summaryrefslogtreecommitdiffhomepage
path: root/analog/motor-power-avr/src/timer.avr.c
diff options
context:
space:
mode:
Diffstat (limited to 'analog/motor-power-avr/src/timer.avr.c')
-rw-r--r--analog/motor-power-avr/src/timer.avr.c70
1 files changed, 70 insertions, 0 deletions
diff --git a/analog/motor-power-avr/src/timer.avr.c b/analog/motor-power-avr/src/timer.avr.c
new file mode 100644
index 00000000..dcad74d0
--- /dev/null
+++ b/analog/motor-power-avr/src/timer.avr.c
@@ -0,0 +1,70 @@
+/* timer.avr.c */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/* +AutoDec */
+
+/** Initialise the timer. */
+static inline void
+timer_init (void);
+
+/** Wait for timer overflow. */
+static inline void
+timer_wait (void);
+
+/** Read timer value. Used for performance analysis. */
+static inline uint8_t
+timer_read (void);
+
+/* -AutoDec */
+
+/** Initialise the timer. */
+static inline void
+timer_init (void)
+{
+ TCCR0 = regv (FOC0, WGM00, COM01, COM0, WGM01, CS02, CS01, CS00,
+ 0, 0, 0, 0, 0, 1, 1, 0);
+ /* Fov = F_io / (prescaler * (TOP + 1))
+ * TOP = 0xff
+ * prescaler = 256
+ * Tov = 1 / Fov = 4.444 ms */
+}
+
+/** Wait for timer overflow. */
+static inline void
+timer_wait (void)
+{
+ while (!(TIFR & _BV (TOV0)))
+ ;
+ /* Write 1 to clear. */
+ TIFR = _BV (TOV0);
+}
+
+/** Read timer value. Used for performance analysis. */
+static inline uint8_t
+timer_read (void)
+{
+ return TCNT0;
+}
+