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authorschodet2004-11-28 21:03:15 +0000
committerschodet2004-11-28 21:03:15 +0000
commitdc5e9a8ab529223d5c32e5d803b4516a28da9586 (patch)
tree3d47b4b80aa015e15274a3912cf04ce641b2b3f1 /n/asserv/src/timer.c
parentfa8ff2dec76b1b366207a126dfc360331510c50d (diff)
Test du calcul de position et modification pour les grandes vitesses (non
testé). Modification de commentaires, vérification d'exactitude de calcul, notament sur les nombres de bits, prise en compte de la vitesse max des moteurs.
Diffstat (limited to 'n/asserv/src/timer.c')
-rw-r--r--n/asserv/src/timer.c3
1 files changed, 2 insertions, 1 deletions
diff --git a/n/asserv/src/timer.c b/n/asserv/src/timer.c
index 1e18aca..42b9a68 100644
--- a/n/asserv/src/timer.c
+++ b/n/asserv/src/timer.c
@@ -43,10 +43,11 @@ timer_read (void);
static inline void
timer_init (void)
{
- /* 1024 prescaler. */
+ /* 256 prescaler. */
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
* Tov = 1 / Fov = 4.44 ms */
}