X-Git-Url: https://www.fi.muni.cz/~kas/git//home/kas/public_html/git/?a=blobdiff_plain;f=firmware%2Fpwm.c;h=56fb0884e125113a6885a3deb45cba9efe5ad6c8;hb=8650676310d5304199ffe174b45a9a396c9610a7;hp=da9fe3df679b9feb1faede1ed11205773890a824;hpb=64a3d3a699cd60b7a6b4b06c5c38689975a3d460;p=bike-lights.git

diff --git a/firmware/pwm.c b/firmware/pwm.c
index da9fe3d..56fb088 100644
--- a/firmware/pwm.c
+++ b/firmware/pwm.c
@@ -1,29 +1,35 @@
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <util/delay.h>
+#include <util/atomic.h>
 
 #include "lights.h"
 
 static uint16_t pwm[N_PWMLEDS];
 static volatile unsigned char step;
 
-void init_pwm()
+static void enable_pll()
 {
-	int i;
-
-	step = 0;
-
-	for (i = 0; i < N_PWMLEDS; i++)
-		pwm[n] = 0;
-
 	/* Async clock */
 	PLLCSR = _BV(PLLE);
 
 	/* Synchronize to the phase lock */
-	_delay_ms(1);
+	_delay_us(100);
 	while ((PLLCSR & _BV(PLOCK)) == 0)
 		;
 	PLLCSR |= _BV(PCKE);
+}
+
+void init_pwm()
+{
+	int i;
+
+	step = 0;
+
+	for (i = 0; i < N_PWMLEDS; i++)
+		pwm[i] = 0;
+
+	enable_pll();
 
 	// PWM channel D is inverted, ...
 	TCCR1C = _BV(COM1D1) | _BV(COM1D0) | _BV(PWM1D);
@@ -56,16 +62,20 @@ void susp_pwm()
 	TCCR1D = TCCR1C = TCCR1B = TCCR1A = 0;
 	TIMSK = 0;
 	TIFR = 0;
+
+	PLLCSR &= ~(_BV(PLLE) | _BV(PCKE));
 }
 
 void pwm_off(unsigned char n)
 {
-	pwm[n] = 0;
+	ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+		pwm[n] = 0;
 
-	switch (n) {
-	case 0: DDRB &= ~_BV(PB1); break;
-	case 1: DDRB &= ~_BV(PB3); break;
-	case 2: DDRB &= ~_BV(PB5); break;
+		switch (n) {
+		case 0: DDRB &= ~_BV(PB1); break;
+		case 1: DDRB &= ~_BV(PB3); break;
+		case 2: DDRB &= ~_BV(PB5); break;
+		}
 	}
 }
 
@@ -84,17 +94,14 @@ static void pwm_update_hw(unsigned char n)
 	case 0:
 		TC1H = hi;
 		OCR1A = lo;
-		DDRB |= _BV(PB1);
 		break;
 	case 1:
 		TC1H = hi;
 		OCR1B = lo;
-		DDRB |= _BV(PB3);
 		break;
 	case 2:
 		TC1H = hi;
 		OCR1D = lo;
-		DDRB |= _BV(PB5);
 		break;
 	}
 }
@@ -104,8 +111,17 @@ void pwm_set(unsigned char n, uint16_t stride)
 	if (((stride + (1 << PWM_STEP_SHIFT)) >> PWM_STEP_SHIFT) >= PWM_MAX)
 		stride = PWM_MAX << PWM_STEP_SHIFT;
 
-	pwm[n] = stride;
-	pwm_update_hw(n);
+	ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+		pwm[n] = stride;
+
+		pwm_update_hw(n);
+
+		switch(n) {
+		case 0: DDRB |= _BV(PB1); break;
+		case 1: DDRB |= _BV(PB3); break;
+		case 2: DDRB |= _BV(PB5); break;
+		}
+	}
 }
 
 void pwm_timer()
@@ -116,22 +132,7 @@ void pwm_timer()
 		step = 0;
 
 	for (i = 0; i < N_PWMLEDS; i++)
-		if (pwm[n])
-			pwm_update_hw(n);
-}
-
-#if 0
-static void inline pwm_handler()
-{
-	OCR1A = pwmval[0];
-	OCR1B = pwmval[1];
-	OCR1D = pwmval[2];
-	TIMSK &= ~_BV(TOIE1);
-}
-
-ISR(TIMER1_OVF_vect)
-{
-	pwm_handler();
+		if (pwm[i])
+			pwm_update_hw(i);
 }
-#endif