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#ifndef timer_main_h
#define timer_main_h
// timer_main.h
// es - Input/Output general purpose board. {{{
//
// Copyright (C) 2006 Dufour J�r�my
// 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