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diff --git a/CODE/debug/prewk/motordriver/arduino-softpwm-master/src/SoftPWM.h b/CODE/debug/prewk/motordriver/arduino-softpwm-master/src/SoftPWM.h
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--- a/CODE/debug/prewk/motordriver/arduino-softpwm-master/src/SoftPWM.h
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-/*
- Arduino-SoftPWM: a software PWM library for Arduino
- Copyright 2016, Victor Tseng <palatis@gmail.com>
-
- All rights reserved.
-
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions
- are met:
-
- 1. Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
-
- 2. Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
-
- 3. Neither the name of the copyright holder nor the names of its
- contributors may be used to endorse or promote products derived
- from this software without specific prior written permission.
-
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
- IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
- CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
- EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
- PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
- OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
- WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
- OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
- ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*/
-
-#ifndef _SOFTPWM_H_
-#define _SOFTPWM_H_
-
-#include <Arduino.h>
-
-// helper macros
-#define SOFTPWM_DEFINE_PINMODE(CHANNEL, PMODE, PORT, BIT) \
- namespace Palatis { \
- template <> \
- inline void pinModeStatic<CHANNEL>(uint8_t const mode) { \
- if (mode == INPUT) { \
- bitClear(PMODE, BIT); bitClear(PORT, BIT); \
- } \
- else if (mode == INPUT_PULLUP) { \
- bitClear(PMODE, BIT); bitSet(PORT, BIT); \
- } \
- else { \
- bitSet(PMODE, BIT); \
- } \
- } \
- }
-
-#define SOFTPWM_DEFINE_CHANNEL(CHANNEL, PMODE, PORT, BIT) \
- namespace Palatis { \
- template <> \
- inline void bitWriteStatic<CHANNEL>(bool const value) { \
- bitWrite( PORT, BIT, value ); \
- } \
- } \
- SOFTPWM_DEFINE_PINMODE(CHANNEL, PMODE, PORT, BIT)
-
-#define SOFTPWM_DEFINE_CHANNEL_INVERT(CHANNEL, PMODE, PORT, BIT) \
- namespace Palatis { \
- template <> \
- inline void bitWriteStatic<CHANNEL>(bool const value) { \
- bitWrite(PORT, BIT, !value); \
- } \
- } \
- SOFTPWM_DEFINE_PINMODE(CHANNEL, PMODE, PORT, BIT)
-
-#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__)
-#define SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, PWM_LEVELS) \
- namespace Palatis { \
- CSoftPWM<CHANNEL_CNT, PWM_LEVELS> SoftPWM; \
- } \
- ISR(TIM1_COMPA_vect) { \
- interrupts(); \
- Palatis::SoftPWM.update(); \
- }
-#else
- #if defined (__AVR_ATmega8__) || defined (__AVR_ATmega8A__)
- #define TIMSK1 TIMSK
- #endif
-#define SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, PWM_LEVELS) \
- namespace Palatis { \
- CSoftPWM<CHANNEL_CNT, PWM_LEVELS> SoftPWM; \
- } \
- ISR(TIMER1_COMPA_vect) { \
- interrupts(); \
- Palatis::SoftPWM.update(); \
- }
-#endif
-
-#define SOFTPWM_DEFINE_OBJECT(CHANNEL_CNT) \
- SOFTPWM_DEFINE_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, 0)
-
-#define SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, PWM_LEVELS) \
- namespace Palatis { \
- extern CSoftPWM<CHANNEL_CNT, PWM_LEVELS> SoftPWM; \
- }
-
-#define SOFTPWM_DEFINE_EXTERN_OBJECT(CHANNEL_CNT) \
- SOFTPWM_DEFINE_EXTERN_OBJECT_WITH_PWM_LEVELS(CHANNEL_CNT, 0)
-
-// here comes the magic @o@
-namespace Palatis {
-
-template <int channel> inline void bitWriteStatic(bool value) {}
-template <int channel> inline void pinModeStatic(uint8_t mode) {}
-
-template <int channel>
-struct bitWriteStaticExpander {
- void operator() (bool value) const {
- bitWriteStatic<channel>(value);
- bitWriteStaticExpander < channel - 1 > ()(value);
- }
-
- void operator() (uint8_t const &count, uint8_t const * const &channels) const {
-#ifdef SOFTPWM_OUTPUT_DELAY
- bitWriteStatic<channel>((count + channel) < channels[channel]);
-#else
- bitWriteStatic<channel>(count < channels[channel]);
-#endif
- bitWriteStaticExpander < channel - 1 > ()(count, channels);
- }
-};
-
-template <>
-struct bitWriteStaticExpander < -1 > {
- void operator() (bool) const {}
- void operator() (uint8_t const &, uint8_t const * const &) const {}
-};
-
-template <int channel>
-struct pinModeStaticExpander {
- void operator() (uint8_t const mode) const
- {
- pinModeStatic<channel>(mode);
- pinModeStaticExpander < channel - 1 > ()(mode);
- }
-};
-
-template <>
-struct pinModeStaticExpander < -1 > {
- void operator() (uint8_t const mode) const {}
-};
-
-template <unsigned int num_channels, unsigned int num_PWM_levels>
-class CSoftPWM {
- public:
- void begin(const unsigned long hertz) {
- allOff(); //this prevents inverted channels from momentarily going LOW
- asm volatile ("/************ pinModeStaticExpander begin ************/");
- const uint8_t oldSREG = SREG;
- noInterrupts();
- pinModeStaticExpander < num_channels - 1 > ()( OUTPUT );
- SREG = oldSREG;
- asm volatile ("/************ pinModeStaticExpander end ************/");
-
- /* the setup of timer1 is stolen from ShiftPWM :-P
- http://www.elcojacobs.com/shiftpwm/ */
- asm volatile ("/************ timer setup begin ************/");
- TCCR1A = 0b00000000;
- TCCR1B = 0b00001001;
- OCR1A = (F_CPU - hertz * PWMlevels() / 2) / (hertz * PWMlevels());
- bitSet(TIMSK1, OCIE1A);
- asm volatile ("/************ timer setup end ************/");
-
- _count = 0;
- }
-
- void set(const int channel_idx, const uint8_t value) {
- _channels[channel_idx] = value;
- }
-
- size_t size() const {
- return num_channels;
- }
-
- unsigned int PWMlevels() const {
- return num_PWM_levels ? num_PWM_levels : 256;
- }
-
- void allOff() {
- asm volatile ("/********** CSoftPWM::allOff() begin **********/");
- const uint8_t oldSREG = SREG;
- noInterrupts();
- for (int i = 0; i < num_channels; ++i)
- _channels[i] = 0;
- bitWriteStaticExpander < num_channels - 1 > ()(false);
- SREG = oldSREG;
- asm volatile ("/********** CSoftPWM::allOff() end **********/");
- }
-
- /* This function cannot be private because the ISR uses it, and I have
- no idea about how to make friends with ISR. :-( */
- void update() __attribute__((always_inline)) {
- asm volatile ("/********** CSoftPWM::update() begin **********/");
- const uint8_t count = _count;
- bitWriteStaticExpander < num_channels - 1 > ()(count, _channels);
- ++_count;
- if (_count == PWMlevels())
- _count = 0;
- asm volatile ("/********** CSoftPWM::update() end **********/");
- }
-
- #if defined(HAVE_HWSERIAL0)
- /* this function is stolen from ShiftPWM :-P
- http://www.elcojacobs.com/shiftpwm/ */
- void printInterruptLoad() {
- unsigned long time1, time2;
-
- bitSet(TIMSK1, OCIE1A); // enable interrupt
- time1 = micros();
- delayMicroseconds(5000);
- time1 = micros() - time1;
-
- bitClear(TIMSK1, OCIE1A); // disable interrupt
- time2 = micros();
- delayMicroseconds(5000);
- time2 = micros() - time2;
-
- const double load = static_cast<double>(time1 - time2) / time1;
- const double interrupt_frequency = static_cast<double>(F_CPU) / (OCR1A + 1);
- const double cycles_per_interrupt = load * F_CPU / interrupt_frequency;
-
- Serial.println(F("SoftPWM::printInterruptLoad():"));
- Serial.print(F(" Load of interrupt: "));
- Serial.println(load, 10);
- Serial.print(F(" Clock cycles per interrupt: "));
- Serial.println( cycles_per_interrupt );
- Serial.print(F(" Interrupt frequency: "));
- Serial.print(interrupt_frequency);
- Serial.println(F(" Hz"));
- Serial.print(F(" PWM frequency: "));
- Serial.print(interrupt_frequency / PWMlevels());
- Serial.println(F(" Hz"));
- Serial.print(F(" PWM levels: "));
- Serial.println(PWMlevels());
-
- bitSet(TIMSK1, OCIE1A); // enable interrupt again
- }
- #endif
-
- private:
- uint8_t _channels[num_channels];
- uint8_t _count;
-};
-
-} // namespace Palatis
-#endif // #ifndef _SOFTPWM_H_
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