // The prescaler register is zero-indexed
     timer_set_prescaler(this->timerNum, factor-1);
 }
 
-void HardwareTimer::setOverflow(uint16 val) {
-    this->overflow = val;
-    timer_set_reload(this->timerNum, val);
+uint16 HardwareTimer::getOverflow() {
+    return timer_get_reload(this->timerNum);
 }
 
-void HardwareTimer::setCount(uint16 val) {
-    if(val > this->overflow) {
-        val = this->overflow;
-    }
-    timer_set_count(this->timerNum, val);
+void HardwareTimer::setOverflow(uint16 val) {
+    timer_set_reload(this->timerNum, val);
 }
 
 uint16 HardwareTimer::getCount(void) {
     return timer_get_count(this->timerNum);
 }
 
-uint16 HardwareTimer::setPeriod(uint32 microseconds) {
-    // XXX: 72MHz shouldn't be hard coded in here... global define?
+void HardwareTimer::setCount(uint16 val) {
+    uint16 ovf = this->getOverflow();
+    timer_set_count(this->timerNum, min(val, ovf));
+}
 
+uint16 HardwareTimer::setPeriod(uint32 microseconds) {
     // Not the best way to handle this edge case?
     if(!microseconds) {
         setPrescaleFactor(1);
         setOverflow(1);
-        return this->overflow;
+        return this->getOverflow();
     }
+    uint32 cycles = microseconds * CYCLES_PER_MICROSECOND;
 
-    // With a prescale factor of 1, there are 72counts/ms
-    uint16 ps = ((microseconds*72)/65536) + 1;
+    // With a prescale factor of 1, there are CYCLES_PER_MICROSECOND
+    // counts/ms
+    uint16 ps = (uint16)((cycles >> 16) + 1);
     setPrescaleFactor(ps);
 
     // Finally, this overflow will always be less than 65536
-    setOverflow(((microseconds*72)/ps) - 1);
-    return this->overflow;
+    setOverflow((cycles/ps) - 1);
+
+    return this->getOverflow();
+}
+
+inline void HardwareTimer::setChannelMode(int channel, TimerMode mode) {
+    timer_set_mode(this->timerNum, channel, mode);
 }
 
 void HardwareTimer::setChannel1Mode(TimerMode mode) {
-    timer_set_mode(this->timerNum,1,mode);
+    this->setChannelMode(1, mode);
 }
 
 void HardwareTimer::setChannel2Mode(TimerMode mode) {
-    timer_set_mode(this->timerNum,2,mode);
+    this->setChannelMode(2, mode);
 }
 
 void HardwareTimer::setChannel3Mode(TimerMode mode) {
-    timer_set_mode(this->timerNum,3,mode);
+    this->setChannelMode(3, mode);
 }
 
 void HardwareTimer::setChannel4Mode(TimerMode mode) {
-    timer_set_mode(this->timerNum,4,mode);
+    this->setChannelMode(4, mode);
+}
+
+inline uint16 HardwareTimer::getCompare(int channel) {
+    return timer_get_compare_value(this->timerNum, channel);
+}
+
+uint16 HardwareTimer::getCompare1() {
+    return this->getCompare(1);
+}
+
+uint16 HardwareTimer::getCompare2() {
+    return this->getCompare(2);
+}
+
+uint16 HardwareTimer::getCompare3() {
+    return this->getCompare(3);
+}
+
+uint16 HardwareTimer::getCompare4() {
+    return this->getCompare(4);
+}
+
+inline void HardwareTimer::setCompare(int channel, uint16 val) {
+    uint16 ovf = this->getOverflow();
+    timer_set_compare_value(this->timerNum, channel, min(val, ovf));
 }
 
 void HardwareTimer::setCompare1(uint16 val) {
-    if(val > this->overflow) {
-        val = this->overflow;
-    }
-    timer_set_compare_value(this->timerNum,1,val);
+    this->setCompare(1, val);
 }
 
 void HardwareTimer::setCompare2(uint16 val) {
-    if(val > this->overflow) {
-        val = this->overflow;
-    }
-    timer_set_compare_value(this->timerNum,2,val);
+    this->setCompare(2, val);
 }
 
 void HardwareTimer::setCompare3(uint16 val) {
-    if(val > this->overflow) {
-        val = this->overflow;
-    }
-    timer_set_compare_value(this->timerNum,3,val);
+    this->setCompare(3, val);
 }
 
 void HardwareTimer::setCompare4(uint16 val) {
-    if(val > this->overflow) {
-        val = this->overflow;
-    }
-    timer_set_compare_value(this->timerNum,4,val);
+    this->setCompare(4, val);
+}
+
+inline void HardwareTimer::attachInterrupt(int channel, voidFuncPtr handler) {
+    timer_attach_interrupt(this->timerNum, channel, handler);
 }
 
 void HardwareTimer::attachCompare1Interrupt(voidFuncPtr handler) {
-    timer_attach_interrupt(this->timerNum,1,handler);
+    this->attachInterrupt(1, handler);
 }
 
 void HardwareTimer::attachCompare2Interrupt(voidFuncPtr handler) {
-    timer_attach_interrupt(this->timerNum,2,handler);
+    this->attachInterrupt(2, handler);
 }
 
 void HardwareTimer::attachCompare3Interrupt(voidFuncPtr handler) {
-    timer_attach_interrupt(this->timerNum,3,handler);
+    this->attachInterrupt(3, handler);
 }
 
 void HardwareTimer::attachCompare4Interrupt(voidFuncPtr handler) {
-    timer_attach_interrupt(this->timerNum,4,handler);
+    this->attachInterrupt(4, handler);
+}
+
+inline void HardwareTimer::detachInterrupt(int channel) {
+    timer_detach_interrupt(this->timerNum, channel);
 }
 
 void HardwareTimer::detachCompare1Interrupt(void) {
-    timer_detach_interrupt(this->timerNum,1);
+    this->detachInterrupt(1);
 }
 
 void HardwareTimer::detachCompare2Interrupt(void) {
-    timer_detach_interrupt(this->timerNum,2);
+    this->detachInterrupt(2);
 }
 
 void HardwareTimer::detachCompare3Interrupt(void) {
-    timer_detach_interrupt(this->timerNum,3);
+    this->detachInterrupt(3);
 }
 
 void HardwareTimer::detachCompare4Interrupt(void) {
-    timer_detach_interrupt(this->timerNum,4);
+    this->detachInterrupt(4);
+}
+
+void HardwareTimer::generateUpdate(void) {
+    timer_generate_update(this->timerNum);
 }
 
+
 HardwareTimer Timer1(TIMER1);
 HardwareTimer Timer2(TIMER2);
 HardwareTimer Timer3(TIMER3);
@@ -171,3 +204,24 @@ HardwareTimer Timer5(TIMER5);    // High-density devices only
 HardwareTimer Timer8(TIMER8);    // High-density devices only
 #endif
 
+HardwareTimer* getTimer(timer_dev_num timerNum) {
+    switch (timerNum) {
+    case TIMER1:
+        return &Timer1;
+    case TIMER2:
+        return &Timer2;
+    case TIMER3:
+        return &Timer3;
+    case TIMER4:
+        return &Timer4;
+#if NR_TIMERS >= 8
+    case TIMER5:
+        return &Timer5;
+    case TIMER8:
+        return &Timer8;
+#endif
+    default:
+        ASSERT(0);
+        return 0;
+    }
+}