Add and apply interrupt helper macros
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Scott Lahteine
Scott Lahteine
parent
6131c62499
commit
ee46ce1743
@ -11524,15 +11524,13 @@ void prepare_move_to_destination() {
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#ifdef TCCR0A
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case TIMER0A:
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case TIMER0B:
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// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
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// TCCR0B |= val;
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//SET_CS(0, val);
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break;
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#endif
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#ifdef TCCR1A
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case TIMER1A:
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case TIMER1B:
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// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
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// TCCR1B |= val;
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//SET_CS(1, val);
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break;
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#endif
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#ifdef TCCR2
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@ -11545,32 +11543,28 @@ void prepare_move_to_destination() {
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#ifdef TCCR2A
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case TIMER2A:
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case TIMER2B:
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TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
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TCCR2B |= val;
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SET_CS(2, val);
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break;
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#endif
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#ifdef TCCR3A
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case TIMER3A:
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case TIMER3B:
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case TIMER3C:
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TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
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TCCR3B |= val;
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SET_CS(3, val);
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break;
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#endif
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#ifdef TCCR4A
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case TIMER4A:
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case TIMER4B:
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case TIMER4C:
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TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
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TCCR4B |= val;
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SET_CS(4, val);
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break;
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#endif
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#ifdef TCCR5A
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case TIMER5A:
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case TIMER5B:
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case TIMER5C:
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TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
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TCCR5B |= val;
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SET_CS(5, val);
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break;
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#endif
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}
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154
Marlin/fastio.h
154
Marlin/fastio.h
@ -21,43 +21,39 @@
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*/
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/**
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This code contributed by Triffid_Hunter and modified by Kliment
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why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
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*/
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* Contributed by Triffid_Hunter, modified by Kliment, extended by the Marlin team
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* Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
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*/
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#ifndef _FASTIO_ARDUINO_H
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#define _FASTIO_ARDUINO_H
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#include <avr/io.h>
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/**
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utility functions
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*/
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#ifndef MASK
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#define MASK(PIN) (1 << PIN)
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#ifndef _BV
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#define _BV(PIN) (1 << PIN)
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#endif
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/**
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magic I/O routines
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now you can simply SET_OUTPUT(STEP); WRITE(STEP, 1); WRITE(STEP, 0);
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*/
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* Magic I/O routines
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*
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* Now you can simply SET_OUTPUT(PIN); WRITE(PIN, HIGH); WRITE(PIN, LOW);
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*/
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/// Read a pin
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#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & MASK(DIO ## IO ## _PIN)))
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/// write to a pin
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// On some boards pins > 0x100 are used. These are not converted to atomic actions. An critical section is needed.
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#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & _BV(DIO ## IO ## _PIN)))
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#define _WRITE_NC(IO, v) do { if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }; } while (0)
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// On some boards pins > 0x100 are used. These are not converted to atomic actions. A critical section is needed.
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#define _WRITE_NC(IO, v) do { if (v) {DIO ## IO ## _WPORT |= _BV(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~_BV(DIO ## IO ## _PIN); }; } while (0)
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#define _WRITE_C(IO, v) do { if (v) { \
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CRITICAL_SECTION_START; \
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{DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } \
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{DIO ## IO ## _WPORT |= _BV(DIO ## IO ## _PIN); } \
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CRITICAL_SECTION_END; \
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} \
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else { \
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CRITICAL_SECTION_START; \
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{DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); } \
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{DIO ## IO ## _WPORT &= ~_BV(DIO ## IO ## _PIN); } \
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CRITICAL_SECTION_END; \
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} \
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} \
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@ -65,55 +61,95 @@
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#define _WRITE(IO, v) do { if (&(DIO ## IO ## _RPORT) >= (uint8_t *)0x100) {_WRITE_C(IO, v); } else {_WRITE_NC(IO, v); }; } while (0)
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/// toggle a pin
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#define _TOGGLE(IO) do {DIO ## IO ## _RPORT ^= MASK(DIO ## IO ## _PIN); } while (0)
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#define _TOGGLE(IO) do {DIO ## IO ## _RPORT ^= _BV(DIO ## IO ## _PIN); } while (0)
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/// set pin as input
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#define _SET_INPUT(IO) do {DIO ## IO ## _DDR &= ~MASK(DIO ## IO ## _PIN); } while (0)
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/// set pin as output
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#define _SET_OUTPUT(IO) do {DIO ## IO ## _DDR |= MASK(DIO ## IO ## _PIN); } while (0)
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#define _SET_INPUT(IO) do {DIO ## IO ## _DDR &= ~_BV(DIO ## IO ## _PIN); } while (0)
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#define _SET_OUTPUT(IO) do {DIO ## IO ## _DDR |= _BV(DIO ## IO ## _PIN); } while (0)
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/// check if pin is an input
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#define _GET_INPUT(IO) ((DIO ## IO ## _DDR & MASK(DIO ## IO ## _PIN)) == 0)
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/// check if pin is an output
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#define _GET_OUTPUT(IO) ((DIO ## IO ## _DDR & MASK(DIO ## IO ## _PIN)) != 0)
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/// check if pin is an timer
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#define _GET_INPUT(IO) ((DIO ## IO ## _DDR & _BV(DIO ## IO ## _PIN)) == 0)
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#define _GET_OUTPUT(IO) ((DIO ## IO ## _DDR & _BV(DIO ## IO ## _PIN)) != 0)
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#define _GET_TIMER(IO) (DIO ## IO ## _PWM)
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// why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
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/// Read a pin wrapper
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#define READ(IO) _READ(IO)
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/// Write to a pin wrapper
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#define WRITE(IO, v) _WRITE(IO, v)
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/// toggle a pin wrapper
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#define WRITE(IO,V) _WRITE(IO,V)
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#define TOGGLE(IO) _TOGGLE(IO)
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/// set pin as input wrapper
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#define SET_INPUT(IO) _SET_INPUT(IO)
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/// set pin as input with pullup wrapper
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#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
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/// set pin as output wrapper
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#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
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/// check if pin is an input wrapper
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#define GET_INPUT(IO) _GET_INPUT(IO)
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/// check if pin is an output wrapper
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#define GET_OUTPUT(IO) _GET_OUTPUT(IO)
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/// check if pin is an timer wrapper
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#define GET_TIMER(IO) _GET_TIMER(IO)
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// Shorthand
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#define OUT_WRITE(IO, v) { SET_OUTPUT(IO); WRITE(IO, v); }
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#define OUT_WRITE(IO, v) do{ SET_OUTPUT(IO); WRITE(IO, v); }while(0)
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/**
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ports and functions
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* Interrupt Control
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*/
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added as necessary or if I feel like it- not a comprehensive list!
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*/
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// Waveform Generation Modes
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typedef enum {
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WGM_NORMAL, // 0
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WGM_PWM_PC_8, // 1
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WGM_PWM_PC_9, // 2
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WGM_PWM_PC_10, // 3
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WGM_CTC_OCRnA, // 4 COM OCnx
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WGM_FAST_PWM_8, // 5
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WGM_FAST_PWM_9, // 6
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WGM_FAST_PWM_10, // 7
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WGM_PWM_PC_FC_ICRn, // 8
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WGM_PWM_PC_FC_OCRnA, // 9 COM OCnA
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WGM_PWM_PC_ICRn, // 10
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WGM_PWM_PC_OCRnA, // 11 COM OCnA
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WGM_CTC_ICRn, // 12 COM OCnx
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WGM_reserved, // 13
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WGM_FAST_PWM_ICRn, // 14 COM OCnA
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WGM_FAST_PWM_OCRnA // 15 COM OCnA
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} WaveGenMode;
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// Compare Modes
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typedef enum {
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COM_NORMAL, // 0
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COM_TOGGLE, // 1 Non-PWM: OCnx ... Both PWM (WGM 9,11,14,15): OCnA only ... else NORMAL
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COM_CLEAR_SET, // 2 Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
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COM_SET_CLEAR // 3 Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down
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} CompareMode;
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// Clock Sources
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typedef enum {
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CS_NONE, // 0
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CS_PRESCALER_1, // 1
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CS_PRESCALER_8, // 2
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CS_PRESCALER_64, // 3
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CS_PRESCALER_256, // 4
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CS_PRESCALER_1024, // 5
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CS_EXT_FALLING, // 6
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CS_EXT_RISING // 7
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} ClockSource;
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#define SET_WGM(T,V) do{ \
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TCCR##T##A = (TCCR##T##A & ~(0x3 << WGM##T##0)) | (( int(V) & 0x3) << WGM##T##0); \
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TCCR##T##B = (TCCR##T##B & ~(0x3 << WGM##T##2)) | (((int(V) >> 2) & 0x3) << WGM##T##2); \
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}while(0)
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#define SET_CS(T,V) do{ \
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TCCR##T##B = (TCCR##T##B & ~(0x7 << CS10)) | ((int(V) & 0x7) << CS10); \
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}while(0)
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#define SET_COM(T,Q,V) do{ \
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TCCR##T##Q = (TCCR##T##Q & !(0x3 << COM1##Q##0) | (int(V) & 0x3) << COM1##Q##0); \
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}while(0)
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#define SET_COMA(T,V) SET_COM(T,A,V)
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#define SET_COMB(T,V) SET_COM(T,B,V)
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#define SET_COMS(T,V1,V2) do{ SET_COMA(T,V1); SET_COMB(T,V2); }while(0)
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#define SET_ICNC(T,V) (TCCR##T##B = (TCCR##T##B & ~_BV(7) | ((V) & 1) << 7))
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#define SET_ICES(T,V) (TCCR##T##B = (TCCR##T##B & ~_BV(6) | ((V) & 1) << 6))
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/**
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* Ports and Functions
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*/
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#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328__) || defined(__AVR_ATmega328P__)
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// UART
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@ -446,7 +482,7 @@
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#define PD7_WPORT PORTD
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#define PD7_DDR DDRD
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#define PD7_PWM NULL
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#endif /* _AVR_ATmega{168,328,328P}__ */
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#endif // __AVR_ATmega(168|328|328P)__
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#if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
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// UART
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@ -949,7 +985,7 @@
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#define PD7_WPORT PORTD
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#define PD7_DDR DDRD
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#define PD7_PWM OCR2A
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#endif /* _AVR_ATmega{644,644P,644PA}__ */
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#endif // __AVR_ATmega(644|644P|644PA)__
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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// UART
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@ -2031,8 +2067,7 @@
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#define PL7_WPORT PORTL
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#define PL7_DDR DDRL
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#define PL7_PWM NULL
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#endif
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#endif // __AVR_ATmega(1280|2560)__
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#if defined(__AVR_AT90USB1287__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB647__)
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@ -2040,7 +2075,7 @@
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#define DEBUG_LED DIO31 /* led D5 red */
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/**
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pins
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* pins
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*/
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//#define AT90USBxx_TEENSYPP_ASSIGNMENTS // Use Teensy++ 2.0 assignments
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@ -3335,8 +3370,7 @@
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#define PF7_DDR DDRF
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#endif // AT90USBxx_TEENSYPP_ASSIGNMENTS Teensyduino assignments
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#endif // __AVR_AT90usbxxx__
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#endif // __AVR_AT90USB(1287|1286|646|647)__
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#if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
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// UART
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@ -4027,12 +4061,10 @@
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#define PG5_WPORT PORTG
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#define PG5_DDR DDRG
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#define PG5_PWM &OCR0B
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#endif
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#endif // __AVR_ATmega(1281|2561)__
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#ifndef DIO0_PIN
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#error "pins for this chip not defined in arduino.h! If you write an appropriate pin definition and have this firmware work on your chip, please submit a pull request"
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#endif
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#endif /* _FASTIO_ARDUINO_H */
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#endif // _FASTIO_ARDUINO_H
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@ -1081,21 +1081,17 @@ void Stepper::init() {
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#endif
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// waveform generation = 0100 = CTC
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CBI(TCCR1B, WGM13);
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SBI(TCCR1B, WGM12);
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CBI(TCCR1A, WGM11);
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CBI(TCCR1A, WGM10);
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SET_WGM(1, WGM_CTC_OCRnA);
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// output mode = 00 (disconnected)
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TCCR1A &= ~(3 << COM1A0);
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TCCR1A &= ~(3 << COM1B0);
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SET_COMS(1, COM_NORMAL, COM_NORMAL);
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// Set the timer pre-scaler
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// Generally we use a divider of 8, resulting in a 2MHz timer
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// frequency on a 16MHz MCU. If you are going to change this, be
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// sure to regenerate speed_lookuptable.h with
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// create_speed_lookuptable.py
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TCCR1B = (TCCR1B & ~(0x07 << CS10)) | (2 << CS10);
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SET_CS(1, CS_PRESCALER_8); // CS 2 = 1/8 prescaler
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// Init Stepper ISR to 122 Hz for quick starting
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OCR1A = 0x4000;
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