avr8 – ページ 11 – Sasapea's Lab

ＴＣＡはシングルモードのみの対応。引数を省略したbegin()呼び出し(標準動作モード)時のみ起動時からの経過時間取得(read)と任意時間による割込み(interrupt)に対応している。

ＨＷ割込みを使うには、
[avr8_config.h] #define CONFIG_TCA_ISR 1
の設定が必要となる。

【サンプルコード (Microchip Studio)】

#include "avr8_clock.h"
#include "avr8_tca.h"

Tca tca0(TCA0);

void func1(Tca::CMP cmp)
{
  /* 500ms Interrupt */
}

void func2(void)
{
  /* 500ms Interval */
}

int main(void)
{
  sei();
  Clock::setup();

  /* 標準動作モード。任意時間による割込みと起動時からの経過時間の取得が可能。 */
  /* Normal Mode */
  tca0.begin();
  const uint32_t tick = tca0.us2tick(500000);
  tca0.callback(Tca::CMP0, func1);
  tca0.interrupt(Tca::CMP0, tick);
  tca0.run();
  uint32_t t = tca0.read();
  while (1)
  {
    while (tca0.read() - t < tick)
      Tca::poll();
    t += tick;
    func2();
  }

  /* 周波数波形生成モード */
  /* Frequency Mode (1Hz) */
  if (!tca0.begin(1, Tca::WGMODE_FREQ))
    /* Specified frequency cannot be supported */;
  tca0.output(Tca::CMP2);
  tca0.run();
  while (1)
    continue;

  /* 単一傾斜ＰＷＭ生成モード */
  /* PWM Single-Slope Mode (1Hz) */
  if (!tca0.begin(1, Tca::WGMODE_SINGLESLOPE))
    /* Specified frequency cannot be supported */;
  tca0.output(Tca::CMP2);
  tca0.pwmduty(Tca::CMP2, 32768); /* DUTY = 50% */
  tca0.run();
  while (1)
    continue;

  return 0;
}

#include "avr8_clock.h"

#include "avr8_tca.h"

Tca tca0(TCA0);

void func1(Tca::CMP cmp)

{

/* 500ms Interrupt */

}

void func2(void)

{

/* 500ms Interval */

}

int main(void)

{

sei();

Clock::setup();

/* 標準動作モード。任意時間による割込みと起動時からの経過時間の取得が可能。 */

/* Normal Mode */

tca0.begin();

const uint32_t tick = tca0.us2tick(500000);

tca0.callback(Tca::CMP0, func1);

tca0.interrupt(Tca::CMP0, tick);

tca0.run();

uint32_t t = tca0.read();

while (1)

{

while (tca0.read() - t < tick)

Tca::poll();

t += tick;

func2();

}

/* 周波数波形生成モード */

/* Frequency Mode (1Hz) */

if (!tca0.begin(1, Tca::WGMODE_FREQ))

/* Specified frequency cannot be supported */;

tca0.output(Tca::CMP2);

tca0.run();

while (1)

continue;

/* 単一傾斜ＰＷＭ生成モード */

/* PWM Single-Slope Mode (1Hz) */

if (!tca0.begin(1, Tca::WGMODE_SINGLESLOPE))

/* Specified frequency cannot be supported */;

tca0.output(Tca::CMP2);

tca0.pwmduty(Tca::CMP2, 32768); /* DUTY = 50% */

tca0.run();

while (1)

continue;

return 0;

}

【ライブラリ】

/*
  avr8_tca.h - TCA Driver for Microchip AVR8 Series
 
  Copyright (c) 2025 Sasapea's Lab. All right reserved.
 
  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 <https://www.gnu.org/licenses/>.
*/
#pragma once

#include <string.h>
#include "avr8_config.h"
#include "avr8_clock.h"

#if   defined(TCA1)
#define TCA_MAX_CH 2
#elif defined(TCA0)
#define TCA_MAX_CH 1
#else
#define TCA_MAX_CH 0
#endif

#if TCA_MAX_CH

class Tca
{
  public:

    /* Compare Channel */
    typedef enum
    {
      CMP0,
      CMP1,
      CMP2,
    } CMP;

    /* Clock Selection select */
    typedef enum
    {
      CLKSEL_DIV1    = TCA_SINGLE_CLKSEL_DIV1_gc,    /* System Clock */
      CLKSEL_DIV2    = TCA_SINGLE_CLKSEL_DIV2_gc,    /* System Clock / 2 */
      CLKSEL_DIV4    = TCA_SINGLE_CLKSEL_DIV4_gc,    /* System Clock / 4 */
      CLKSEL_DIV8    = TCA_SINGLE_CLKSEL_DIV8_gc,    /* System Clock / 8 */
      CLKSEL_DIV16   = TCA_SINGLE_CLKSEL_DIV16_gc,   /* System Clock / 16 */
      CLKSEL_DIV64   = TCA_SINGLE_CLKSEL_DIV64_gc,   /* System Clock / 64 */
      CLKSEL_DIV256  = TCA_SINGLE_CLKSEL_DIV256_gc,  /* System Clock / 256 */
      CLKSEL_DIV1024 = TCA_SINGLE_CLKSEL_DIV1024_gc, /* System Clock / 1024 */
    } CLKSEL;

    /* Waveform generation mode select */
    typedef enum
    {
      WGMODE_NORMAL      = TCA_SINGLE_WGMODE_NORMAL_gc,      /* Normal Mode */
      WGMODE_FREQ        = TCA_SINGLE_WGMODE_FRQ_gc,         /* Frequency Generation Mode */
      WGMODE_SINGLESLOPE = TCA_SINGLE_WGMODE_SINGLESLOPE_gc, /* Single Slope PWM */
      WGMODE_DSTOP       = TCA_SINGLE_WGMODE_DSTOP_gc,       /* Dual Slope PWM, overflow on TOP */
      WGMODE_DSBOTH      = TCA_SINGLE_WGMODE_DSBOTH_gc,      /* Dual Slope PWM, overflow on TOP and BOTTOM */
      WGMODE_DSBOTTOM    = TCA_SINGLE_WGMODE_DSBOTTOM_gc,    /* Dual Slope PWM, overflow on BOTTOM */
    } WGMODE;

    /* TCA_SINGLE.CTRLB  bit masks and bit positions */
    typedef enum
    {
      CMP0EN = TCA_SINGLE_CMP0EN_bm,  /* Compare 0 Enable bit mask. */
      CMP1EN = TCA_SINGLE_CMP1EN_bm,  /* Compare 1 Enable bit mask. */
      CMP2EN = TCA_SINGLE_CMP2EN_bm,  /* Compare 2 Enable bit mask. */
    } CMPEN;

    /* TCA_SINGLE.CTRLC  bit masks and bit positions */
    typedef enum
    {
      CMP0OV = TCA_SINGLE_CMP0OV_bm,  /* Compare 0 Waveform Output Value bit mask. */
      CMP1OV = TCA_SINGLE_CMP1OV_bm,  /* Compare 1 Waveform Output Value bit mask. */
      CMP2OV = TCA_SINGLE_CMP2OV_bm,  /* Compare 2 Waveform Output Value bit mask. */
    } CMPOV;

    /* Command select */
    typedef enum
    {
      CMD_NONE    = TCA_SINGLE_CMD_NONE_gc,     /* No Command */
      CMD_UPDATE  = TCA_SINGLE_CMD_UPDATE_gc,   /* Force Update */
      CMD_RESTART = TCA_SINGLE_CMD_RESTART_gc,  /* Force Restart */
      CMD_RESET   = TCA_SINGLE_CMD_RESET_gc,    /* Force Hard Reset */
    } CMD;

#if defined(TCA_SINGLE_EVACT_gm)
    /* Event Action select */
    typedef enum
    {
      EVACTA_CNT_POSEDGE = TCA_SINGLE_EVACT_POSEDGE_gc,  /* Count on positive edge event */
      EVACTA_CNT_ANYEDGE = TCA_SINGLE_EVACT_ANYEDGE_gc,  /* Count on any edge event */
      EVACTA_CNT_HIGHLVL = TCA_SINGLE_EVACT_HIGHLVL_gc,  /* Count on prescaled clock while event line is 1. */
      EVACTA_UPDOWN      = TCA_SINGLE_EVACT_UPDOWN_gc,   /* Count on prescaled clock. Event controls count direction. Up-count when event line is 0, down-count when event line is 1. */
    } EVACTA;
#endif

#if defined(TCA_SINGLE_EVACTA_gm)
    /* Event Action A select */
    typedef enum
    {
      EVACTA_CNT_POSEDGE = TCA_SINGLE_EVACTA_CNT_POSEDGE_gc,  /* Count on positive edge event */
      EVACTA_CNT_ANYEDGE = TCA_SINGLE_EVACTA_CNT_ANYEDGE_gc,  /* Count on any edge event */
      EVACTA_CNT_HIGHLVL = TCA_SINGLE_EVACTA_CNT_HIGHLVL_gc,  /* Count on prescaled clock while event line is 1. */
      EVACTA_UPDOWN      = TCA_SINGLE_EVACTA_UPDOWN_gc,       /* Count on prescaled clock. Event controls count direction. Up-count when event line is 0, down-count when event line is 1. */
    } EVACTA;
#endif

#if defined(TCA_SINGLE_EVACTB_gm)
    /* Event Action B select */
    typedef enum
    {
      EVACTB_NONE            = TCA_SINGLE_EVACTB_NONE_gc,             /* No Action */
      EVACTB_UPDOWN          = TCA_SINGLE_EVACTB_UPDOWN_gc,           /* Count on prescaled clock. Event controls count direction. Up-count when event line is 0, down-count when event line is 1. */
      EVACTB_RESTART_POSEDGE = TCA_SINGLE_EVACTB_RESTART_POSEDGE_gc,  /* Restart counter at positive edge event */
      EVACTB_RESTART_ANYEDGE = TCA_SINGLE_EVACTB_RESTART_ANYEDGE_gc,  /* Restart counter on any edge event */
      EVACTB_RESTART_HIGHLVL = TCA_SINGLE_EVACTB_RESTART_HIGHLVL_gc,  /* Restart counter while event line is 1. */
    } EVACTB;
#endif

#if defined(TCA_SPLIT_CMDEN_gm)
    /* Command Enable select (SPLIT Mode) */
    typedef enum
    {
      CMDEN_NONE = TCA_SPLIT_CMDEN_NONE_gc,  /* None */
      CMDEN_BOTH = TCA_SPLIT_CMDEN_BOTH_gc,  /* Both low byte and high byte counter */
    } CMDEN;
#endif

    /* Type of Callback Function */
    typedef void (*callback_t)(CMP cmp);

    Tca(TCA_t& tca) : _tca(&tca), _ch((&tca - &TCA0) / sizeof(tca)), _mhz(0)
    {
      _instances[_ch] = this;
    }

    /* virtual */ ~Tca(void)
    {
      end();
      _instances[_ch] = 0;
    }

    void begin(bool micros = true)
    {
      uint8_t mhz = Clock::frequency() / 1000000UL;
      uint8_t div = 0;
      if (micros)
      {
        for (uint8_t i = 0; i < sizeof(CLKDIV) / sizeof(CLKDIV[0]); ++i)
        {
          if (mhz <= CLKDIV[i])
          {
            if (mhz == CLKDIV[i])
            {
              div = i;
              mhz = 1;
            }
            break;
          }
        }
      }
      begin((CLKSEL)(CLKSEL_DIV1 + (div << TCA_SINGLE_CLKSEL_gp)), WGMODE_NORMAL, 0xFFFF, mhz);
    }

    bool begin(uint32_t frq, WGMODE mode)
    {
      uint32_t clk = Clock::frequency();
      if ((mode == WGMODE_FREQ) || (mode >= WGMODE_SINGLESLOPE))
        clk >>= 1;
      uint16_t div = (clk / (frq ? frq : 1) + 0xFFFF) >> 16;
      for (uint8_t i = 0; i < sizeof(CLKDIV) / sizeof(CLKDIV[0]); ++i)
      {
        if (div <= CLKDIV[i])
        {
          begin((CLKSEL)(CLKSEL_DIV1 + (i << TCA_SINGLE_CLKSEL_gp)), mode, clk / CLKDIV[i] - 1);
          return true;
        }
      }
      begin((CLKSEL)(CLKSEL_DIV1 + ((sizeof(CLKDIV) / sizeof(CLKDIV[0]) - 1) << TCA_SINGLE_CLKSEL_gp)), mode, 0xFFFF);
      return false;
    }

    void begin(CLKSEL clksel, WGMODE mode, uint16_t period, uint8_t mhz = 0)
    {
      end();
      _mhz      = mhz;
      _overflow = 0;
      memset((void *)_counter , 0, sizeof(_counter) );
      memset((void *)_interval, 0, sizeof(_interval));
      memset((void *)_callback, 0, sizeof(_callback));
      _tca->SINGLE.CTRLB    = mode;
      _tca->SINGLE.CTRLC    = 0;
      _tca->SINGLE.CTRLD    = 0;
      _tca->SINGLE.CTRLECLR = 0xFF;
      _tca->SINGLE.EVCTRL   = 0;
#if CONFIG_TCA_ISR
      _tca->SINGLE.INTCTRL  = _mhz ? TCA_SINGLE_OVF_bm : 0;
#else
      _tca->SINGLE.INTCTRL  = 0;
#endif
      _tca->SINGLE.INTFLAGS = 0xFF;
      _tca->SINGLE.DBGCTRL  = 0;
      _tca->SINGLE.CNT      = 0;
      _tca->SINGLE.PER      = period;
      _tca->SINGLE.CMP0     = period;
      _tca->SINGLE.CMP1     = 0;
      _tca->SINGLE.CMP2     = 0;
      _tca->SINGLE.CTRLA    = clksel;
      _overflow = 0;
    }

    void end(void)
    {
      _tca->SINGLE.CTRLA = 0;
      control(CMD_RESET);
    }

    uint32_t frquency(void)
    {
      return Clock::frequency() / CLKDIV[(_tca->SINGLE.CTRLA & TCA_SINGLE_CLKSEL_gm) >> TCA_SINGLE_CLKSEL_gp];
    }

#if defined(TCA_SINGLE_RUNSTDBY_bm)
    void runstdby(bool enable = true)
    {
      _tca->SINGLE.CTRLA = (_tca->SINGLE.CTRLA & ~TCA_SINGLE_RUNSTDBY_bm) | (enable ? TCA_SINGLE_RUNSTDBY_bm : 0);
    }
#endif

    void dbgctrl(bool dbgrun = true)
    {
      _tca->SINGLE.DBGCTRL = dbgrun ? TCA_SINGLE_DBGRUN_bm : 0;
    }

    void run(bool enable = true)
    {
      _tca->SINGLE.CTRLA = (_tca->SINGLE.CTRLA & ~TCA_SINGLE_ENABLE_bm) | (enable ? TCA_SINGLE_ENABLE_bm : 0);
    }

    void output(CMP cmp, bool enable = true, bool ov = true)
    {
      switch (cmp)
      {
        case CMP0:
          _tca->SINGLE.CTRLC = (_tca->SINGLE.CTRLC & ~TCA_SINGLE_CMP0OV_bm) | (ov     ? TCA_SINGLE_CMP0OV_bm : 0);
          _tca->SINGLE.CTRLB = (_tca->SINGLE.CTRLB & ~TCA_SINGLE_CMP0EN_bp) | (enable ? TCA_SINGLE_CMP0EN_bm : 0);
          break;
        case CMP1:
          _tca->SINGLE.CTRLC = (_tca->SINGLE.CTRLC & ~TCA_SINGLE_CMP1OV_bm) | (ov     ? TCA_SINGLE_CMP1OV_bm : 0);
          _tca->SINGLE.CTRLB = (_tca->SINGLE.CTRLB & ~TCA_SINGLE_CMP1EN_bp) | (enable ? TCA_SINGLE_CMP1EN_bm : 0);
          break;
        case CMP2:
          _tca->SINGLE.CTRLC = (_tca->SINGLE.CTRLC & ~TCA_SINGLE_CMP2OV_bm) | (ov     ? TCA_SINGLE_CMP2OV_bm : 0);
          _tca->SINGLE.CTRLB = (_tca->SINGLE.CTRLB & ~TCA_SINGLE_CMP2EN_bp) | (enable ? TCA_SINGLE_CMP2EN_bm : 0);
          break;
      }
    }

    void compare(CMP cmp, uint16_t value)
    {
      regCMP(cmp) = value;
    }

    void alupd(bool enable = true)
    {
      _tca->SINGLE.CTRLB = (_tca->SINGLE.CTRLB & ~TCA_SINGLE_ALUPD_bm) | (enable ? TCA_SINGLE_ALUPD_bm : 0);
    }

    void control(CMD cmd, bool lupd = false, bool dir = false)
    {
      if (dir)
        _tca->SINGLE.CTRLESET = TCA_SINGLE_DIR_bm;
      else
        _tca->SINGLE.CTRLECLR = TCA_SINGLE_DIR_bm;
      if (lupd)
        _tca->SINGLE.CTRLESET = TCA_SINGLE_LUPD_bm;
      else
        _tca->SINGLE.CTRLECLR = ~TCA_SINGLE_LUPD_bm;
      _tca->SINGLE.CTRLESET = cmd;
    }

    void eventa(bool enable, EVACTA evact)
    {
#if defined(TCA_SINGLE_EVACTA_gm)
      _tca->SINGLE.EVCTRL = (_tca->SINGLE.EVCTRL & ~(TCA_SINGLE_EVACTA_gm | TCA_SINGLE_CNTAEI_bm)) | evact | (enable ? TCA_SINGLE_CNTAEI_bm : 0);
#else
      _tca->SINGLE.EVCTRL = (_tca->SINGLE.EVCTRL & ~(TCA_SINGLE_EVACT_gm | TCA_SINGLE_CNTEI_bm)) | evact | (enable ? TCA_SINGLE_CNTEI_bm : 0);
#endif
    }

#if defined(TCA_SINGLE_EVACTB_gm)
    void eventb(bool enable, EVACTB evact)
    {
      _tca->SINGLE.EVCTRL = (_tca->SINGLE.EVCTRL & ~(TCA_SINGLE_EVACTB_gm | TCA_SINGLE_CNTBEI_bm)) | evact | (enable ? TCA_SINGLE_CNTBEI_bm : 0);
    }
#endif

    void pwmduty(CMP cmp, uint16_t duty)
    {
      if ((_tca->SINGLE.CTRLB & TCA_SINGLE_WGMODE_gm) >= TCA_SINGLE_WGMODE_SINGLESLOPE_gc)
        regCMP(cmp) = (uint32_t)_tca->SINGLE.PER * duty / 0xFFFF;
    }

    void period(uint16_t value)
    {
      if ((_tca->SINGLE.CTRLB & TCA_SINGLE_WGMODE_gm) == TCA_SINGLE_WGMODE_FRQ_gc)
        _tca->SINGLE.CMP0 = value;
      else
        _tca->SINGLE.PER = value;
    }

    void callback(CMP cmp, callback_t func)
    {
      _callback[cmp] = func;
    }

    void interval(CMP cmp, uint32_t tick)
    {
      if (tick)
        _interval[cmp] = tick;
    }

    void interrupt(CMP cmp, uint32_t tick)
    {
      uint8_t mask = maskCMP(cmp);
      if (tick)
      {
        interval(cmp, tick);
        regCMP(cmp) = _tca->SINGLE.CNT;
        control(CMD_UPDATE);
        setup(cmp);
#if CONFIG_TCA_ISR
        _tca->SINGLE.INTCTRL |= _tca->SINGLE.INTFLAGS = mask;
#else
        _tca->SINGLE.INTFLAGS = mask;
#endif
      }
      else
      {
        _tca->SINGLE.INTCTRL &= ~mask;
      }
    }

    uint32_t read(void)
    {
      union
      {
        uint32_t d;
        struct { uint16_t l, h; } w;
      } x;
      do
      {
        x.w.h = _overflow;
        x.w.l = _tca->SINGLE.CNT;
        isr_ovf();
      }
      while (x.w.h != _overflow);
      return x.d;
    }

    uint32_t tick2us(uint32_t tick)
    {
      return _mhz <= 1 ? tick : tick / _mhz;
    }    

    uint32_t us2tick(uint32_t us)
    {
      return _mhz <= 1 ? us : us * _mhz;
    }    

    static void poll(void)
    {
#if !CONFIG_TCA_ISR
      for (uint8_t i = 0; i < TCA_MAX_CH; ++i)
      {
        Tca* tca = _instances[i];
        if (tca)
        {
          tca->isr_ovf();
          tca->isr_cmp(CMP0);
          tca->isr_cmp(CMP1);
          tca->isr_cmp(CMP2);
        }
      }
#endif      
    }

  protected:

    static const uint16_t CLKDIV[8];
    static Tca* _instances[TCA_MAX_CH];

    TCA_t*            _tca;
    uint8_t           _ch;
    uint8_t           _mhz;
    volatile uint16_t _overflow;
    volatile uint16_t _counter [3];
    uint32_t          _interval[3];
    callback_t        _callback[3];

#if CONFIG_TCA_ISR
    friend void tca_isr_ovf(uint8_t ch);
    friend void tca_isr_cmp(uint8_t ch, CMP cmp);
#endif

    inline void isr_ovf(void)
    {
      if ((_tca->SINGLE.INTFLAGS = (_tca->SINGLE.INTFLAGS & TCA_SINGLE_OVF_bm)))
        ++_overflow;
    }

    void isr_cmp(CMP cmp) __attribute__((noinline))
    {
      if ((_tca->SINGLE.INTFLAGS = (_tca->SINGLE.INTFLAGS & maskCMP(cmp))))
      {
        if (--_counter[cmp])
        {
          regCMP(cmp) += 0x8000;
          control(CMD_UPDATE);
        }
        else
        {
          if (_callback[cmp])
            _callback[cmp](cmp);
          setup(cmp);
        }
      }
    }

    void setup(CMP cmp) __attribute__((noinline))
    {
      uint32_t tick = _interval[cmp];
      int16_t  next = (int16_t)tick;
      if ((_counter[cmp] = ((uint16_t)(tick >> 16) << 1) | (next < 0 ? 1 : 0)))
        next |= 0x8000;
      else
        _counter[cmp] = 1;
      regCMP(cmp) += next;
      control(CMD_UPDATE);
    }

    register16_t& regCMP(CMP cmp)
    {
      return ((register16_t*)&_tca->SINGLE.CMP0)[cmp];
    }

    uint8_t maskCMP(CMP cmp)
    {
      return _BV(TCA_SINGLE_CMP0_bp + cmp);
    }
};

#endif

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avr8_tca.h - TCA Driver for Microchip AVR8 Series

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 <https://www.gnu.org/licenses/>.

#pragma once

#include <string.h>

#include "avr8_config.h"

#include "avr8_clock.h"

#if defined(TCA1)

#define TCA_MAX_CH 2

#elif defined(TCA0)

#define TCA_MAX_CH 1

#else

#define TCA_MAX_CH 0

#endif

#if TCA_MAX_CH

class Tca

{

public:

/* Compare Channel */

typedef enum

{

CMP0,

CMP1,

CMP2,

} CMP;

/* Clock Selection select */

typedef enum

{

CLKSEL_DIV1 = TCA_SINGLE_CLKSEL_DIV1_gc, /* System Clock */

CLKSEL_DIV2 = TCA_SINGLE_CLKSEL_DIV2_gc, /* System Clock / 2 */

CLKSEL_DIV4 = TCA_SINGLE_CLKSEL_DIV4_gc, /* System Clock / 4 */

CLKSEL_DIV8 = TCA_SINGLE_CLKSEL_DIV8_gc, /* System Clock / 8 */

CLKSEL_DIV16 = TCA_SINGLE_CLKSEL_DIV16_gc, /* System Clock / 16 */

CLKSEL_DIV64 = TCA_SINGLE_CLKSEL_DIV64_gc, /* System Clock / 64 */

CLKSEL_DIV256 = TCA_SINGLE_CLKSEL_DIV256_gc, /* System Clock / 256 */

CLKSEL_DIV1024 = TCA_SINGLE_CLKSEL_DIV1024_gc, /* System Clock / 1024 */

} CLKSEL;

/* Waveform generation mode select */

typedef enum

{

WGMODE_NORMAL = TCA_SINGLE_WGMODE_NORMAL_gc, /* Normal Mode */

WGMODE_FREQ = TCA_SINGLE_WGMODE_FRQ_gc, /* Frequency Generation Mode */

WGMODE_SINGLESLOPE = TCA_SINGLE_WGMODE_SINGLESLOPE_gc, /* Single Slope PWM */

WGMODE_DSTOP = TCA_SINGLE_WGMODE_DSTOP_gc, /* Dual Slope PWM, overflow on TOP */

WGMODE_DSBOTH = TCA_SINGLE_WGMODE_DSBOTH_gc, /* Dual Slope PWM, overflow on TOP and BOTTOM */

WGMODE_DSBOTTOM = TCA_SINGLE_WGMODE_DSBOTTOM_gc, /* Dual Slope PWM, overflow on BOTTOM */

} WGMODE;

/* TCA_SINGLE.CTRLB bit masks and bit positions */

typedef enum

{

CMP0EN = TCA_SINGLE_CMP0EN_bm, /* Compare 0 Enable bit mask. */

CMP1EN = TCA_SINGLE_CMP1EN_bm, /* Compare 1 Enable bit mask. */

CMP2EN = TCA_SINGLE_CMP2EN_bm, /* Compare 2 Enable bit mask. */

} CMPEN;

/* TCA_SINGLE.CTRLC bit masks and bit positions */

typedef enum

{

CMP0OV = TCA_SINGLE_CMP0OV_bm, /* Compare 0 Waveform Output Value bit mask. */

CMP1OV = TCA_SINGLE_CMP1OV_bm, /* Compare 1 Waveform Output Value bit mask. */

CMP2OV = TCA_SINGLE_CMP2OV_bm, /* Compare 2 Waveform Output Value bit mask. */

} CMPOV;

/* Command select */

typedef enum

{

CMD_NONE = TCA_SINGLE_CMD_NONE_gc, /* No Command */

CMD_UPDATE = TCA_SINGLE_CMD_UPDATE_gc, /* Force Update */

CMD_RESTART = TCA_SINGLE_CMD_RESTART_gc, /* Force Restart */

CMD_RESET = TCA_SINGLE_CMD_RESET_gc, /* Force Hard Reset */

} CMD;

#if defined(TCA_SINGLE_EVACT_gm)

/* Event Action select */

typedef enum

{

EVACTA_CNT_POSEDGE = TCA_SINGLE_EVACT_POSEDGE_gc, /* Count on positive edge event */

EVACTA_CNT_ANYEDGE = TCA_SINGLE_EVACT_ANYEDGE_gc, /* Count on any edge event */

EVACTA_CNT_HIGHLVL = TCA_SINGLE_EVACT_HIGHLVL_gc, /* Count on prescaled clock while event line is 1. */

EVACTA_UPDOWN = TCA_SINGLE_EVACT_UPDOWN_gc, /* Count on prescaled clock. Event controls count direction. Up-count when event line is 0, down-count when event line is 1. */

} EVACTA;

#endif

#if defined(TCA_SINGLE_EVACTA_gm)

/* Event Action A select */

typedef enum

{

EVACTA_CNT_POSEDGE = TCA_SINGLE_EVACTA_CNT_POSEDGE_gc, /* Count on positive edge event */

EVACTA_CNT_ANYEDGE = TCA_SINGLE_EVACTA_CNT_ANYEDGE_gc, /* Count on any edge event */

EVACTA_CNT_HIGHLVL = TCA_SINGLE_EVACTA_CNT_HIGHLVL_gc, /* Count on prescaled clock while event line is 1. */

EVACTA_UPDOWN = TCA_SINGLE_EVACTA_UPDOWN_gc, /* Count on prescaled clock. Event controls count direction. Up-count when event line is 0, down-count when event line is 1. */

} EVACTA;

#endif

#if defined(TCA_SINGLE_EVACTB_gm)

/* Event Action B select */

typedef enum

{

EVACTB_NONE = TCA_SINGLE_EVACTB_NONE_gc, /* No Action */

EVACTB_UPDOWN = TCA_SINGLE_EVACTB_UPDOWN_gc, /* Count on prescaled clock. Event controls count direction. Up-count when event line is 0, down-count when event line is 1. */

EVACTB_RESTART_POSEDGE = TCA_SINGLE_EVACTB_RESTART_POSEDGE_gc, /* Restart counter at positive edge event */

EVACTB_RESTART_ANYEDGE = TCA_SINGLE_EVACTB_RESTART_ANYEDGE_gc, /* Restart counter on any edge event */

EVACTB_RESTART_HIGHLVL = TCA_SINGLE_EVACTB_RESTART_HIGHLVL_gc, /* Restart counter while event line is 1. */

} EVACTB;

#endif

#if defined(TCA_SPLIT_CMDEN_gm)

/* Command Enable select (SPLIT Mode) */

typedef enum

{

CMDEN_NONE = TCA_SPLIT_CMDEN_NONE_gc, /* None */

CMDEN_BOTH = TCA_SPLIT_CMDEN_BOTH_gc, /* Both low byte and high byte counter */

} CMDEN;

#endif

/* Type of Callback Function */

typedef void (*callback_t)(CMP cmp);

Tca(TCA_t& tca) : _tca(&tca), _ch((&tca - &TCA0) / sizeof(tca)), _mhz(0)

{

_instances[_ch] = this;

}

/* virtual */ ~Tca(void)

{

end();

_instances[_ch] = 0;

}

void begin(bool micros = true)

{

uint8_t mhz = Clock::frequency() / 1000000UL;

uint8_t div = 0;

if (micros)

{

for (uint8_t i = 0; i < sizeof(CLKDIV) / sizeof(CLKDIV[0]); ++i)

{

if (mhz <= CLKDIV[i])

{

if (mhz == CLKDIV[i])

{

div = i;

mhz = 1;

}

break;

}

begin((CLKSEL)(CLKSEL_DIV1 + (div << TCA_SINGLE_CLKSEL_gp)), WGMODE_NORMAL, 0xFFFF, mhz);

}

bool begin(uint32_t frq, WGMODE mode)

{

uint32_t clk = Clock::frequency();

if ((mode == WGMODE_FREQ) || (mode >= WGMODE_SINGLESLOPE))

clk >>= 1;

uint16_t div = (clk / (frq ? frq : 1) + 0xFFFF) >> 16;

for (uint8_t i = 0; i < sizeof(CLKDIV) / sizeof(CLKDIV[0]); ++i)

{

if (div <= CLKDIV[i])

{

begin((CLKSEL)(CLKSEL_DIV1 + (i << TCA_SINGLE_CLKSEL_gp)), mode, clk / CLKDIV[i] - 1);

return true;

}

begin((CLKSEL)(CLKSEL_DIV1 + ((sizeof(CLKDIV) / sizeof(CLKDIV[0]) - 1) << TCA_SINGLE_CLKSEL_gp)), mode, 0xFFFF);

return false;

}

void begin(CLKSEL clksel, WGMODE mode, uint16_t period, uint8_t mhz = 0)

{

end();

_mhz = mhz;

_overflow = 0;

memset((void *)_counter , 0, sizeof(_counter) );

memset((void *)_interval, 0, sizeof(_interval));

memset((void *)_callback, 0, sizeof(_callback));

_tca->SINGLE.CTRLB = mode;

_tca->SINGLE.CTRLC = 0;

_tca->SINGLE.CTRLD = 0;

_tca->SINGLE.CTRLECLR = 0xFF;

_tca->SINGLE.EVCTRL = 0;

#if CONFIG_TCA_ISR

_tca->SINGLE.INTCTRL = _mhz ? TCA_SINGLE_OVF_bm : 0;

#else

_tca->SINGLE.INTCTRL = 0;

#endif

_tca->SINGLE.INTFLAGS = 0xFF;

_tca->SINGLE.DBGCTRL = 0;

_tca->SINGLE.CNT = 0;

_tca->SINGLE.PER = period;

_tca->SINGLE.CMP0 = period;

_tca->SINGLE.CMP1 = 0;

_tca->SINGLE.CMP2 = 0;

_tca->SINGLE.CTRLA = clksel;

_overflow = 0;

}

void end(void)

{

_tca->SINGLE.CTRLA = 0;

control(CMD_RESET);

}

uint32_t frquency(void)

{

return Clock::frequency() / CLKDIV[(_tca->SINGLE.CTRLA & TCA_SINGLE_CLKSEL_gm) >> TCA_SINGLE_CLKSEL_gp];

}

#if defined(TCA_SINGLE_RUNSTDBY_bm)

void runstdby(bool enable = true)

{

_tca->SINGLE.CTRLA = (_tca->SINGLE.CTRLA & ~TCA_SINGLE_RUNSTDBY_bm) | (enable ? TCA_SINGLE_RUNSTDBY_bm : 0);

}

#endif

void dbgctrl(bool dbgrun = true)

{

_tca->SINGLE.DBGCTRL = dbgrun ? TCA_SINGLE_DBGRUN_bm : 0;

}

void run(bool enable = true)

{

_tca->SINGLE.CTRLA = (_tca->SINGLE.CTRLA & ~TCA_SINGLE_ENABLE_bm) | (enable ? TCA_SINGLE_ENABLE_bm : 0);

}

void output(CMP cmp, bool enable = true, bool ov = true)

{

switch (cmp)

{

case CMP0:

_tca->SINGLE.CTRLC = (_tca->SINGLE.CTRLC & ~TCA_SINGLE_CMP0OV_bm) | (ov ? TCA_SINGLE_CMP0OV_bm : 0);

_tca->SINGLE.CTRLB = (_tca->SINGLE.CTRLB & ~TCA_SINGLE_CMP0EN_bp) | (enable ? TCA_SINGLE_CMP0EN_bm : 0);

break;

case CMP1:

_tca->SINGLE.CTRLC = (_tca->SINGLE.CTRLC & ~TCA_SINGLE_CMP1OV_bm) | (ov ? TCA_SINGLE_CMP1OV_bm : 0);

_tca->SINGLE.CTRLB = (_tca->SINGLE.CTRLB & ~TCA_SINGLE_CMP1EN_bp) | (enable ? TCA_SINGLE_CMP1EN_bm : 0);

break;

case CMP2:

_tca->SINGLE.CTRLC = (_tca->SINGLE.CTRLC & ~TCA_SINGLE_CMP2OV_bm) | (ov ? TCA_SINGLE_CMP2OV_bm : 0);

_tca->SINGLE.CTRLB = (_tca->SINGLE.CTRLB & ~TCA_SINGLE_CMP2EN_bp) | (enable ? TCA_SINGLE_CMP2EN_bm : 0);

break;

}

void compare(CMP cmp, uint16_t value)

{

regCMP(cmp) = value;

}

void alupd(bool enable = true)

{

_tca->SINGLE.CTRLB = (_tca->SINGLE.CTRLB & ~TCA_SINGLE_ALUPD_bm) | (enable ? TCA_SINGLE_ALUPD_bm : 0);

}

void control(CMD cmd, bool lupd = false, bool dir = false)

{

if (dir)

_tca->SINGLE.CTRLESET = TCA_SINGLE_DIR_bm;

else

_tca->SINGLE.CTRLECLR = TCA_SINGLE_DIR_bm;

if (lupd)

_tca->SINGLE.CTRLESET = TCA_SINGLE_LUPD_bm;

else

_tca->SINGLE.CTRLECLR = ~TCA_SINGLE_LUPD_bm;

_tca->SINGLE.CTRLESET = cmd;

}

void eventa(bool enable, EVACTA evact)

{

#if defined(TCA_SINGLE_EVACTA_gm)

_tca->SINGLE.EVCTRL = (_tca->SINGLE.EVCTRL & ~(TCA_SINGLE_EVACTA_gm | TCA_SINGLE_CNTAEI_bm)) | evact | (enable ? TCA_SINGLE_CNTAEI_bm : 0);

#else

_tca->SINGLE.EVCTRL = (_tca->SINGLE.EVCTRL & ~(TCA_SINGLE_EVACT_gm | TCA_SINGLE_CNTEI_bm)) | evact | (enable ? TCA_SINGLE_CNTEI_bm : 0);

#endif

}

#if defined(TCA_SINGLE_EVACTB_gm)

void eventb(bool enable, EVACTB evact)

{

_tca->SINGLE.EVCTRL = (_tca->SINGLE.EVCTRL & ~(TCA_SINGLE_EVACTB_gm | TCA_SINGLE_CNTBEI_bm)) | evact | (enable ? TCA_SINGLE_CNTBEI_bm : 0);

}

#endif

void pwmduty(CMP cmp, uint16_t duty)

{

if ((_tca->SINGLE.CTRLB & TCA_SINGLE_WGMODE_gm) >= TCA_SINGLE_WGMODE_SINGLESLOPE_gc)

regCMP(cmp) = (uint32_t)_tca->SINGLE.PER * duty / 0xFFFF;

}

void period(uint16_t value)

{

if ((_tca->SINGLE.CTRLB & TCA_SINGLE_WGMODE_gm) == TCA_SINGLE_WGMODE_FRQ_gc)

_tca->SINGLE.CMP0 = value;

else

_tca->SINGLE.PER = value;

}

void callback(CMP cmp, callback_t func)

{

_callback[cmp] = func;

}

void interval(CMP cmp, uint32_t tick)

{

if (tick)

_interval[cmp] = tick;

}

void interrupt(CMP cmp, uint32_t tick)

{

uint8_t mask = maskCMP(cmp);

if (tick)

{

interval(cmp, tick);

regCMP(cmp) = _tca->SINGLE.CNT;

control(CMD_UPDATE);

setup(cmp);

#if CONFIG_TCA_ISR

_tca->SINGLE.INTCTRL |= _tca->SINGLE.INTFLAGS = mask;

#else

_tca->SINGLE.INTFLAGS = mask;

#endif

}

else

{

_tca->SINGLE.INTCTRL &= ~mask;

}

uint32_t read(void)

{

union

{

uint32_t d;

struct { uint16_t l, h; } w;

} x;

{

x.w.h = _overflow;

x.w.l = _tca->SINGLE.CNT;

isr_ovf();

}

while (x.w.h != _overflow);

return x.d;

}

uint32_t tick2us(uint32_t tick)

{

return _mhz <= 1 ? tick : tick / _mhz;

}

uint32_t us2tick(uint32_t us)

{

return _mhz <= 1 ? us : us * _mhz;

}

static void poll(void)

{

#if !CONFIG_TCA_ISR

for (uint8_t i = 0; i < TCA_MAX_CH; ++i)

{

Tca* tca = _instances[i];

if (tca)

{

tca->isr_ovf();

tca->isr_cmp(CMP0);

tca->isr_cmp(CMP1);

tca->isr_cmp(CMP2);

}

#endif

}

protected:

static const uint16_t CLKDIV[8];

static Tca* _instances[TCA_MAX_CH];

TCA_t* _tca;

uint8_t _ch;

uint8_t _mhz;

volatile uint16_t _overflow;

volatile uint16_t _counter [3];

uint32_t _interval[3];

callback_t _callback[3];

#if CONFIG_TCA_ISR

friend void tca_isr_ovf(uint8_t ch);

friend void tca_isr_cmp(uint8_t ch, CMP cmp);

#endif

inline void isr_ovf(void)

{

if ((_tca->SINGLE.INTFLAGS = (_tca->SINGLE.INTFLAGS & TCA_SINGLE_OVF_bm)))

++_overflow;

}

void isr_cmp(CMP cmp) __attribute__((noinline))

{

if ((_tca->SINGLE.INTFLAGS = (_tca->SINGLE.INTFLAGS & maskCMP(cmp))))

{

if (--_counter[cmp])

{

regCMP(cmp) += 0x8000;

control(CMD_UPDATE);

}

else

{

if (_callback[cmp])

_callback[cmp](cmp);

setup(cmp);

}

void setup(CMP cmp) __attribute__((noinline))

{

uint32_t tick = _interval[cmp];

int16_t next = (int16_t)tick;

if ((_counter[cmp] = ((uint16_t)(tick >> 16) << 1) | (next < 0 ? 1 : 0)))

next |= 0x8000;

else

_counter[cmp] = 1;

regCMP(cmp) += next;

control(CMD_UPDATE);

}

register16_t& regCMP(CMP cmp)

{

return ((register16_t*)&_tca->SINGLE.CMP0)[cmp];

}

uint8_t maskCMP(CMP cmp)

{

return _BV(TCA_SINGLE_CMP0_bp + cmp);

}

};

#endif

/*
  avr8_tca.cpp - TCA Driver for Microchip AVR8 Series
 
  Copyright (c) 2025 Sasapea's Lab. All right reserved.
 
  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 <https://www.gnu.org/licenses/>.
*/
#include "avr8_tca.h"

#if TCA_MAX_CH

const uint16_t Tca::CLKDIV[] = { 1, 2, 4, 8, 16, 64, 256, 1024 };
Tca* Tca::_instances[];

#if CONFIG_TCA_ISR

void tca_isr_ovf(uint8_t ch)
{
  Tca::_instances[ch]->isr_ovf();
}

void tca_isr_cmp(uint8_t ch, Tca::CMP cmp)
{
  Tca::_instances[ch]->isr_cmp(cmp);
}

#if defined(TCA0_OVF_vect)
ISR(TCA0_OVF_vect)
{
  tca_isr_ovf(0);
}
#endif

#if defined(TCA0_CMP0_vect)
ISR(TCA0_CMP0_vect)
{
  tca_isr_cmp(0, Tca::CMP0);
}
#endif

#if defined(TCA0_CMP1_vect)
ISR(TCA0_CMP1_vect)
{
  tca_isr_cmp(0, Tca::CMP1);
}
#endif

#if defined(TCA0_CMP2_vect)
ISR(TCA0_CMP2_vect)
{
  tca_isr_cmp(0, Tca::CMP2);
}
#endif

#if defined(TCA1_OVF_vect)
ISR(TCA1_OVF_vect)
{
  tca_isr_ovf(1);
}
#endif

#if defined(TCA1_CMP0_vect)
ISR(TCA1_CMP0_vect)
{
  tca_isr_cmp(1, Tca::CMP0);
}
#endif

#if defined(TCA1_CMP1_vect)
ISR(TCA1_CMP1_vect)
{
  tca_isr_cmp(1, Tca::CMP1);
}
#endif

#if defined(TCA1_CMP2_vect)
ISR(TCA1_CMP2_vect)
{
  tca_isr_cmp(1, Tca::CMP2);
}
#endif

#endif

#endif

avr8_tca.cpp - TCA Driver for Microchip AVR8 Series

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 <https://www.gnu.org/licenses/>.

#include "avr8_tca.h"

#if TCA_MAX_CH

const uint16_t Tca::CLKDIV[] = { 1, 2, 4, 8, 16, 64, 256, 1024 };

Tca* Tca::_instances[];

#if CONFIG_TCA_ISR

void tca_isr_ovf(uint8_t ch)

{

Tca::_instances[ch]->isr_ovf();

}

void tca_isr_cmp(uint8_t ch, Tca::CMP cmp)

{

Tca::_instances[ch]->isr_cmp(cmp);

}

#if defined(TCA0_OVF_vect)

ISR(TCA0_OVF_vect)

{

tca_isr_ovf(0);

}

#endif

#if defined(TCA0_CMP0_vect)

ISR(TCA0_CMP0_vect)

{

tca_isr_cmp(0, Tca::CMP0);

}

#endif

#if defined(TCA0_CMP1_vect)

ISR(TCA0_CMP1_vect)

{

tca_isr_cmp(0, Tca::CMP1);

}

#endif

#if defined(TCA0_CMP2_vect)

ISR(TCA0_CMP2_vect)

{

tca_isr_cmp(0, Tca::CMP2);

}

#endif

#if defined(TCA1_OVF_vect)

ISR(TCA1_OVF_vect)

{

tca_isr_ovf(1);

}

#endif

#if defined(TCA1_CMP0_vect)

ISR(TCA1_CMP0_vect)

{

tca_isr_cmp(1, Tca::CMP0);

}

#endif

#if defined(TCA1_CMP1_vect)

ISR(TCA1_CMP1_vect)

{

tca_isr_cmp(1, Tca::CMP1);

}

#endif

#if defined(TCA1_CMP2_vect)

ISR(TCA1_CMP2_vect)

{

tca_isr_cmp(1, Tca::CMP2);

}

#endif

カテゴリー: avr8

Microchip AVR8 用のライブラリを自作する。(TCA)