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2018.04.21.01

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Added OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE for FEATURE_STEPPER_MOTOR.  Also added TimerOne library to Github.
This commit is contained in:
Anthony Good 2018-04-21 18:42:33 -04:00
parent 9bf5fa1c33
commit b1be2b7e6b
15 changed files with 667 additions and 7 deletions
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20
k3ng_rotator_controller/k3ng_rotator_controller.ino
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@ -371,6 +371,9 @@
2018.03.14.01
SET_I2C_BUS_SPEED in settings file; set I2C bus speed to help address I2C I/O time impact serial port performance
2018.04.21.01
Added OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE for FEATURE_STEPPER_MOTOR. Also added TimerOne library to Github.
All library files should be placed in directories likes \sketchbook\libraries\library1\ , \sketchbook\libraries\library2\ , etc.
Anything rotator_*.* should be in the ino directory!
@ -381,7 +384,7 @@
*/
#define CODE_VERSION "2018.03.14.01"
#define CODE_VERSION "2018.04.21.01"
#include <avr/pgmspace.h>
#include <EEPROM.h>
@ -527,7 +530,11 @@
#endif
#ifdef FEATURE_STEPPER_MOTOR
// #include <TimerFive.h>
#ifdef OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
#include <TimerOne.h>
#else
#include <TimerFive.h>
#endif
#endif
#include "rotator_language.h"
@ -6853,8 +6860,13 @@ void initialize_interrupts(){
#endif // FEATURE_EL_POSITION_PULSE_INPUT
#ifdef FEATURE_STEPPER_MOTOR
Timer5.initialize(250); // 250 us = 4 khz rate
Timer5.attachInterrupt(service_stepper_motor_pulse_pins);
#ifdef OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
Timer1.initialize(250); // 250 us = 4 khz rate
Timer1.attachInterrupt(service_stepper_motor_pulse_pins);
#else
Timer5.initialize(250); // 250 us = 4 khz rate
Timer5.attachInterrupt(service_stepper_motor_pulse_pins);
#endif
#endif //FEATURE_STEPPER_MOTOR

3
k3ng_rotator_controller/rotator_features.h
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@ -17,7 +17,7 @@
// #define FEATURE_RTC_DS1307
// #define FEATURE_RTC_PCF8583
// #define FEATURE_ETHERNET
// #define FEATURE_STEPPER_MOTOR // requires Mega or an AVR with Timer 5 support
// #define FEATURE_STEPPER_MOTOR // Requires TimerFive library to be copied to the Arduino libraries directory (If using OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE below, copy the TimeOne library)
// #define FEATURE_AUTOCORRECT
// #define FEATURE_TEST_DISPLAY_AT_STARTUP
@ -163,6 +163,7 @@
// #define OPTION_SEND_STRING_OUT_CONTROL_PORT_WHEN_INITIALIZING // change OPTION_SEND_STRING_OUT_CONTROL_PORT_WHEN_INITIALIZING_STRING in settings file
// #define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
// #define OPTION_MORE_SERIAL_CHECKS
// #define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
/* ---------------------- debug stuff - don't touch unless you know what you are doing --------------------------- */

1
k3ng_rotator_controller/rotator_features_ea4tx_ars_usb.h
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@ -54,6 +54,7 @@
//#define OPTION_SEND_STRING_OUT_CONTROL_PORT_WHEN_INITIALIZING // change OPTION_SEND_STRING_OUT_CONTROL_PORT_WHEN_INITIALIZING_STRING in settings file
//#define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
//#define OPTION_MORE_SERIAL_CHECKS
//#define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
/* ---------------------- debug stuff - don't touch unless you know what you are doing --------------------------- */

1
k3ng_rotator_controller/rotator_features_m0upu.h
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@ -150,6 +150,7 @@
//#define OPTION_SEND_STRING_OUT_CONTROL_PORT_WHEN_INITIALIZING // change OPTION_SEND_STRING_OUT_CONTROL_PORT_WHEN_INITIALIZING_STRING in settings file
//#define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
//#define OPTION_MORE_SERIAL_CHECKS
//#define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
/* ---------------------- debug stuff - don't touch unless you know what you are doing --------------------------- */

3
k3ng_rotator_controller/rotator_features_test.h
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@ -23,7 +23,7 @@
#define FEATURE_RTC_DS1307
// #define FEATURE_RTC_PCF8583
// #define FEATURE_ETHERNET
// #define FEATURE_STEPPER_MOTOR // requires Mega or an AVR with Timer 5 support
#define FEATURE_STEPPER_MOTOR // Requires TimerFive library to be copied to the Arduino libraries directory (If using OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE below, copy the TimeOne library)
// #define FEATURE_AUTOCORRECT
// #define FEATURE_TEST_DISPLAY_AT_STARTUP
@ -168,6 +168,7 @@
// #define OPTION_SEND_STRING_OUT_CONTROL_PORT_WHEN_INITIALIZING // change OPTION_SEND_STRING_OUT_CONTROL_PORT_WHEN_INITIALIZING_STRING in settings file
// #define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
// #define OPTION_MORE_SERIAL_CHECKS
#define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
// ######## ######## ###### ########

3
k3ng_rotator_controller/rotator_features_wb6kcn.h
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@ -17,7 +17,7 @@
//#define FEATURE_RTC_DS1307
//#define FEATURE_RTC_PCF8583
//#define FEATURE_ETHERNET
#define FEATURE_STEPPER_MOTOR // requires this library: https://code.google.com/p/rogue-code/wiki/ToneLibraryDocumentation
#define FEATURE_STEPPER_MOTOR // Requires TimerFive library to be copied to the Arduino libraries directory (If using OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE below, copy the TimeOne library)
//#define FEATURE_AUTOCORRECT
// #define FEATURE_TEST_DISPLAY_AT_STARTUP
@ -147,6 +147,7 @@
//#define OPTION_SAVE_MEMORY_EXCLUDE_EXTENDED_COMMANDS
//#define OPTION_GPS_EXCLUDE_MISSING_LF_CR_HANDLING
//#define OPTION_MORE_SERIAL_CHECKS
//#define OPTION_STEPPER_MOTOR_USE_TIMER_ONE_INSTEAD_OF_FIVE
/*

209
libraries/TimerOne/TimerOne.cpp Executable file
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@ -0,0 +1,209 @@
/*
* 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

70
libraries/TimerOne/TimerOne.h Executable file
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@ -0,0 +1,70 @@
/*
* 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_h
#define TIMERONE_h
#include <avr/io.h>
#include <avr/interrupt.h>
#define RESOLUTION 65536 // Timer1 is 16 bit
class TimerOne
{
public:
// properties
unsigned int pwmPeriod;
unsigned char clockSelectBits;
char oldSREG; // To hold Status Register while ints disabled
// methods
void initialize(long microseconds=1000000);
void start();
void stop();
void restart();
void resume();
unsigned long read();
void pwm(char pin, int duty, long microseconds=-1);
void disablePwm(char pin);
void attachInterrupt(void (*isr)(), long microseconds=-1);
void detachInterrupt();
void setPeriod(long microseconds);
void setPwmDuty(char pin, int duty);
void (*isrCallback)();
};
extern TimerOne Timer1;
#endif

26
libraries/TimerOne/examples/ISRBlink/ISRBlink.pde Executable file
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@ -0,0 +1,26 @@
#include <TimerOne.h>
void setup()
{
// Initialize the digital pin as an output.
// Pin 13 has an LED connected on most Arduino boards
pinMode(13, OUTPUT);
Timer1.initialize(100000); // set a timer of length 100000 microseconds (or 0.1 sec - or 10Hz => the led will blink 5 times, 5 cycles of on-and-off, per second)
Timer1.attachInterrupt( timerIsr ); // attach the service routine here
}
void loop()
{
// Main code loop
// TODO: Put your regular (non-ISR) logic here
}
/// --------------------------
/// Custom ISR Timer Routine
/// --------------------------
void timerIsr()
{
// Toggle LED
digitalWrite( 13, digitalRead( 13 ) ^ 1 );
}

11
libraries/TimerOne/examples/ReadReciver/.svn/all-wcprops Executable file
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@ -0,0 +1,11 @@
K 25
svn:wc:ra_dav:version-url
V 51
/svn/!svn/ver/3/trunk/Release%20Quality/ReadReciver
END
ReadReciver.pde
K 25
svn:wc:ra_dav:version-url
V 67
/svn/!svn/ver/7/trunk/Release%20Quality/ReadReciver/ReadReciver.pde
END

5
libraries/TimerOne/examples/ReadReciver/.svn/dir-prop-base Executable file
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@ -0,0 +1,5 @@
K 14
bugtraq:number
V 4
true
END

62
libraries/TimerOne/examples/ReadReciver/.svn/entries Executable file
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@ -0,0 +1,62 @@
10
dir
6
https://lex-arduino-sketchbook.googlecode.com/svn/trunk/Release%20Quality/ReadReciver
https://lex-arduino-sketchbook.googlecode.com/svn
2011-06-24T22:05:24.141546Z
3
lex.v.talionis@gmail.com
has-props
c9f85be5-ce43-0359-81d1-43f08a9217a6
ReadReciver.pde
file
7
2011-06-25T03:21:57.149370Z
7554a9104cd32bca8710cff214402bb2
2011-06-25T03:22:33.720706Z
7
lex.v.talionis@gmail.com
3527

114
libraries/TimerOne/examples/ReadReciver/.svn/text-base/ReadReciver.pde.svn-base Executable file
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@ -0,0 +1,114 @@
/*
Copyright 2011 Lex Talionis (Lex.V.Talionis at gmail)
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 uses pin change interrupts and timer 1 to mesure the
time between the rise and fall of 3 channels of PPM
(Though often called PWM, see http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1253149521/all)
on a typical RC car reciver. It could be extended to as
many channels as you like.
*/
#include <PinChangeInt.h> // http://www.arduino.cc/playground/Main/PinChangeInt
#include <PinChangeIntConfig.h>
#include <TimerOne.h> // http://www.arduino.cc/playground/Code/Timer1
#define NO_PORTB_PINCHANGES //PinChangeInt setup
#define NO_PORTC_PINCHANGES //only port D pinchanges (see: http://www.arduino.cc/playground/Learning/Pins)
#define PIN_COUNT 3 //number of channels attached to the reciver
#define MAX_PIN_CHANGE_PINS PIN_COUNT
#define RC_TURN 3 //arduino pins attached to the reciver
#define RC_FWD 2
#define RC_FIRE 4
byte pin[] = {RC_FWD, RC_TURN, RC_FIRE}; //for maximum efficency thise pins should be attached
unsigned int time[] = {0,0,0}; // to the reciver's channels in the order listed here
byte state=0;
byte burp=0; // a counter to see how many times the int has executed
byte cmd=0; // a place to put our serial data
byte i=0; // global counter for tracking what pin we are on
void setup() {
Serial.begin(115200);
Serial.print("PinChangeInt ReciverReading test");
Serial.println(); //warm up the serial port
Timer1.initialize(2200); //longest pulse in PPM is usally 2.1 milliseconds,
//pick a period that gives you a little headroom.
Timer1.stop(); //stop the counter
Timer1.restart(); //set the clock to zero
for (byte i=0; i<3; i++)
{
pinMode(pin[i], INPUT); //set the pin to input
digitalWrite(pin[i], HIGH); //use the internal pullup resistor
}
PCintPort::attachInterrupt(pin[i], rise,RISING); // attach a PinChange Interrupt to our first pin
}
void loop() {
cmd=Serial.read(); //while you got some time gimme a systems report
if (cmd=='p')
{
Serial.print("time:\t");
for (byte i=0; i<PIN_COUNT;i++)
{
Serial.print(i,DEC);
Serial.print(":");
Serial.print(time[i],DEC);
Serial.print("\t");
}
Serial.print(burp, DEC);
Serial.println();
/* Serial.print("\t");
Serial.print(clockCyclesToMicroseconds(Timer1.pwmPeriod), DEC);
Serial.print("\t");
Serial.print(Timer1.clockSelectBits, BIN);
Serial.print("\t");
Serial.println(ICR1, DEC);*/
}
cmd=0;
switch (state)
{
case RISING: //we have just seen a rising edge
PCintPort::detachInterrupt(pin[i]);
PCintPort::attachInterrupt(pin[i], fall, FALLING); //attach the falling end
state=255;
break;
case FALLING: //we just saw a falling edge
PCintPort::detachInterrupt(pin[i]);
i++; //move to the next pin
i = i % PIN_COUNT; //i ranges from 0 to PIN_COUNT
PCintPort::attachInterrupt(pin[i], rise,RISING);
state=255;
break;
/*default:
//do nothing
break;*/
}
}
void rise() //on the rising edge of the currently intresting pin
{
Timer1.restart(); //set our stopwatch to 0
Timer1.start(); //and start it up
state=RISING;
// Serial.print('r');
burp++;
}
void fall() //on the falling edge of the signal
{
state=FALLING;
time[i]=Timer1.read(); // Needs Timer1-v2
Timer1.stop();
// Serial.print('f');
}

114
libraries/TimerOne/examples/ReadReciver/ReadReciver.pde Executable file
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@ -0,0 +1,114 @@
/*
Copyright 2011 Lex Talionis (Lex.V.Talionis at gmail)
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 uses pin change interrupts and timer 1 to mesure the
time between the rise and fall of 3 channels of PPM
(Though often called PWM, see http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1253149521/all)
on a typical RC car reciver. It could be extended to as
many channels as you like.
*/
#include <PinChangeInt.h> // http://www.arduino.cc/playground/Main/PinChangeInt
#include <PinChangeIntConfig.h>
#include <TimerOne.h> // http://www.arduino.cc/playground/Code/Timer1
#define NO_PORTB_PINCHANGES //PinChangeInt setup
#define NO_PORTC_PINCHANGES //only port D pinchanges (see: http://www.arduino.cc/playground/Learning/Pins)
#define PIN_COUNT 3 //number of channels attached to the reciver
#define MAX_PIN_CHANGE_PINS PIN_COUNT
#define RC_TURN 3 //arduino pins attached to the reciver
#define RC_FWD 2
#define RC_FIRE 4
byte pin[] = {RC_FWD, RC_TURN, RC_FIRE}; //for maximum efficency thise pins should be attached
unsigned int time[] = {0,0,0}; // to the reciver's channels in the order listed here
byte state=0;
byte burp=0; // a counter to see how many times the int has executed
byte cmd=0; // a place to put our serial data
byte i=0; // global counter for tracking what pin we are on
void setup() {
Serial.begin(115200);
Serial.print("PinChangeInt ReciverReading test");
Serial.println(); //warm up the serial port
Timer1.initialize(2200); //longest pulse in PPM is usally 2.1 milliseconds,
//pick a period that gives you a little headroom.
Timer1.stop(); //stop the counter
Timer1.restart(); //set the clock to zero
for (byte i=0; i<3; i++)
{
pinMode(pin[i], INPUT); //set the pin to input
digitalWrite(pin[i], HIGH); //use the internal pullup resistor
}
PCintPort::attachInterrupt(pin[i], rise,RISING); // attach a PinChange Interrupt to our first pin
}
void loop() {
cmd=Serial.read(); //while you got some time gimme a systems report
if (cmd=='p')
{
Serial.print("time:\t");
for (byte i=0; i<PIN_COUNT;i++)
{
Serial.print(i,DEC);
Serial.print(":");
Serial.print(time[i],DEC);
Serial.print("\t");
}
Serial.print(burp, DEC);
Serial.println();
/* Serial.print("\t");
Serial.print(clockCyclesToMicroseconds(Timer1.pwmPeriod), DEC);
Serial.print("\t");
Serial.print(Timer1.clockSelectBits, BIN);
Serial.print("\t");
Serial.println(ICR1, DEC);*/
}
cmd=0;
switch (state)
{
case RISING: //we have just seen a rising edge
PCintPort::detachInterrupt(pin[i]);
PCintPort::attachInterrupt(pin[i], fall, FALLING); //attach the falling end
state=255;
break;
case FALLING: //we just saw a falling edge
PCintPort::detachInterrupt(pin[i]);
i++; //move to the next pin
i = i % PIN_COUNT; //i ranges from 0 to PIN_COUNT
PCintPort::attachInterrupt(pin[i], rise,RISING);
state=255;
break;
/*default:
//do nothing
break;*/
}
}
void rise() //on the rising edge of the currently intresting pin
{
Timer1.restart(); //set our stopwatch to 0
Timer1.start(); //and start it up
state=RISING;
// Serial.print('r');
burp++;
}
void fall() //on the falling edge of the signal
{
state=FALLING;
time[i]=Timer1.read(); // Needs Timer1-v2
Timer1.stop();
// Serial.print('f');
}

32
libraries/TimerOne/keywords.txt Executable file
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#######################################
# Syntax Coloring Map For TimerOne
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
TimerOne KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
initialize KEYWORD2
start KEYWORD2
stop KEYWORD2
restart KEYWORD2
resume KEYWORD2
read KEYWORD2
pwm KEYWORD2
disablePwm KEYWORD2
attachInterrupt KEYWORD2
detachInterrupt KEYWORD2
setPeriod KEYWORD2
setPwmDuty KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################