From df7d0d94ecc69fa9aadd2ab90db89b5ef1a74030 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 29 Apr 2010 23:03:56 +0200 Subject: digital/mimot/src/dirty: add copy/pasted firmware for mimot, refs #123 This is a quick and dirty firmware copied from asserv. This will be improved once #124 is closed. --- digital/mimot/src/dirty/timer.avr.c | 51 +++++++++++++++++++++++++++++++++++++ 1 file changed, 51 insertions(+) create mode 100644 digital/mimot/src/dirty/timer.avr.c (limited to 'digital/mimot/src/dirty/timer.avr.c') diff --git a/digital/mimot/src/dirty/timer.avr.c b/digital/mimot/src/dirty/timer.avr.c new file mode 100644 index 00000000..eb313603 --- /dev/null +++ b/digital/mimot/src/dirty/timer.avr.c @@ -0,0 +1,51 @@ +/* timer.avr.c */ +/* asserv - Position & speed motor control on AVR. {{{ + * + * Copyright (C) 2005 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * 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. + * + * }}} */ +#include "common.h" + +#include "modules/utils/utils.h" +#include "io.h" + +/** Initialise the timer. */ +void +timer_init (void) +{ + TCCR0 = regv (FOC0, WGM00, COM01, COM00, WGM01, CS02, CS01, CS00, + 0, 0, 0, 0, 0, 1, 0, 0); + /* Fov = F_io / (prescaler * (TOP + 1)) + * TOP = 0xff + * prescaler = 256 + * Tov = 1 / Fov = 4.444 ms */ +} + +/** Wait for timer overflow. */ +void +timer_wait (void) +{ + while (!(TIFR & _BV (TOV0))) + ; + /* Write 1 to clear. */ + TIFR = _BV (TOV0); +} + -- cgit v1.2.3