Fast PWM for bed - timer2 used as system timer

Firmware/temperature.cpp

@@ -42,6 +42,12 @@
 #include "ConfigurationStore.h"
 
 
+extern "C" {
+extern void timer02_init(void);
+extern void timer02_set_pwm0(uint8_t pwm0);
+}
+
+
 //===========================================================================
 //=============================public variables============================
 //===========================================================================
@@ -983,7 +989,6 @@ static void updateTemperaturesFromRawValues()
     CRITICAL_SECTION_END;
 }
 
-
 void tp_init()
 {
 #if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1))
@@ -1050,10 +1055,12 @@ void tp_init()
 
   adc_init();
 
+  timer02_init();
+
   // Use timer0 for temperature measurement
   // Interleave temperature interrupt with millies interrupt
-  OCR0B = 128;
+  OCR2B = 128;
-  TIMSK0 |= (1<<OCIE0B);  
+  TIMSK2 |= (1<<OCIE2B);  
   
   // Wait for temperature measurement to settle
   delay(250);
@@ -1525,8 +1532,8 @@ void adc_ready(void) //callback from adc when sampling finished
 } // extern "C"
 
 
-// Timer 0 is shared with millies
+// Timer2 (originaly timer0) is shared with millies
-ISR(TIMER0_COMPB_vect)
+ISR(TIMER2_COMPB_vect)
 {
 	static bool _lock = false;
 	if (_lock) return;

Firmware/temperature.h

@@ -27,8 +27,8 @@
   #include "stepper.h"
 #endif
 
-#define ENABLE_TEMPERATURE_INTERRUPT()  TIMSK0 |= (1<<OCIE0B)
+#define ENABLE_TEMPERATURE_INTERRUPT()  TIMSK2 |= (1<<OCIE2B)
-#define DISABLE_TEMPERATURE_INTERRUPT() TIMSK0 &= ~(1<<OCIE0B)
+#define DISABLE_TEMPERATURE_INTERRUPT() TIMSK2 &= ~(1<<OCIE2B)
 
 // public functions
 void tp_init();  //initialize the heating

Firmware/timer02.c

@@ -0,0 +1,103 @@
+//timer02.c
+// use atmega timer2 as main system timer instead of timer0
+// timer0 is used for fast pwm (OC0B output)
+// original OVF handler is disabled
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <Arduino.h>
+
+
+uint8_t timer02_pwm0 = 0;
+
+void timer02_set_pwm0(uint8_t pwm0)
+{
+	if (timer02_pwm0 == pwm0) return;
+	if (pwm0)
+	{
+		TCCR0A |= (2 << COM0B0);
+		OCR0B = pwm0 - 1;
+	}
+	else
+	{
+		TCCR0A &= ~(2 << COM0B0);
+		OCR0B = 0;
+	}
+}
+
+void timer02_init(void)
+{
+	//save sreg
+	uint8_t _sreg = SREG;
+	//disable interrupts for sure
+	cli();
+	//mask timer0 interrupts - disable all
+	TIMSK0 &= ~(1<<TOIE0);
+	TIMSK0 &= ~(1<<OCIE0A);
+	TIMSK0 &= ~(1<<OCIE0B);
+	//setup timer0
+	TCCR0A = 0x00; //COM_A-B=00, WGM_0-1=00
+	TCCR0B = (1 << CS00); //WGM_2=0, CS_0-2=011
+	//switch timer0 to fast pwm mode
+	TCCR0A |= (3 << WGM00); //WGM_0-1=11
+	//set OCR0B register to zero
+	OCR0B = 0;
+	//disable OCR0B output (will be enabled in timer02_set_pwm0)
+	TCCR0A &= ~(2 << COM0B0);
+	//setup timer2
+	TCCR2A = 0x00; //COM_A-B=00, WGM_0-1=00
+	TCCR2B = (3 << CS20); //WGM_2=0, CS_0-2=011
+	//mask timer2 interrupts - enable OVF, disable others
+	TIMSK2 |= (1<<TOIE2);
+	TIMSK2 &= ~(1<<OCIE2A);
+	TIMSK2 &= ~(1<<OCIE2B);
+	//set timer2 OCR registers (OCRB interrupt generated 0.5ms after OVF interrupt)
+	OCR2A = 0;
+	OCR2B = 128;
+	//restore sreg (enable interrupts)
+	SREG = _sreg;
+}
+
+
+//following code is OVF handler for timer 2
+//it is copy-paste from wiring.c and modified for timer2
+//variables timer0_overflow_count and timer0_millis are declared in wiring.c
+
+
+
+// the prescaler is set so that timer0 ticks every 64 clock cycles, and the
+// the overflow handler is called every 256 ticks.
+#define MICROSECONDS_PER_TIMER0_OVERFLOW (clockCyclesToMicroseconds(64 * 256))
+
+// the whole number of milliseconds per timer0 overflow
+#define MILLIS_INC (MICROSECONDS_PER_TIMER0_OVERFLOW / 1000)
+
+// the fractional number of milliseconds per timer0 overflow. we shift right
+// by three to fit these numbers into a byte. (for the clock speeds we care
+// about - 8 and 16 MHz - this doesn't lose precision.)
+#define FRACT_INC ((MICROSECONDS_PER_TIMER0_OVERFLOW % 1000) >> 3)
+#define FRACT_MAX (1000 >> 3)
+
+extern volatile unsigned long timer0_overflow_count;
+extern volatile unsigned long timer0_millis;
+unsigned char timer0_fract = 0;
+
+ISR(TIMER2_OVF_vect)
+{
+	// copy these to local variables so they can be stored in registers
+	// (volatile variables must be read from memory on every access)
+	unsigned long m = timer0_millis;
+	unsigned char f = timer0_fract;
+
+	m += MILLIS_INC;
+	f += FRACT_INC;
+	if (f >= FRACT_MAX)
+	{
+		f -= FRACT_MAX;
+		m += 1;
+	}
+
+	timer0_fract = f;
+	timer0_millis = m;
+	timer0_overflow_count++;
+}
+