/* Copyright (c) 2006, Joerg Wunsch
   All rights reserved.

   Redistribution and use in source and binary forms, with or without
   modification, are permitted provided that the following conditions are met:

   * Redistributions of source code must retain the above copyright
     notice, this list of conditions and the following disclaimer.

   * 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.

   * Neither the name of the copyright holders nor the names of
     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 OWNER 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. */

/* $Id: asmdemo.dox 2503 2016-02-07 22:59:47Z joerg_wunsch $ */

/** \defgroup asmdemo Combining C and assembly source files
    \ingroup demos

For time- or space-critical applications, it can often be desirable to
combine C code (for easy maintenance) and assembly code (for maximal
speed or minimal code size) together.  This demo provides an example
of how to do that.

The objective of the demo is to decode radio-controlled model PWM
signals, and control an output PWM based on the current input signal's
value.  The incoming PWM pulses follow a standard encoding scheme
where a pulse width of 920 microseconds denotes one end of the scale
(represented as 0 % pulse width on output), and 2120 microseconds mark
the other end (100 % output PWM).  Normally, multiple channels would
be encoded that way in subsequent pulses, followed by a larger gap, so
the entire frame will repeat each 14 through 20 ms, but this is
ignored for the purpose of the demo, so only a single input PWM
channel is assumed.

The basic challenge is to use the cheapest controller available for
the task, an ATtiny13 that has only a single timer channel.  As this
timer channel is required to run the outgoing PWM signal generation,
the incoming PWM decoding had to be adjusted to the constraints set by
the outgoing PWM.

As PWM generation toggles the counting direction of timer 0 between up
and down after each 256 timer cycles, the current time cannot be
deduced by reading TCNT0 only, but the current counting direction of
the timer needs to be considered as well.  This requires servicing
interrupts whenever the timer hits \e TOP (255) and \e BOTTOM (0) to
learn about each change of the counting direction.  For PWM
generation, it is usually desired to run it at the highest possible
speed so filtering the PWM frequency from the modulated output signal
is made easy.  Thus, the PWM timer runs at full CPU speed.  This
causes the overflow and compare match interrupts to be triggered each
256 CPU clocks, so they must run with the minimal number of processor
cycles possible in order to not impose a too high CPU load by these
interrupt service routines.  This is the main reason to implement the
entire interrupt handling in fine-tuned assembly code rather than in
C.

In order to verify parts of the algorithm, and the underlying
hardware, the demo has been set up in a way so the pin-compatible but
more expensive ATtiny45 (or its siblings ATtiny25 and ATtiny85) could
be used as well.  In that case, no separate assembly code is required,
as two timer channels are avaible.

\section asmdemo_hw Hardware setup

The incoming PWM pulse train is fed into PB4.  It will generate a pin
change interrupt there on eache edge of the incoming signal.

The outgoing PWM is generated through OC0B of timer channel 0 (PB1).
For demonstration purposes, a LED should be connected to that pin
(like, one of the LEDs of an STK500).

The controllers run on their internal calibrated RC oscillators, 1.2
MHz on the ATtiny13, and 1.0 MHz on the ATtiny45.

\section asmdemo_code A code walkthrough

\subsection asmdemo_main asmdemo.c

After the usual include files, two variables are defined.  The first
one, \c pwm_incoming is used to communicate the most recent
pulse width detected by the incoming PWM decoder up to the main loop.

The second variable actually only constitutes of a single bit,
<tt>intbits.pwm_received</tt>.  This bit will be set whenever the
incoming PWM decoder has updated <tt>pwm_incoming</tt>.

Both variables are marked \e volatile to ensure their readers will
always pick up an updated value, as both variables will be set by
interrupt service routines.

The function \c ioinit() initializes the microcontroller peripheral
devices.  In particular, it starts timer 0 to generate the outgoing
PWM signal on OC0B.  Setting OCR0A to 255 (which is the \e TOP value
of timer 0) is used to generate a timer 0 overflow A interrupt on the
ATtiny13.  This interrupt is used to inform the incoming PWM decoder
that the counting direction of channel 0 is just changing from up to
down.  Likewise, an overflow interrupt will be generated whenever the
countdown reached \e BOTTOM (value 0), where the counter will again
alter its counting direction to upwards.  This information is needed
in order to know whether the current counter value of \c TCNT0 is to
be evaluated from bottom or top.

Further, \c ioinit() activates the pin-change interrupt \c PCINT0 on
any edge of PB4.  Finally, PB1 (OC0B) will be activated as an output
pin, and global interrupts are being enabled.

In the ATtiny45 setup, the C code contains an ISR for \c PCINT0.  At
each pin-change interrupt, it will first be analyzed whether the
interrupt was caused by a rising or a falling edge.  In case of the
rising edge, timer 1 will be started with a prescaler of 16 after
clearing the current timer value.  Then, at the falling edge, the
current timer value will be recorded (and timer 1 stopped), the
pin-change interrupt will be suspended, and the upper layer will be
notified that the incoming PWM measurement data is available.

Function \c main() first initializes the hardware by calling
\c ioinit(), and then waits until some incoming PWM value is
available.  If it is, the output PWM will be adjusted by computing
the relative value of the incoming PWM.  Finally, the pin-change
interrupt is re-enabled, and the CPU is put to sleep.


\subsection asmdemo_project project.h

In order for the interrupt service routines to be as fast as possible,
some of the CPU registers are set aside completely for use by these
routines, so the compiler would not use them for C code.  This is
arranged for in <tt>project.h</tt>.

The file is divided into one section that will be used by the assembly
source code, and another one to be used by C code.  The assembly part
is distinguished by the preprocessing macro \c __ASSEMBLER__ (which
will be automatically set by the compiler front-end when preprocessing
an assembly-language file), and it contains just macros that give
symbolic names to a number of CPU registers.  The preprocessor will
then replace the symbolic names by their right-hand side definitions
before calling the assembler.

In C code, the compiler needs to see variable declarations for these
objects.  This is done by using declarations that bind a variable
permanently to a CPU register (see \ref faq_regbind).  Even in case
the C code never has a need to access these variables, declaring the
register binding that way causes the compiler to not use these
registers in C code at all.

The \c flags variable needs to be in the range of r16 through r31 as
it is the target of a <em>load immediate</em> (or \c SER) instruction
that is not applicable to the entire register file.


\subsection asmdemo_isrs isrs.S

This file is a preprocessed assembly source file.  The C preprocessor
will be run by the compiler front-end first, resolving all \c \#include,
\c \#define etc. directives.  The resulting program text will then be
passed on to the assembler.

As the C preprocessor strips all C-style comments, preprocessed
assembly source files can have both, C-style (<tt>/</tt><tt>* ... *</tt><tt>/</tt>,
<tt>// ...</tt>) as well as assembly-style (<tt>; ...</tt>) comments.

At the top, the IO register definition file <tt>avr/io.h</tt> and the
project declaration file <tt>project.h</tt> are included.  The
remainder of the file is conditionally assembled only if the target
MCU type is an ATtiny13, so it will be completely ignored for the
ATtiny45 option.

Next are the two interrupt service routines for timer 0 compare A
match (timer 0 hits \e TOP, as OCR0A is set to 255) and timer 0
overflow (timer 0 hits \e BOTTOM).  As discussed above, these are kept
as short as possible.  They only save \c SREG (as the flags will be
modified by the \c INC instruction), increment the \c counter_hi
variable which forms the high part of the current time counter (the
low part is formed by querying \c TCNT0 directly), and clear or set
the variable \c flags, respectively, in order to note the current
counting direction.  The \c RETI instruction terminates these
interrupt service routines.  Total cycle count is 8 CPU cycles, so
together with the 4 CPU cycles needed for interrupt setup, and the 2
cycles for the RJMP from the interrupt vector to the handler, these
routines will require 14 out of each 256 CPU cycles, or about 5 % of
the overall CPU time.

The pin-change interrupt \c PCINT0 will be handled in the final part
of this file.  The basic algorithm is to quickly evaluate the current
system time by fetching the current timer value of \c TCNT0, and
combining it with the overflow part in \c counter_hi.  If the counter
is currently counting down rather than up, the value fetched from
\c TCNT0 must be negated.  Finally, if this pin-change interrupt was
triggered by a rising edge, the time computed will be recorded as the
start time only.  Then, at the falling edge, this start time will be
subracted from the current time to compute the actual pulse width seen
(left in \c pwm_incoming), and the upper layers are informed of the
new value by setting bit 0 in the \c intbits flags.  At the same time,
this pin-change interrupt will be disabled so no new measurement can
be performed until the upper layer had a chance to process the current
value.


\section asmdemo_src The source code

\htmlonly
<ul>
  <li><a href="../examples/asmdemo/asmdemo.c">asmdemo.c</a></li>
  <li><a href="../examples/asmdemo/project.h">project.h</a></li>
  <li><a href="../examples/asmdemo/isrs.S">isrs.S</a></li>
</ul>
\endhtmlonly

\latexonly
The source code is installed under

\texttt{\$prefix/share/doc/avr-libc/examples/asmdemo/},

where \texttt{\$prefix} is a configuration option.  For Unix
systems, it is usually set to either \texttt{/usr} or
\texttt{/usr/local}.
\endlatexonly

*/
