Closes #4 - missing pitches.h

Author: ArminJo

src/ADCUtils.h

@@ -85,27 +85,39 @@
 #define ADC_TEMPERATURE_CHANNEL_MUX 15
 #define ADC_1_1_VOLT_CHANNEL_MUX    12
 #define ADC_GND_CHANNEL_MUX         13
+#define ADC_CHANNEL_MUX_MASK        0x0F
 
 #elif defined(__AVR_ATtiny87__) || defined(__AVR_ATtiny167__)
 #define ADC_ISCR_CHANNEL_MUX         3
 #define ADC_TEMPERATURE_CHANNEL_MUX 11
 #define ADC_1_1_VOLT_CHANNEL_MUX    12
 #define ADC_GND_CHANNEL_MUX         14
 #define ADC_VCC_4TH_CHANNEL_MUX     13
+#define ADC_CHANNEL_MUX_MASK        0x1F
 
 #elif defined(__AVR_ATmega328P__)
 #define ADC_TEMPERATURE_CHANNEL_MUX  8
 #define ADC_1_1_VOLT_CHANNEL_MUX    14
 #define ADC_GND_CHANNEL_MUX         15
+#define ADC_CHANNEL_MUX_MASK        0x0F
+
+#elif defined(__AVR_ATmega644P__)
+#define ADC_TEMPERATURE_CHANNEL_MUX  // not existent
+#define ADC_1_1_VOLT_CHANNEL_MUX    0x1E
+#define ADC_GND_CHANNEL_MUX         0x1F
+#define ADC_CHANNEL_MUX_MASK        0x0F
 
 #elif defined(__AVR_ATmega32U4__)
 #define ADC_TEMPERATURE_CHANNEL_MUX 0x27
 #define ADC_1_1_VOLT_CHANNEL_MUX    0x1E
 #define ADC_GND_CHANNEL_MUX         0x1F
+#define ADC_CHANNEL_MUX_MASK        0x3F
 
 #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__)
 #define ADC_1_1_VOLT_CHANNEL_MUX    0x1E
 #define ADC_GND_CHANNEL_MUX         0x1F
+#define ADC_CHANNEL_MUX_MASK        0x1F
+
 #define INTERNAL INTERNAL1V1
 
 #else
@@ -164,7 +176,10 @@ uint16_t waitAndReadADCChannelWithReferenceAndRestoreADMUXAndReference(uint8_t a
 uint16_t readADCChannelWithOversample(uint8_t aADCChannelNumber, uint8_t aOversampleExponent);
 void setADCChannelAndReferenceForNextConversion(uint8_t aADCChannelNumber, uint8_t aReference);
 uint16_t readADCChannelWithReferenceOversampleFast(uint8_t aADCChannelNumber, uint8_t aReference, uint8_t aOversampleExponent);
-uint16_t readADCChannelWithReferenceMultiSamples(uint8_t aADCChannelNumber, uint8_t aReference, uint8_t aNumberOfSamples);
+uint32_t readADCChannelMultiSamples(uint8_t aPrescale, uint16_t aNumberOfSamples);
+uint16_t readADCChannelMultiSamplesWithReference(uint8_t aADCChannelNumber, uint8_t aReference, uint8_t aNumberOfSamples);
+uint32_t readADCChannelMultiSamplesWithReferenceAndPrescaler(uint8_t aADCChannelNumber, uint8_t aReference, uint8_t aPrescale,
+        uint16_t aNumberOfSamples);
 uint16_t readADCChannelWithReferenceMax(uint8_t aADCChannelNumber, uint8_t aReference, uint16_t aNumberOfSamples);
 uint16_t readADCChannelWithReferenceMaxMicros(uint8_t aADCChannelNumber, uint8_t aReference, uint16_t aMicrosecondsToAquire);
 uint16_t readUntil4ConsecutiveValuesAreEqual(uint8_t aADCChannelNumber, uint8_t aReference, uint8_t aDelay,
@@ -199,7 +214,8 @@ void resetCounterForVCCUndervoltageMultipleTimes();
 bool isVCCUndervoltage();
 bool isVCCEmergencyUndervoltage();
 bool isVCCOvervoltage();
-bool isVCCOvervoltageSimple();
+bool isVCCOvervoltageSimple();  // Version using readVCCVoltageMillivoltSimple()
+bool isVCCTooHighSimple();      // Version not using readVCCVoltageMillivoltSimple()
 
 #endif //  defined(__AVR__) ...
 

src/ADCUtils.hpp

@@ -161,12 +161,15 @@ uint8_t checkAndWaitForReferenceAndChannelToSwitch(uint8_t aADCChannelNumber, ui
     if ((tOldADMUX & MASK_FOR_ADC_REFERENCE) != tNewReference && (aReference == INTERNAL || aReference == INTERNAL2V56)) {
 #else
     if ((tOldADMUX & MASK_FOR_ADC_REFERENCE) != tNewReference && aReference == INTERNAL) {
+#endif
+#if defined(LOCAL_DEBUG)
+        Serial.println(F("Switch from DEFAULT to INTERNAL"));
 #endif
         /*
          * Switch reference from DEFAULT to INTERNAL
          */
         delayMicroseconds(8000); // experimental value is >= 7600 us for Nano board and 6200 for Uno board
-    } else if ((tOldADMUX & 0x0F) != aADCChannelNumber) {
+    } else if ((tOldADMUX & ADC_CHANNEL_MUX_MASK) != aADCChannelNumber) {
         if (aADCChannelNumber == ADC_1_1_VOLT_CHANNEL_MUX) {
             /*
              * Internal 1.1 Volt channel requires  <= 200 us for Nano board
@@ -249,9 +252,10 @@ uint16_t readADCChannelWithReferenceOversampleFast(uint8_t aADCChannelNumber, ui
 
 /*
  * Returns sum of all sample values
- * Conversion time is defined as 0.104 milliseconds for 16 MHz Arduino by ADC_PRESCALE in ADCUtils.h.
+ * Conversion time is defined as 0.104 milliseconds for 16 MHz Arduino by ADC_PRESCALE (=ADC_PRESCALE128) in ADCUtils.h.
+ * @ param aNumberOfSamples If > 64 an overflow may occur.
  */
-uint16_t readADCChannelWithReferenceMultiSamples(uint8_t aADCChannelNumber, uint8_t aReference, uint8_t aNumberOfSamples) {
+uint16_t readADCChannelMultiSamplesWithReference(uint8_t aADCChannelNumber, uint8_t aReference, uint8_t aNumberOfSamples) {
     uint16_t tSumValue = 0;
     ADMUX = aADCChannelNumber | (aReference << SHIFT_VALUE_FOR_REFERENCE);
 
@@ -275,6 +279,65 @@ uint16_t readADCChannelWithReferenceMultiSamples(uint8_t aADCChannelNumber, uint
     return tSumValue;
 }
 
+/*
+ * Returns sum of all sample values
+ * Conversion time is defined as 0.104 milliseconds for 16 MHz Arduino for ADC_PRESCALE128 in ADCUtils.h.
+ * @ param aPrescale can be one of ADC_PRESCALE2, ADC_PRESCALE4, 8, 16, 32, 64, 128.
+ *                   ADC_PRESCALE32 is recommended for excellent linearity and fast readout of 26 microseconds
+ * @ param aNumberOfSamples If > 16k an overflow may occur.
+ */
+uint32_t readADCChannelMultiSamplesWithReferenceAndPrescaler(uint8_t aADCChannelNumber, uint8_t aReference, uint8_t aPrescale,
+        uint16_t aNumberOfSamples) {
+    uint32_t tSumValue = 0;
+    ADMUX = aADCChannelNumber | (aReference << SHIFT_VALUE_FOR_REFERENCE);
+
+    ADCSRB = 0; // Free running mode. Only active if ADATE is set to 1.
+    // ADSC-StartConversion ADATE-AutoTriggerEnable ADIF-Reset Interrupt Flag
+    ADCSRA = (_BV(ADEN) | _BV(ADSC) | _BV(ADATE) | _BV(ADIF) | aPrescale);
+
+    for (uint16_t i = 0; i < aNumberOfSamples; i++) {
+        /*
+         * wait for free running conversion to finish.
+         * Do not wait for ADSC here, since ADSC is only low for 1 ADC Clock cycle on free running conversion.
+         */
+        loop_until_bit_is_set(ADCSRA, ADIF);
+
+        ADCSRA |= _BV(ADIF); // clear bit to enable recognizing next conversion has finished
+        // Add value
+        tSumValue += ADCL | (ADCH << 8); // using WordUnionForADCUtils does not save space here
+        // tSumValue += (ADCH << 8) | ADCL; // this does NOT work!
+    }
+    ADCSRA &= ~_BV(ADATE); // Disable auto-triggering (free running mode)
+    return tSumValue;
+}
+
+/*
+ * Returns sum of all sample values
+ * Assumes, that channel and reference are still set to the right values
+ * @ param aNumberOfSamples If > 16k an overflow may occur.
+ */
+uint32_t readADCChannelMultiSamples(uint8_t aPrescale, uint16_t aNumberOfSamples) {
+    uint32_t tSumValue = 0;
+
+    ADCSRB = 0; // Free running mode. Only active if ADATE is set to 1.
+    // ADSC-StartConversion ADATE-AutoTriggerEnable ADIF-Reset Interrupt Flag
+    ADCSRA = (_BV(ADEN) | _BV(ADSC) | _BV(ADATE) | _BV(ADIF) | aPrescale);
+
+    for (uint16_t i = 0; i < aNumberOfSamples; i++) {
+        /*
+         * wait for free running conversion to finish.
+         * Do not wait for ADSC here, since ADSC is only low for 1 ADC Clock cycle on free running conversion.
+         */
+        loop_until_bit_is_set(ADCSRA, ADIF);
+
+        ADCSRA |= _BV(ADIF); // clear bit to enable recognizing next conversion has finished
+        // Add value
+        tSumValue += ADCL | (ADCH << 8); // using WordUnionForADCUtils does not save space here
+        // tSumValue += (ADCH << 8) | ADCL; // this does NOT work!
+    }
+    ADCSRA &= ~_BV(ADATE); // Disable auto-triggering (free running mode)
+    return tSumValue;
+}
 /*
  * use ADC_PRESCALE32 which gives 26 us conversion time and good linearity
  * @return the maximum value of aNumberOfSamples samples.
@@ -408,7 +471,7 @@ uint16_t readUntil4ConsecutiveValuesAreEqual(uint8_t aADCChannelNumber, uint8_t
  */
 float getVCCVoltageSimple(void) {
     // use AVCC with (optional) external capacitor at AREF pin as reference
-    float tVCC = readADCChannelWithReferenceMultiSamples(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
+    float tVCC = readADCChannelMultiSamplesWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
     return ((1023 * 1.1 * 4) / tVCC);
 }
 
@@ -419,7 +482,7 @@ float getVCCVoltageSimple(void) {
  */
 uint16_t getVCCVoltageMillivoltSimple(void) {
     // use AVCC with external capacitor at AREF pin as reference
-    uint16_t tVCC = readADCChannelWithReferenceMultiSamples(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
+    uint16_t tVCC = readADCChannelMultiSamplesWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
     return ((1023L * ADC_INTERNAL_REFERENCE_MILLIVOLT * 4) / tVCC);
 }
 
@@ -459,6 +522,9 @@ uint16_t getVCCVoltageMillivolt(void) {
     return ((1023L * ADC_INTERNAL_REFERENCE_MILLIVOLT) / tVCC);
 }
 
+/*
+ * Does not set sVCCVoltageMillivolt
+ */
 uint16_t printVCCVoltageMillivolt(Print *aSerial) {
     aSerial->print(F("VCC="));
     uint16_t tVCCVoltageMillivolt = getVCCVoltageMillivolt();
@@ -480,7 +546,7 @@ void readAndPrintVCCVoltageMillivolt(Print *aSerial) {
  */
 void readVCCVoltageSimple(void) {
     // use AVCC with (optional) external capacitor at AREF pin as reference
-    float tVCC = readADCChannelWithReferenceMultiSamples(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
+    float tVCC = readADCChannelMultiSamplesWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
     sVCCVoltage = (1023 * (((float) ADC_INTERNAL_REFERENCE_MILLIVOLT) / 1000) * 4) / tVCC;
 }
 
@@ -491,7 +557,7 @@ void readVCCVoltageSimple(void) {
  */
 void readVCCVoltageMillivoltSimple(void) {
     // use AVCC with external capacitor at AREF pin as reference
-    uint16_t tVCCVoltageMillivoltRaw = readADCChannelWithReferenceMultiSamples(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
+    uint16_t tVCCVoltageMillivoltRaw = readADCChannelMultiSamplesWithReference(ADC_1_1_VOLT_CHANNEL_MUX, DEFAULT, 4);
     sVCCVoltageMillivolt = (1023L * ADC_INTERNAL_REFERENCE_MILLIVOLT * 4) / tVCCVoltageMillivoltRaw;
 }
 
@@ -556,7 +622,7 @@ bool isVCCUSBPowered(Print *aSerial) {
     aSerial->print(F("USB powered is "));
     bool tReturnValue;
     if (VOLTAGE_USB_POWERED_LOWER_THRESHOLD_MILLIVOLT
-            < sVCCVoltageMillivolt && sVCCVoltageMillivolt < VOLTAGE_USB_POWERED_UPPER_THRESHOLD_MILLIVOLT) {
+            < sVCCVoltageMillivolt&& sVCCVoltageMillivolt < VOLTAGE_USB_POWERED_UPPER_THRESHOLD_MILLIVOLT) {
         tReturnValue = true;
         aSerial->print(F("true "));
     } else {
@@ -649,6 +715,7 @@ void resetCounterForVCCUndervoltageMultipleTimes() {
  * Raw reading of 1.1 V is 221 at 5.1 V.
  * Raw reading of 1.1 V is 214 at 5.25 V (+5 %).
  * Raw reading of 1.1 V is 204 at 5.5 V (+10 %).
+ * Raw reading of 1.1 V is 1126000 / VCC_MILLIVOLT
  * @return true if 5 % overvoltage reached
  */
 bool isVCCOvervoltage() {
@@ -660,6 +727,21 @@ bool isVCCOvervoltageSimple() {
     return (sVCCVoltageMillivolt > VCC_OVERVOLTAGE_THRESHOLD_MILLIVOLT);
 }
 
+// Version not using readVCCVoltageMillivoltSimple()
+bool isVCCTooHighSimple() {
+    ADMUX = ADC_1_1_VOLT_CHANNEL_MUX | (DEFAULT << SHIFT_VALUE_FOR_REFERENCE);
+// ADCSRB = 0; // Only active if ADATE is set to 1.
+// ADSC-StartConversion ADIF-Reset Interrupt Flag - NOT free running mode
+    ADCSRA = (_BV(ADEN) | _BV(ADSC) | _BV(ADIF) | ADC_PRESCALE128); //  128 -> 104 microseconds per ADC conversion at 16 MHz --- Arduino default
+// wait for single conversion to finish
+    loop_until_bit_is_clear(ADCSRA, ADSC);
+
+// Get value
+    uint16_t tRawValue = ADCL | (ADCH << 8);
+
+    return tRawValue < 1126000 / VCC_OVERVOLTAGE_THRESHOLD_MILLIVOLT;
+}
+
 /*
  * Temperature sensor is enabled by selecting the appropriate channel.
  * Different formula for 328P and 328PB!
@@ -671,18 +753,21 @@ float getCPUTemperatureSimple(void) {
     return 0.0;
 #else
     // use internal 1.1 volt as reference. 4 times oversample. Assume the signal has noise, but never verified :-(
-    uint16_t tTempRaw = readADCChannelWithReferenceOversample(ADC_TEMPERATURE_CHANNEL_MUX, INTERNAL, 2);
+    uint16_t tTemperatureRaw = readADCChannelWithReferenceOversample(ADC_TEMPERATURE_CHANNEL_MUX, INTERNAL, 2);
 #if defined(LOCAL_DEBUG)
     Serial.print(F("TempRaw="));
-    Serial.println(tTempRaw);
+    Serial.println(tTemperatureRaw);
 #endif
 
 #if defined(__AVR_ATmega328PB__)
-    tTempRaw -= 245;
-    return (float)tTempRaw;
+    tTemperatureRaw -= 245;
+    return (float)tTemperatureRaw;
+#elif defined(__AVR_ATtiny85__)
+    tTemperatureRaw -= 273; // 273 and 1.1666 are values from the datasheet
+    return (float)tTemperatureRaw / 1.1666;
 #else
-    tTempRaw -= 317;
-    return (float) tTempRaw / 1.22;
+    tTemperatureRaw -= 317;
+    return (float) tTemperatureRaw / 1.22;
 #endif
 #endif
 }
@@ -704,7 +789,7 @@ float getCPUTemperature(void) {
 }
 
 #else // defined(ADC_UTILS_ARE_AVAILABLE)
-// Dummy definition of functions defined in ADCUtils to compile examples without errors
+// Dummy definition of functions defined in ADCUtils to compile examples for non AVR platforms without errors
 /*
  * Persistent storage for VCC value
  */

src/DebugLevel.h

@@ -1,8 +1,15 @@
 /*
  * DebugLevel.h
- * Include to propagate debug levels
+ * Include to propagate debug levels to each other
  *
- *  Copyright (C) 2016-2020  Armin Joachimsmeyer
+ * TRACE   // Information you need to understand details of a function or if you hunt a bug.
+ * DEBUG   // Information need to understand the operating of your program. E.g. function calls and values of control variables.
+ * INFO    // Information you want to see in regular operation to see what the program is doing. E.g. "Now playing Muppets melody".
+ * WARN    // Information that the program may encounter problems, like small Heap/Stack area.
+ * ERROR   // Informations to explain why the program will not run. E.g. not enough Ram for all created objects.
+ *
+ *
+ *  Copyright (C) 2016-2024  Armin Joachimsmeyer
  *  Email: armin.joachimsmeyer@gmail.com
  *
  *  This file is part of Arduino-Utils https://github.com/ArminJo/Arduino-Utils.
@@ -25,7 +32,7 @@
 #ifndef _DEBUGLEVEL_H
 #define _DEBUGLEVEL_H
 
-// Propagate debug level
+// Propagate different debug level
 #if defined(TRACE)    // Information you need to understand details of a function or if you hunt a bug.
 #  if !defined(DEBUG)
 #define DEBUG   // Information need to understand the operating of your program. E.g. function calls and values of control variables.

src/HCSR04.hpp

@@ -70,7 +70,15 @@
 //#define USE_PIN_CHANGE_INTERRUPT_D0_TO_D7  // using PCINT2_vect - PORT D
 //#define USE_PIN_CHANGE_INTERRUPT_D8_TO_D13 // using PCINT0_vect - PORT B - Pin 13 is feedback output
 //#define USE_PIN_CHANGE_INTERRUPT_A0_TO_A5  // using PCINT1_vect - PORT C
+#if __has_include("digitalWriteFast.h")
 #include "digitalWriteFast.h"
+#else
+#define pinModeFast             pinMode
+#define digitalReadFast         digitalRead
+#define digitalWriteFast        digitalWrite
+#define digitalToggleFast(P)    digitalWrite(P, ! digitalRead(P))
+#endif
+
 #include "HCSR04.h"
 
 //#define DEBUG
@@ -132,6 +140,7 @@ void initUSDistancePin(uint8_t aTriggerOutEchoInPin) {
 #if !defined (TRIGGER_OUT_PIN)
     sTriggerOutPin = aTriggerOutEchoInPin;
 #endif
+    (void) aTriggerOutEchoInPin;
     sHCSR04Mode = HCSR04_MODE_USE_1_PIN;
 }
 

src/LightweightServo.hpp

@@ -118,9 +118,9 @@ void deinitLightweightServoPin9_10(bool aUsePin9, bool aUsePin10) {
 }
 
 /*
- * If value is below 180 then assume degree, otherwise assume microseconds
- * If aUpdateFast then enable starting a new output pulse if more than 5 ms since last one, some servo might react faster in this mode.
- * If aUsePin9 is false, then Pin10 is used
+ * @param aDegree - If value is below 180 then assume degree, otherwise assume microseconds
+ * @param aUpdateFast - If true, enable starting a new output pulse if more than 5 ms since last one, some servo might react faster in this mode.
+ * @param aUsePin9 - If false, then Pin10 is used
  * 236 / 186(without auto init) bytes code size
  */
 int writeLightweightServo(int aDegree, bool aUsePin9, bool aUpdateFast) {

src/LongUnion.h

@@ -87,7 +87,7 @@ union LongUnion {
     struct {
         WordUnion LowWord;
         WordUnion HighWord;
-    } WordUnion;
+    } TwoWordUnions;
     uint8_t UBytes[4]; // seems to have the same code size as using struct UByte
     int8_t Bytes[4]; // Bytes[0] is LowByte
     uint16_t UWords[2];
@@ -122,7 +122,7 @@ union LongLongUnion {
         WordUnion MidLowWord;
         WordUnion MidHighWord;
         WordUnion HighWord;
-    } WordUnion;
+    } FourWordUnions;
     struct {
         uint32_t LowLong;
         uint32_t HighLong;
@@ -134,7 +134,7 @@ union LongLongUnion {
     struct {
         LongUnion LowLong;
         LongUnion HighLong;
-    } LongUnion;
+    } TwoLongUnions;
     uint8_t UBytes[8]; // seems to have the same code size as using struct UByte
     int8_t Bytes[8];
     uint16_t UWords[4];

src/MecanumWheelCarPWMMotorControl.hpp

@@ -243,9 +243,9 @@ void MecanumWheelCarPWMMotorControl::setDirection(uint8_t aRequestedDirection) {
     uint8_t tBackRightMotorDirection;
 
     /*
-     * We set all for straight or movements to the left,  movements to the right are implemented by just swapping left and right motors
+     * We set all for straight or movements to the left, movements to the right are implemented by just swapping left and right motors
      */
-    if (aRequestedDirection & DIRECTION_TURN) {
+    if (aRequestedDirection & DIRECTION_TURN_MASK) {
         /*
          * TURN requested
          * We have TURN and FOWARD -> turn center is front axis, TURN and BACKWARD  -> turn center is back axis