From bc38b408c53281ee985f6f9d67accc5733d99e37 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 28 Jan 2008 21:12:12 +0100 Subject: * digital/asserv/src/asserv: - imported old sources. - removed holes support (rule 2006). --- digital/asserv/src/asserv/timer.avr.c | 70 +++++++++++++++++++++++++++++++++++ 1 file changed, 70 insertions(+) create mode 100644 digital/asserv/src/asserv/timer.avr.c (limited to 'digital/asserv/src/asserv/timer.avr.c') diff --git a/digital/asserv/src/asserv/timer.avr.c b/digital/asserv/src/asserv/timer.avr.c new file mode 100644 index 00000000..dcad74d0 --- /dev/null +++ b/digital/asserv/src/asserv/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; +} + -- cgit v1.2.3