#ifndef timer_main_h #define timer_main_h // timer_main.h // es - Input/Output general purpose board. {{{ // // Copyright (C) 2006 Dufour Jérémy // From Ni. // // Robot APB Team/Efrei 2004. // 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. // // }}} /** Initialise the main timer. */ inline void timer_main_init (void) { TCCR0 = regv (FOC0, WGM00, COM01, COM0, WGM01, CS02, CS01, CS00, 0, 0, 0, 0, 0, 1, 0, 1); /* Fov = F_io / (prescaler * (TOP + 1)) * TOP = 0xff * prescaler = 256 * Tov = 1 / Fov = 4.444 ms */ } /** Wait for main timer overflow. */ inline void timer_main_wait (void) { while (!(TIFR & _BV (TOV0))) ; /* Write 1 to clear. */ TIFR = _BV (TOV0); } #endif // timer_main_h